Autonomous mobile robot confinement system

• US 9,375,842 B2
• Filed: 03/03/2015
• Issued: 06/28/2016
• Est. Priority Date: 05/15/2014
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Shamlian, Steven, Doughty, Brian
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US14/636,270
• Publication Number:
  US 20150328775A1
• Time in Patent Office: 483 Days
• US Class Current: 1/1
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B60L 2200/22 Microcars, e.g. golf cars
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 53/68 Off-site monitoring or control, e.g. remote control
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/028 using a RF signal
• 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 90/12 Electric charging stations
• 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: Y02T 90/167 Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
• CPC Class Codes: Y04S 30/12 Remote or cooperative charging
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

A robotic lawnmower confinement system includes at least two dispenser units and a powered unit in wired connection with the at least two dispenser units. Each dispenser unit includes a housing containing a length of boundary wire electrically connected to the housing at one end and terminating at a mating connector for transferring an electrical signal at the opposite end. Each dispenser unit also includes a receiving terminal disposed on the housing for receiving a mating connector of another dispenser unit. The powered unit includes at least one electrical connector configured to connect and deliver current to at least one of the at least two dispenser units. The at least two dispenser units and the powered unit can be arranged and connected to form a loop of connected boundary wires recognizable by the robotic lawnmower.

Claims

1. A robotic lawnmower confinement system comprising:

at least two dispenser units, each dispenser unit comprising;

a housing containing a length of boundary wire electrically connected to the housing at one end and terminating at a mating connector for transferring an electrical signal at the opposite end, the housing defining an opening for dispensing a variable length of the boundary wire; and

a receiving terminal disposed on the housing for receiving a mating connector of another dispenser unit; and

a powered unit in wired connection with the at least two dispenser units, the powered unit comprising at least one electrical connector configured to connect and deliver current to at least one of the at least two dispenser units;

wherein the at least two dispenser units and the powered unit are arranged and connected to form a loop of connected boundary wires recognizable by a robotic lawnmower.

2. The robotic lawnmower confinement system of claim 1, wherein the at least one electrical connector of the powered unit is configured to receive a mating connector of a boundary wire of one of the at least two dispenser units.

3. The robotic lawnmower confinement system of claim 1, wherein the powered unit comprises another boundary wire configured to mate with a receiving terminal of one of the at least two dispenser units.

4. The robotic lawnmower confinement system of claim 1, wherein the powered unit comprises:

a unit body defining a receiving surface configured to receive the robotic lawnmower in a docked position; and

a charging system supported by the unit body and configured to electrically connect with the robotic lawnmower, when the robotic lawnmower is in the docked position.

5. The robotic lawnmower confinement system of claim 1, further comprising a beacon disposed on each of the at least two dispenser units and the powered unit, the beacon configured to transmit a beacon identifier signal to the robotic lawnmower.

6. The robotic lawnmower confinement system of claim 5, wherein the beacon identifier signal comprises a sequence value corresponding to a sequential position of the corresponding beacon along the connected boundary wires.

7. The robotic lawnmower confinement system of claim 6, wherein the at least two dispenser units communicate over the connected boundary wires to assign the sequence value to each beacon.

8. The robotic lawnmower confinement system of claim 5, wherein each beacon is configured to emit a localization signal for receipt by the operating robotic lawnmower.

9. The robotic lawnmower confinement system of claim 8, wherein the localization signal allows the robotic lawnmower to calculate a pose of the robotic lawnmower based on at least one of signal strength ranging (SSR), time difference of arrival (TDOA), or an angle of arrival (AOA).

10. The robotic lawnmower confinement system of claim 8, wherein the localization signal comprises a radio frequency (RF) signal.

11. The robotic lawnmower confinement system of claim 10, wherein the localization signal comprises an ultra-wide band (UWB) emission.

12. The robotic lawnmower confinement system of claim 5, wherein the at least two dispenser units and the powered unit each comprise a transceiver configured to communicate and/or receive a communication signal through the connected boundary wires to/from another one of the at least two dispenser units or the powered unit.

13. The robotic lawnmower confinement system of claim 12, wherein the beacons emit isynchronous localization signals and the communication signal between the at least two dispenser units is a sync pulse.

14. The robotic lawnmower confinement system of claim 13, wherein the isynchronous localization signals are time of arrival emissions in an ultra-wide radio frequency band.

15. The robotic lawnmower confinement system of claim 1, wherein each dispenser unit comprises a rotatable spool housed by the housing and carrying a winding of the corresponding length of boundary wire.

16. The robotic lawnmower confinement system of claim 15, wherein the rotatable spool is spring biased toward a take-in rotation direction and selectively engageable to allow selective retraction of a variable length of boundary wire.

17. The robotic lawnmower confinement system of claim 1, wherein each dispenser unit comprises a stake disposed on the housing for anchoring the dispenser unit to a ground surface.

18. The robotic lawnmower confinement system of claim 1, wherein the powered unit comprises an electrical socket.