Domestic robotic system and robot therefor

• US 9,268,331 B2
• Filed: 04/09/2014
• Issued: 02/23/2016
• Est. Priority Date: 04/09/2013
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: F Robotics Acquisitions Ltd. (Stanley Black & Decker, Inc.)
• Inventors: Abramson, Shai, Zaslavsky, Ran, Ikar, Ido
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US14/249,102
• Publication Number:
  US 20140324269A1
• Time in Patent Office: 685 Days
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• 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 2240/421 Speed
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 2260/44 by parameter estimation
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 58/21 having the same nominal voltage
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0265 using buried wires
• 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

Abstract

A domestic robotic system that includes a robot, which is programmed to move within a working area defined by a boundary and has boundary distance sensors that enable it to estimate the current distance from the boundary; the robot is programmed to move across the working area and, secondly, so that when the boundary distance sensors indicate that the robot is a distance X away from the boundary and is approaching the boundary, the robot begins performing a gradual turn; this gradual turn is such that: the robot progressively changes direction while continuing to move across said working area; and the robot transitions from approaching the boundary to receding from the boundary; the robot is also programmed to calculate a path for the gradual turn such that, during the gradual turn, the robot approaches the boundary to a predetermined closest distance before receding from the boundary.

Claims

1. A robotic system comprising:

a robot, programmed to move within a working area defined by a boundary;

the robot having one or more boundary distance sensors for estimating the current distance from said boundary;

wherein the robot is programmed so as to;

(a) move across said working area; and

,

(b) when said one or more boundary distance sensors indicates that the robot is a distance X away from said boundary and is approaching said boundary, begin performing a gradual turn, the gradual turn being such that;

the robot progressively changes direction while continuing to move across said working area; and

,

the robot transitions from approaching the boundary to receding from the boundary; and

wherein the robot is further programmed so as to;

(c) calculate a path for said gradual turn such that, during the gradual turn, the robot approaches the boundary to a predetermined closest distance, E, and thereafter recedes from the boundary.

2. A system according to claim 1, wherein the path for said gradual turn is such that, at said predetermined closest distance, the robot is moving substantially tangentially of the portion of the boundary proximal to the robot.

3. A system according to claim 2, wherein the robot is further programmed such that said gradual turn is performed as a single, substantially continuous movement.

4. A system according to claim 3, wherein step (c) includes calculating a radius of curvature (R) for the path of said gradual turn;

and

wherein said radius of curvature (R) is calculated based on the orientation of the robot with respect to a portion of the boundary proximal to the robot; and

X has a predetermined value.

5. A system according to claim 3, wherein step (c) includes calculating the value of X;

and

wherein the value of X is calculated based on a predetermined value for a radius of curvature (R) of the path of the gradual turn and based on the orientation of the robot with respect to a portion of the boundary proximal to the robot.

6. A system according to claim 1, wherein the robot is further programmed so as to:

(d) re-calculate the path of the gradual turn at one or more points during the gradual turn, based on information received from said one or more boundary distance sensors corresponding to said one or more points during the gradual turn;

wherein step (c) includes calculating a radius of curvature (R) for the path of said gradual turn and step (d) includes re-calculating the radius of curvature (R) for the path at said one or more points based on information received from said one or more boundary distance sensors corresponding to said one or more points during the gradual turn; and

wherein the robot is programmed such that the value of said radius of curvature cannot fall below a predetermined value (R_min) during said gradual turn.

7. A system according to claim 6, wherein said one or more points are either:

a fixed time apart;

or a fixed distance apart.

8. A system according to claim 1, wherein said one or more boundary distance sensors comprise a first boundary distance sensor and a second boundary distance sensor spaced apart by a distance d;

wherein said robot is further programmed such that it can calculate its orientation relative to a proximal portion of the boundary based on information received from said first and second boundary distance sensors and on said distance d.

9. A system according to claim 1, wherein said one or more boundary distance sensors comprise a first boundary distance sensor and wherein said robot is provided with a path distance sensor;

the robot being further programmed such that, when moving between a first point and a second point, it can calculates its orientation relative to a proximal portion of the boundary based on a measurement (l) of the distance between said first point and said second point provided by said path distance sensor and based on information received from said first boundary distance sensor corresponding to said first and second points; and

wherein said path distance sensor comprises at least one of the following;

(i) an odometer;

(ii) an accelerometer;

(iii) a positioning system, optionally comprising a GPS receiver;

(iv) a timer.

10. A system according to claim 1, wherein the robot has a footprint and wherein, for the whole of the path of said gradual turn, the radius of curvature of the path is greater than half the width of said footprint of the robot and preferably is greater than the width of said footprint of the robot;

and

wherein the robot comprises a payload having an active area over which the payload performs its function, said footprint being defined by said active area.

11. A system according to claim 1, wherein the robot has a footprint having an edge and wherein the value of E is such that, when the robot is at the closest point to the boundary during the gradual turn, the edge of said footprint is substantially coincident with the boundary;

and

wherein the robot comprises a payload having an active area over which the payload performs its function, said footprint being defined by said active area.

12. A system according to claim 1, wherein said gradual turn is completed when said one or more boundary distance sensors indicates that the robot is a predetermined distance away and receding from the boundary, wherein said predetermined distance is equal to X.

13. A system according to claim 1, wherein said robot is programmed to repeat steps (a) and (b) a plurality of times, so as to scan said working area;

preferably wherein either;

step (a) includes movement of the robot according to a scanning pattern, preferably wherein said scanning pattern is repeated a plurality of times at respective locations distributed across said working area so as to scan said working area;

or

step (a) includes movement of the robot in a substantially straight line across said working area and wherein, immediately before said robot begins said gradual turn, it is moving across said working area according to step (a) on a first substantially straight line and, upon completion of said gradual turn, it moves across said working area on a second substantially straight line, wherein said first substantially straight line path is oriented at an angle to said second substantially straight line path, and wherein said angle is determined according to a probability function.

14. A system according to claim 1, wherein said robot is further programmed to carry out a circuit of said working area, wherein said circuit follows a path that is either adjacent or overlying said boundary;

and

wherein said robot is programmed to carry out one or more further circuits of said working area, each of said further circuits following a path spaced by a respective fixed distance from said boundary, said fixed distance optionally increasing between consecutive circuits.

15. A system according claim 1, further comprising at least one boundary delimiter, said at least one boundary delimiter preferably generating a boundary signal, said one or more boundary distance sensors being operable to receive said boundary signal;

and

to estimate the current distance of the robot from said boundary based on said boundary signal;

wherein said at least one boundary delimiter comprises a boundary wire loop, a voltage signal being applied during use of the system to said boundary wire loop so as to generate a wireless boundary signal, and, wherein the system further comprises a signal generator operable to apply said voltage signal to said boundary wire loop.

16. A system according to claim 1, wherein said robot further comprises a transducer operable to generate a signal to be reflected by said boundary, said one or more boundary distance sensors being operable to receive said reflected signal and to estimate the current distance of the robot from said boundary based on said reflected signal,

wherein said transducer generates a beam of light and optionally comprises a laser;

or wherein said transducer is an ultrasonic transducer.