Navigating autonomous coverage robots

  • US 8,954,192 B2
  • Filed: 06/05/2007
  • Issued: 02/10/2015
  • Est. Priority Date: 12/02/2005
  • Status: Active Grant
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First Claim
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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 andin the migration mode, maneuvering the coverage robot toward the navigation beacon upon detecting the emission.

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