Navigating autonomous coverage robots

• US 8,954,192 B2
• Filed: 06/05/2007
• Issued: 02/10/2015
• Est. Priority Date: 12/02/2005
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ozick, Daniel N., Okerholm, Andrea M., Mammen, Jeffrey W., Halloran, Michael J., Sandin, Paul E., Won, Chikyung
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US11/758,278
• Publication Number:
  US 20080091304A1
• Time in Patent Office: 2,807 Days
• Field of Search: 700/245, 700/258
• US Class Current: 700/258
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4027 Filtering or separating contaminants or debris
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0411 driven by electric motor
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/12 Dry filters
• CPC Class Codes: A47L 9/1409 Rigid filtering receptacles dust collecting receptacles for cyclones A47L9/1683
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 : User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 : Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/30 : Arrangement of illuminating devices
• CPC Class Codes: B25J 11/0085 : Cleaning
• CPC Class Codes: B25J 13/006 : by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 5/007 : mounted on wheels
• CPC Class Codes: B25J 9/0003 : Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1666 : Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60L 1/003 : to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 : Working vehicles
• CPC Class Codes: B60L 2250/10 : by alarm
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 53/31 : Charging columns specially adapted for electric vehicles
• CPC Class Codes: B60R 19/38 : adjustably or movably mounted, e.g. horizontally displaceable for securing a space between parked vehicles adjustably mounted for compensating manufacturing tolerances B60R19/24, B60R19/26
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: H04B 1/02 : Transmitters
• CPC Class Codes: H04B 1/06 : Receivers
• CPC Class Codes: H04L 1/16 : in which the return channel carries supervisory signals, e.g. repetition request signals
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

Abstract

A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.

Claims

1. A method of navigating an autonomous coverage robot between first and second bounded areas adjoined by a gateway, the method comprising:

emitting, from a navigation beacon, a gateway beam directed across the gateway, from one lateral edge of the gateway toward an opposing lateral edge of the gateway;

emitting, from the navigation beacon, a marker indicating a proximity zone laterally about the navigation beacon;

in a cleaning mode, redirecting the coverage robot to stay within the first bounded area in response to any one of the marker indicating the proximity zone and the gateway beam being detected;

in a migration mode, maneuvering the coverage robot past the navigation beacon and through the gateway into the second bounded area, wherein maneuvering the coverage robot in the migration mode comprises avoiding a collision with the navigation beacon in response to detecting the marker indicating the proximity zone;

transmitting a directed emission, from the navigation beacon, into the first bounded area and

in the migration mode, maneuvering the coverage robot toward the navigation beacon upon detecting the emission.

2. The method of claim 1 further comprising autonomously initiating the cleaning mode in the second bounded area upon termination of the migration mode in the second bounded area.

3. The method of claim 1 further comprising:

remotely deactivating the gateway marking emission of the navigation beacon upon initiating the migration mode; and

activating the gateway marking emission upon terminating the migration mode.

4. The method of claim 1 wherein detecting the directed emission comprises:

sensing the directed emission with a directional receiver on the coverage robot, the directional receiver being aligned with a robot drive direction; and

aligning the robot drive direction with a path defined by the directed emission.

5. The method of claim 4 further comprising sensing the directed emission with an omni-directional receiver on the coverage robot before maneuvering to detect the directed emission with the directional receiver on the robot.

6. The method of claim 4 wherein maneuvering the coverage robot past the beacon and through the gateway comprises:

navigating the coverage robot towards the navigation beacon along an emission path defined by the directed emission;

sensing a beacon perimeter of the navigation beacon, the beacon perimeter being defined by an edge of the proximity zone; and

navigating the coverage robot along the beacon perimeter through the gateway and into the second bounded area.

7. The method of claim 1 wherein the navigation beacon transmits the directed emission at an angle from the gateway beam, the angle being from about 45 degrees to about 90 degrees.

8. The method of claim 1 further comprising:

remotely activating the directed emission of the navigation beacon upon initiating the migration mode; and

remotely deactivating the gateway beam upon initiating the migration mode.

9. The method of claim 1 further comprising:

remotely deactivating the directed emission of the navigation beacon upon terminating the migration mode; and

activating the gateway beam upon terminating the migration mode.

10. The method of claim 1 further comprising remotely activating and deactivating the migration mode with a communication between the coverage robot and the navigation beacon.

11. The method of claim 1 wherein transmitted emissions are differentiated from one another by time division multiplexing with a fixed period random offset.

12. The method of claim 1 further comprising:

responding to an emission incident on a forward portion of the coverage robot from a robot drive direction; and

determining a position of the emission incident with respect to the forward portion of the coverage robot in relation to the robot drive direction of the coverage robot based on signals generated by component receivers within respective apertures of the coverage robot substantially directed in the robot drive direction.

13. The method of claim 12 wherein the direction of the component receivers form an angle of overlap of about 6 degrees therebetween.

14. The method of claim 12 further comprising detecting the emission incident on the forward portion of the robot originating from between about 3 to 5 meters away from the robot with the component receivers.

15. The method of claim 1 wherein the navigation beacon comprises:

a base positionable at the gateway;

a gateway beam circuit housed in the base and arranged to define the gateway beam;

directional beam emitters housed in the base and arranged to emit respective beam emissions angled from the gateway beam into adjoining areas when the base is beside the gateway; and

an omni-directional beam circuit disposed on the base and configured to project an avoidance emission surrounding the navigation beacon, the avoidance emission comprising the marker indicating the proximity zone.

16. The method of claim 1 further comprising:

upon termination of the migration mode in the second bounded area, autonomously initiating a docking mode;

in the docking mode, maneuvering the coverage robot towards a base station in the second area; and

in the docking mode, docking the coverage robot with the base station.

17. The method of claim 16 wherein the base station comprises:

a base defining a docking direction from which the robot may properly dock;

a robot charger housed in the base;

an omni-directional beam emitter mounted on the base and configured to project a proximity beam laterally around the base station; and

two navigational field emitters housed in the base and arranged to emit respective, laterally bounded and overlapping fields of emissions of signal beams, respectively;

wherein one of the emitted fields defines a lateral field edge aligned with the docking direction and overlapped by the other of the fields; and

wherein the robot maneuvers towards the base station by detecting and advancing along the lateral field edge of the overlapping fields aligned with the docking direction until docked with the base station.

18. The method of claim 17 wherein the two navigational field emitters of the base station are positioned to form an angle of overlap of about 6 degrees, and wherein each emitter has an aperture angle of between about 20 and 30 degrees.

19. The method of claim 17 further comprising:

detecting the emissions of the base station with an omni-directional receiver on the coverage robot;

maneuvering the coverage robot to detect an outer lateral field edge of at least one field emission;

advancing the coverage robot along the outer lateral field edge of the one field emission to the aligned lateral field edge of the overlapping fields; and

upon detecting the aligned lateral field edge, advancing the coverage robot along the aligned lateral field edge until docked with the base station.