Robot confinement

• US 9,582,005 B2
• Filed: 02/12/2014
• Issued: 02/28/2017
• Est. Priority Date: 01/24/2001
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Primary Examiner(s): Santana, Eduardo Colon
• Assistant Examiner(s): Bouziane, Said
• Application Number:
  US14/179,284
• Publication Number:
  US 20140222251A1
• Time in Patent Office: 1,112 Days
• Field of Search: 701/2
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/028 using a RF signal

Abstract

A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Claims

1. A robot confinement system, comprising:

a portable barrier signal transmitting device comprising;

a first emitter configured to emit a first confinement beam; and

an input device enabling a user to select an amount of power of the first confinement beam; and

a mobile robot comprising;

at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot on a surface;

a cleaner configured to clean the surface as the mobile robot moves on the surface;

a detector configured to detect the first confinement beam; and

a controller configured to control the at least one motor to change a movement path of the mobile robot to prevent the mobile robot from crossing the first confinement beam by

determining whether the detector detects the first confinement beam, and

upon determining that the detector detects the first confinement beam, turning the robot in a chosen direction until the detector no longer detects the first confinement beam.

2. The robot confinement system of claim 1, wherein the controller is configured to continue to turn the mobile robot in the chosen direction at least a predetermined amount after the first confinement beam is no longer detected by the detector.

3. The robot confinement system of claim 1, wherein the controller is configured to randomly determine the chosen direction in response to the detector detecting the first confinement beam.

4. The robot confinement system of claim 1, wherein the controller is configured to prevent the mobile robot from crossing the first confinement beam by reversing a direction most recently traveled by the robot.

5. The robot confinement system of claim 1, wherein the portable barrier signal transmitting device comprises a second emitter configured to emit a second confinement beam, and wherein the mobile robot is configured to detect the second confinement beam when the mobile robot is within a predetermined distance of the portable barrier signal transmitting device.

6. The robot confinement system of claim 5, wherein the controller is configured to change the movement path of the mobile robot to prevent the mobile robot from physically contacting the portable barrier transmitting device in response to detection of the second confinement beam.

7. The robot confinement system of claim 5, wherein the first emitter is configured to emit the first confinement beam as a collimated confinement beam and the second emitter is configured to emit the second confinement beam as a substantially omni-directional beam.

8. The robot confinement system of claim 1, wherein the mobile robot further includes:

a bump sensor operable to detect a physical contact with a shell of the mobile robot as the mobile robot moves on the surface; and

a cliff sensor operable to detect a falling edge of the surface as the mobile robot moves toward the falling edge,

wherein the controller is operable to change the movement path of the mobile robot in response to detection of the physical contact and in response to detection of the falling edge.

9. The robot confinement system of claim 1, wherein the detector of the mobile robot is configured to detect the first confinement beam when an intensity of the first confinement beam is above a predefined intensity threshold.

10. The robot confinement system of claim 1, wherein the input device of the portable barrier signal transmitting device is configured to enable the user to select the amount of power of the first confinement beam based on based on a room length of a room or a doorway length of a doorway.

11. A method performed by a user of a robot confinement system, the method comprising:

positioning a portable barrier signal transmitting device on a surface, the portable barrier signal transmitting device comprising a first emitter configured to emit a first confinement beam;

activating the portable barrier signal transmitting device;

using an input device of the portable signal transmitting device to select an amount of power of the first confinement beam; and

causing a mobile robot to move along a movement path on the surface and clean the surface, so that the mobile robot changes the movement path of the mobile robot to prevent the mobile robot from crossing the first confinement beam by

determining whether a detector of the mobile robot detects the first confinement beam, and

upon determining that the detector detects the first confinement beam, turning in a chosen direction until the detector no longer detects the first confinement beam.

12. The method of claim 11, wherein using the input device to select an amount of power of the first confinement beam comprises selecting the amount of power based on a room length of a room or a doorway length of a doorway.

13. The method of claim 11, wherein changing the movement path of the mobile robot comprises continuing to turn the mobile robot in the chosen direction at least a predetermined amount after the first confinement beam is no longer detected by the detector.

14. The method of claim 11, wherein the mobile robot is configured to randomly determine the chosen direction in response to the detector detecting the first confinement beam.

15. The method of claim 11, wherein changing the movement path of the mobile robot comprises reversing a direction most recently traveled by the robot.

16. The method of claim 11, wherein the portable barrier signal transmitting device comprises a second emitter configured to emit a second confinement beam, and wherein the mobile robot is configured to detect the second confinement beam when the mobile robot is within a predetermined distance of the portable barrier signal transmitting device.

17. The method of claim 16, wherein the first emitter is configured to emit the first confinement beam as a collimated confinement beam and the second emitter is configured to emit the second confinement beam as a substantially omni-directional beam.

18. The method of claim 16, wherein changing the movement path of the mobile robot comprises changing the movement path to prevent the mobile robot from physically contacting the portable barrier transmitting device in response to detection of the second confinement beam.

19. The method of claim 11, wherein the mobile robot detects the first confinement beam when an intensity of the first confinement beam is above a predefined intensity threshold.