Optional operating door for autonomous installation

Abstract

A selectively operable door (50) for a robotic vehicle (10) may include: a door frame arrangeable in a barrier that divides two areas in which the robotic vehicle (10) can travel; a door body (54) hingedly connected to the door frame (52); and a latch assembly configured to alternately allow the door body (54) to move, wherein allowing the door body enables the robotic vehicle (10) to pass through the selectively operable door (50) via displacement of the door body (54), and preventing the door body (54) from moving so that the door body (54) remains in a closed state. The latch assembly may include an automatic latch configured to define a release position in which the door body (54) is allowed to move from the closed state, and a capture position in which the door body is allowed to move to the closed state and is prevented from moving from the closed state.

Description

Technical Field

[0001] The exemplary embodiments relate generally to robotic vehicles and, more particularly, to a door that is selectively operable to enable a robotic vehicle to pass through. Background Art

[0002] Yard maintenance tasks are often performed using a variety of tools and / or machines configured to perform specific tasks. Certain tasks, such as mowing, are often performed by lawn mowers. Lawn mowers themselves can come in a variety of different configurations to suit consumer needs and budgets. Walk-behind lawn mowers are typically compact, have relatively small engines, and are relatively inexpensive. Meanwhile, at the other extreme, ride-on lawn mowers, such as lawn tractors, can be quite large. More recently, robotic mowers and / or remote-controlled mowers have also become options for consumers.

[0003] Robotic lawn mowers are typically limited to operating on a lot that is bounded by some form of boundary (e.g., defined by a line or other method). The robotic lawn mower is able to detect the boundary and operate relatively autonomously within the area defined by the boundary. However, in some cases, the physical boundary (e.g., a fence or portion thereof in a yard) may only be a portion of the operating area in which the robotic lawn mower is intended to operate. For example, while a front yard is traditionally not fenced, a backyard may indeed be fenced. At the same time, it may be desirable for the robotic lawn mower to operate in both the front and back yards. In this or other situations, it may be desirable for the robotic lawn mower to pass from one area to another without losing security, privacy, or the integrity of a barrier (such as a wall or fence). Summary of the Invention

[0004] Therefore, some exemplary embodiments may provide a selectively operable door for passage of a robotic vehicle. The selectively operable door may include: a door frame, which may be arranged in a barrier that divides two areas in which a robotic vehicle can travel; a door body, which is hingedly connected to the door frame; and a latch assembly, which is configured to alternately allow the door body to move, enabling the robotic vehicle to pass through the selectively operable door via displacement of the door body, and to prevent the door body from moving, thereby maintaining the door body in a closed state. The latch assembly may include an automatic latch, which is configured to define a release position, in which the door body is allowed to move from the closed state, and a capture position, in which the door body is allowed to move from the closed state and is prevented from moving from the closed state. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Having generally described the invention, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and in which:

[0006] Figure 1 An exemplary operating environment for a robotic vehicle of an exemplary embodiment is shown;

[0007] Figure 2 An enclosure in which a selectively operable door is located is shown in accordance with an exemplary embodiment;

[0008] Figure 3 A block diagram illustrating various components that may be used as part of a selectively operable door according to an exemplary embodiment;

[0009] Figure 4 shows a side view of a portion of a door frame, motor, and automatic lock of a selectively operable door according to an exemplary embodiment;

[0010] Figure 5 shows a perspective view of an automatic lock in a captured position according to an exemplary embodiment;

[0011] Figure 6 shows a perspective view of an automatic lock transitioning to a released position according to an exemplary embodiment;

[0012] Figure 7 shows a perspective view of a detached automatic lock according to an exemplary embodiment;

[0013] Figure 8 An automatic lock with half of the housing removed is shown according to an exemplary embodiment;

[0014] Figure 9 An automatic lock is shown in a captured position with one half of the housing removed to show its internal components, according to an exemplary embodiment;

[0015] Figure 10 An automatic lock is shown in a released position with half of its housing removed to show its internal components according to an exemplary embodiment;

[0016] Figure 11 is a perspective view of the interior components of an isolated automatic lock according to an exemplary embodiment; and

[0017] Figure 12 is a block diagram of various components of a robotic vehicle and a vehicle detector according to an exemplary embodiment. DETAILED DESCRIPTION

[0018] Some exemplary embodiments will be described more fully below with reference to the accompanying drawings, in which some, but not all, exemplary embodiments are shown. Indeed, the examples described and depicted herein should not be construed as limitations on the scope, applicability, or construction of the present disclosure. Rather, these exemplary embodiments are provided so that the present disclosure will satisfy applicable legal requirements. Throughout, like reference numerals refer to like elements. Furthermore, the term "or," as used herein, should be interpreted as a logical operator whose result is true when one or more of its operands is true. Furthermore, the term "yard maintenance" refers to activities related to the improvement or maintenance of any outdoor grounds and need not be specifically applicable to activities directly related to grass, turf, or lawn care. Operably coupled, as used herein, should be understood to involve either a direct connection or an indirect connection, in either case enabling the functional interconnection of components that are operably coupled to one another.

[0019] A robotic lawn mower, an example of a robotic vehicle according to an exemplary embodiment, typically mows an area defined by a boundary that delimits the area to be mowed. The robotic lawn mower roams within the defined area to ensure that the entire area is mowed, but the robotic lawn mower does not stray beyond the defined area. When operating within a fenced area, the boundary can be formed by the fence itself or by embedding boundary wire near the fence. However, if the robotic lawn mower needs to leave the fenced area for any reason, several issues may arise. First, a gap may need to be provided in the fence to allow the robotic lawn mower to exit the fenced area. Second, if some type of gate is used to avoid defining the gap, the gate may be unsafe or may require manual operation to inhibit the operation of the robotic lawn mower. If the gate opens automatically, the amount of power consumed to unlock the gate when the robotic lawn mower approaches without intending to pass through it may lead to excessive battery drain or other power waste.

[0020] Example embodiments may provide a selectively operable door that maintains the integrity and continuity of the fence relative to the enclosed fenced area by preventing the introduction of unsecured portions of the fence. Example embodiments may also enable robotic vehicles (e.g., robotic lawn mowers) to easily (and autonomously) navigate the fence (i.e., via the selectively operable door) to reach other service areas and / or charging stations for the robotic vehicles. Furthermore, example embodiments may provide for door operability that minimizes the occurrence of false alarms or unnecessary unlock cycles.

[0021] While a robotic lawn mower is one example of a device that can utilize a selectively operable door according to an exemplary embodiment, it should be noted that other robotic vehicles can also operate with such a device. For example, robotic vehicles configured as motion sensing devices, watering devices, fertilizing devices, sprayers / spreaders, etc. can also utilize exemplary embodiments. In this regard, while operating within a boundary (which can be defined in any of a variety of different ways), the robotic vehicle can perform functions and can be intelligent enough to avoid (and possibly even classify) objects it encounters by employing non-contact sensors, while further enabling the robotic vehicle to navigate through doorways and into physically separate portions of the lot served by the robotic vehicle. By enabling the robotic vehicle to accurately determine its location and navigate its surroundings (including interaction with selectively operable doors), some exemplary embodiments can significantly expand the capabilities and performance of the robotic vehicle.

[0022] Boundary lines can be one way to define a boundary. However, because boundary lines can be difficult to install in certain areas, other strategies can be used in some cases. For example, global positioning systems (GPS), dead reckoning, local positioning beacons, physical boundaries, or even visual fixation relative to various structural markers can alternatively be used to locate the robotic vehicle and keep the robotic vehicle within the boundary. Thus, a robotic vehicle can be provided that can operate and remain within a boundary that can be defined in any of a variety of different ways. In addition, the robotic vehicle can be intelligent enough to enter through a door into a physically separated portion of the service area.

[0023] Figure 1 An exemplary operating environment for a robotic vehicle 10, which may be used as a de-icing robot in connection with an exemplary embodiment, is shown. However, it should be understood that exemplary embodiments may employ numerous other robotic vehicles, and thus robotic vehicle 10 should be considered merely one example of such a vehicle. Robotic vehicle 10 may be operated to mow grass in a service area 20 (i.e., a plot of land in which robotic vehicle 10 may operate). Service area 20 includes a first portion 22 and a second portion 24 that are physically separated from each other. In this example, first portion 22 is a backyard surrounded by a first boundary, which is a fence 30. Obviously, a structure 32 (e.g., a house or other building) may also form part of the first boundary.

[0024] The first boundary may be defined using one or more physical boundaries (e.g., a fence 30, a wall, a curb, a building, a boundary line, etc.), or a boundary based on programmed locations, or a combination thereof. When the first boundary 30 is detected by any suitable means, the robotic vehicle 10 may be notified so that the robotic vehicle 10 may operate to prevent the robotic vehicle 10 from leaving or moving outside of the boundary 30.

[0025] exist Figure 1 In the example of FIG. 3 , the service area 20 also includes a second portion 24, which may be a front yard (which is not fenced in this example). As mentioned above, a portion of the fence 30 (and the structure 32) separates the first portion 22 of the service area 20 from the second portion 24. The second portion 24 of the service area 20 may be surrounded by a second boundary 34. In this example, the second boundary 34 may be a boundary line. However, as mentioned above, other means of defining the second boundary 34 may be used in some cases. Furthermore, it should be understood that if both the second boundary 34 and the first boundary are defined by boundary lines, the boundary lines may be the same continuous boundary line, or different boundary lines as in the alternative example.

[0026] The robotic vehicle 10 may be controlled, at least in part, via control circuitry 12 located on the robotic vehicle 10. Furthermore, the control circuitry 12 may include a positioning module and a sensor module, as described in greater detail below. Thus, with respect to performing tasks in the first and second portions 22, 24 of the service area 20, the robotic vehicle 10 may use the control circuitry 12 to define a path (e.g., in some cases, the path may be random) for covering the service area 20. In this regard, as the robotic vehicle 10 traverses the service area 20, the positioning module may be used to guide the robotic vehicle 10 through the service area 20 and ensure full coverage (of at least a predetermined portion of the service area 20), while the sensor module may detect objects and / or collect data regarding the environment surrounding the robotic vehicle 10.

[0027] If a sensor module is employed, the sensor module may include sensors related to position determination (e.g., a GPS receiver, an accelerometer, a camera, a radar transmitter / detector, an ultrasonic sensor, a laser scanner, etc.). Thus, for example, position determination may be performed using GPS, inertial navigation, optical flow, radio navigation, visual localization (e.g., VSLAM), and / or other localization technologies, or a combination thereof. Thus, the sensors may be used, at least in part, to determine the position of the robotic vehicle 10 relative to the boundaries of the service area 20 or other points of interest (e.g., a starting point or other key features), or to determine the position history or trajectory of the robotic vehicle 10 over time. The sensors may also detect collisions, rollovers, or various fault conditions. In some cases, the sensors may also or alternatively collect data regarding various measurable parameters associated with a particular location on the service area 20 (e.g., humidity, temperature, soil conditions, etc.).

[0028] In an exemplary embodiment, the robotic vehicle 10 can be battery-powered via one or more rechargeable batteries. Thus, the robotic vehicle 10 can be configured to return to a charging station 40, which may be located somewhere within the service area 20, to recharge the batteries. The batteries can power the drive system and blade control system (or other functional components) of the robotic vehicle 10. However, the control circuitry 12 of the robotic vehicle 10 can selectively control the application of power or other control signals to the drive system and / or blade control system to direct the operation of the drive system and / or blade control system. Thus, the movement of the robotic vehicle 10 within the service area 20 can be controlled by the control circuitry 12, enabling the robotic vehicle 10 to systematically or randomly traverse the service area 20 while operating the blade control system to mow (or otherwise service) the service area 20.

[0029] The charging station 40 may be arranged in the first portion 22 or the second portion 24 of the service area 20. Figure 1 The fact that charging station 40 is located in first portion 22 should not be considered limiting in any way. In order for charging station 40 to operate on second portion 24, robotic vehicle 10 must have a way to pass between first portion 22 and second portion 24. Therefore, a selectively operable door 50 (or simply "door") of one exemplary embodiment may be provided in enclosure 30. However, it should also be understood that charging station 40 may be located in structure 32, and then selectively operable door 50 may be located in a wall of structure 32.

[0030] Figure 2A perspective view of an exemplary embodiment of a selectively operable door 50 is shown in situ within enclosure 30. In this example, enclosure 30 is formed from a series of vertical and horizontal beams or rods. However, enclosure 30 may take any form and be formed from any material in alternative embodiments. Selectively operable door 50 may be positioned in a portion of enclosure 30 near the ground to enable robotic vehicle 10 to drive through selectively operable door 50 (and therefore, enclosure 30) without difficulty or interference.

[0031] like Figure 2 As shown in , the selectively operable door 50 may include multiple physical components, including a door frame 52 and a door body 54 hingedly attached to the door frame 52. Although not required, the door body 54 can typically be hingedly attached to a top member or cross member of the door frame 52. The top member or cross member of the door frame 52 can extend between two parallel door jambs on opposite sides of the door body 54. In some cases, the door frame 52 may include a bottom member, but such a bottom member is not required. Therefore, the door body 54 can extend almost to the ground or in some cases extend to the ground. If a bottom member is used, the bottom member can be relatively thin (or inclined at a slight slope) so that the robotic vehicle 10 can travel on the bottom member relatively easily.

[0032] In an exemplary embodiment, the door body 54 may include an engagement member 58 attached to each opposing side of the door body 54 (i.e., one engagement member 58 facing the first portion 22 and one engagement member 58 facing the second portion 24 of the service area 20). The engagement members 58 may be used to interact with one or more different functionalities of the robotic vehicle 10. For example, in a simple embodiment, the engagement members 58 may be (or include) one or more rollers. In this example, the robotic vehicle 10 may contact the engagement members 58 when passing through the selectively operable door 50 to minimize any damage or friction to the body of the robotic vehicle 10. Thus, the rollers may ensure that the physical appearance and appearance of the body of the robotic vehicle 10 are not excessively damaged, marred, or scratched. In other examples, the engagement members 58 may have additional or alternative functions (as discussed in more detail below).

[0033] Figure 3 A block diagram of an exemplary embodiment of a selectively operable door 50 is shown. The selectively operable door 50 may include a latch assembly configured to alternately lock and unlock to prevent the selectively operable door 50 from opening when locked and to allow the robotic vehicle 10 to pass through the selectively operable door 50 when unlocked. The latch assembly may include components that may be embodied in a variety of different ways. Figure 3In the example shown in , the door frame 52 can have a bolt 100 extending from the door frame toward the door body 54 to engage an automatic lock 110 arranged at the door body 54. Therefore, in this example, the automatic lock 110 and the bolt 100 can form a latch assembly (or a portion thereof). In some cases, the automatic lock 110 can be located inside the door body 54, and a portion thereof is exposed to receive the bolt when aligned with the bolt 100. However, it should be understood that, alternatively, the automatic lock 110 can be located completely or partially outside the door body 54. In some examples, the positions of the bolt 100 and the automatic lock 110 can also be reversed. In each case, when the door body 54 is in a closed state relative to the door frame 52, the automatic lock 110 and the bolt 100 can be aligned with each other so that the automatic lock 110 can capture or hold the bolt 100 (e.g., in a locked or captured state).

[0034] In some examples, when the door body 54 is in the closed position, the magnet 120 can be arranged at a portion of the door body 54 that is aligned with another magnet 122 arranged in the door frame 52. Therefore, when the door body 54 swings (either freely or against a spring force), the magnets 120 and 122 will tend to attract each other, causing the door body 54 to stop in the closed position. The automatic lock 110 will then also be properly aligned with the bolt 100, so that operation of the automatic lock 110 alternately captures or releases the bolt 100 (as described in more detail below) to lock and unlock the door body 54 relative to the door frame 52, respectively. When the door body 54 is locked relative to the door frame 52, the selectively operable door 50 (or latch assembly) can also be considered locked. When the door body 54 is unlocked relative to the door frame 52, the selectively operable door 50 (or latch assembly) can also be considered unlocked.

[0035] When the selectively operable door 50 is unlocked, the robotic vehicle 10 can pass through the selectively operable door 50 with minimal interference by pushing the door body 54 so that it swings on the hinge connecting the door body 54 to the door frame 52. When the selectively operable door 50 is locked, the robotic vehicle 10 may not be able to pass through the selectively operable door 50, and the automatic lock 110 captures the bolt 100, preventing the door body 54 from swinging out of the closed state on the hinge connecting the door body 54 to the door frame 52.

[0036] In an exemplary embodiment, the automatic lock 110 can alternately capture and release the bolt 100 in response to movement of a portion of the automatic lock 110. Thus, the automatic lock 110 can define a release position, in which the bolt 100 is released, allowing the door body 54 to move relative to the door frame 52, and a capture position, in which movement of the door body 54 relative to the door frame 52 from the closed state is prevented, but the door body 54 can still move to the closed state (e.g., if the door body 54 is displaced from the closed state). In some cases, a motor 130 can be operably coupled to the automatic lock 110 to drive the automatic lock 110 (or a portion thereof) to alternately capture and release the bolt 100 (or at least move between respective capture and release positions capable of capturing and releasing the bolt 100, respectively). The motor 130 can be an AC motor or a DC motor powered by a power source 132. In an exemplary embodiment, the power source 132 can be a battery, and the motor 130 can be a DC motor (e.g., a brushless DC (BLDC) motor). However, in alternative embodiments, the motor 130 may be an AC motor and the power supply 132 may be a mains power supply. The power supply 132 may be located in the door frame 52 (or otherwise located outside the door body 54) and connected to the motor 130 via a wire extending between the door frame 52 and the door body 54 near or through the hinge. However, in some cases, the power supply 132 may alternatively be located in the door body 54.

[0037] The operation of the motor 130 can be managed by a controller 140. The controller 140 can include processing circuitry (e.g., a processor and memory) that can be configured to respond to trigger instructions provided thereto in order to instruct the motor 130 to operate to move the automatic lock 110 between the captured position and the released position. In an exemplary embodiment, the controller 140 can be operably coupled to a vehicle detector 150 that is configured to provide an opening trigger instruction to the controller 140 upon determining that the robotic vehicle 10 is moving toward the selectively operable door 50 to pass therethrough. The opening trigger instruction (or signal) can be an electrical signal or a mechanical signal (as discussed in more detail below), and the vehicle detector 150 can also take a variety of forms as discussed below. In response to receiving the opening trigger instruction, the controller 140 can instruct the motor 130 to operate to move the automatic lock 110 (or a portion thereof) to the released position.

[0038] In one exemplary embodiment, when the controller 140 receives a close trigger command (or signal) from a door motion detector (or simply, motion detector 160), the motor 130 can operate in response to the command from the controller 140 to move the automatic lock 110 (or a portion thereof) to the captured position. The motion detector 160 can be configured to detect at least a predetermined amount of movement of the door body 54. In one exemplary embodiment, the motion detector 160 can be an accelerometer, and the accelerometer can be configured to detect at least a predetermined amount of movement of the door body 54 (e.g., pivoting greater than 30 degrees about a hinge). Thus, the motion detector 160 can detect that the robotic vehicle 10 has moved through the selectively operable door 50 and displaced the door body 54 by a predetermined amount relative to the door frame 52, and can provide a close trigger command to the controller 140.

[0039] Figure 4 A partial cross-sectional view of a portion of a selectively operable door 50 according to an exemplary embodiment is shown. In this regard, a portion of a door frame 52 is shown together with a door body 54 (shown in phantom). The door body 54 encloses an automatic lock 110 and a motor 130 therein. The door body 54 also includes an aperture within which a bolt 100 can extend to be captured by the automatic lock 110. Meanwhile, magnets 120 and 122 are disposed adjacent to each other at the bottom portions of the door body 54 and the door frame 52, respectively. However, the magnets 120 and 122 may alternatively (or additionally) be located at other locations.

[0040] Figure 5 and Figure 6 Shown in the captured position ( Figure 5 ) and moving toward (or being in) a released position ( Figure 6 ) is a perspective view of the automatic lock 110. Figure 5 As shown in FIG, the automatic lock 110 can have a housing 200 from which a first capture element 210 and a second capture element 212 can extend. In this case, the first and second capture elements 210, 212 can extend from the bottom portion of the housing 200 to define a capture position. In this regard, when the first and second capture elements 210, 212 are fully extended, the first and second capture elements 210, 212 can be considered to be in the capture position (e.g., Figure 5 ). When the door body 54 is in the closed state and the first and second catch elements 210, 212 are in the catch position, the first and second catch elements 210, 212 may extend on opposite sides of the bolt 100 (as shown in FIG. Figure 5 ).

[0041] The first and second capture elements 210, 212 can be retracted into the housing 200 to transition to a release position. Figure 6 , the first and second catch elements 210, 212 can be moved in the direction of arrow 214 so that the first and second catch elements are no longer on opposite sides of the bolt 100, and thus the automatic lock 110 and the door body 54 can move relative to the bolt 100 and the door frame 52, respectively. When the first and second catch elements 210, 212 are retracted, both the first and second catch elements 210, 212 may not be able to contact the bolt 100. However, when not retracted (and therefore extended), the first and second catch elements 210, 212 are able to contact the bolt 100.

[0042] Figure 7 A perspective view of an automatic lock 110 is shown according to an exemplary embodiment. Figure 8 An automatic lock 110 is shown with half of its housing 200 removed to expose the internal components of the automatic lock 110 according to an exemplary embodiment. Figure 7 and Figure 8 The operation of the automatic lock 110 will be described when the door body 54 is returned to the closed state and the automatic lock is in the captured position. Figure 9 and Figure 10 The automatic lock 110 with the first and second catch elements 210 , 212 is shown in the catch position and the release position to facilitate describing the transition between the catch position and the release position. Figure 11 A perspective view of some of the internal parts of the automatic lock 110 is shown to further illustrate certain aspects of the operation of the automatic lock 110.

[0043] First reference Figure 7 and Figure 8 As can be seen, the housing 200 (or at least half thereof) includes receiving tracks 240 for the first and second capture elements 210, 212. In this regard, there is one instance of the receiving track 240 on each lateral side of the housing 200, and the receiving tracks 240 form a void space within which the first and second capture elements 210, 212 can move upward and downward.

[0044] The first and second capture elements 210, 212 each include an inclined surface 250 located at a distal end thereof. The inclined surfaces 250 are angled to face away from one another, and the inclined surfaces are located on a protrusion 252 that is capable of engaging the bolt 100 when the protrusions 252 of the first and second capture elements 210, 212 extend out of the housing 200. The first and second capture elements 210, 212 each also include a longitudinally extending retaining slot 254 within which an offset member, such as a spring 256, is located. The spring 256 extends from the protrusion 252 to a stop member 260 located in the receiving track 240 of the housing 200. Thus, as Figure 8 As can be appreciated, any upward movement of any one of the protrusions 252 within a corresponding one of the receiving rails 240 can cause the spring 256 in the corresponding retaining slot 254 to be compressed between the protrusion 252 and the stop member 260. When any force causing the protrusion 252 to move upward (in the direction of arrow 214) or holding the protrusion 252 in a position compressing the spring 256 is removed, the spring 256 will unload itself and cause the protrusion to move downward (in a direction opposite to the direction of arrow 214).

[0045] So, for example, Figure 8 As shown in FIG, if the door body 54 is allowed to pivot from the open position toward the closed state (e.g., in the swing direction indicated by arrow 270), the bolt 100 may first contact the inclined surface 250 of the second catch element 250 (at the location of the bolt 100 indicated by dashed circle 272). The bolt 100 will then travel along the inclined surface 250 (e.g., due to gravity acting on the door body 54 due to the weight and corresponding momentum of the door body 54), and as the second catch element 212 moves upward along the receiving track 240 into the housing 200, the bolt will overcome the spring 256 to compress the spring 256. The bolt 100 will then pass through the second catch element 212 and enter the space between the first and second catch elements 210, 212 and strike the side of the first catch element 210 opposite the inclined surface 250 of the first catch element 210, thereby stopping the movement of the door body 54 in the direction of arrow 270. At the same time, the spring 256 will be unloaded after the bolt 100 passes over the second arresting element 210, and the protrusion 252 of the second arresting element 212 will move downward (in the direction opposite to the arrow 214) to return to the Figure 7 and Figure 8. In the event that the bolt 100 rebounds from the first catch element 210 and moves in a direction opposite to the direction of arrow 270, the second catch element 212 will deflect the bolt 100 rearward to hold the bolt 100 in the space between the first and second catch elements 210, 212. The magnets 120, 122 will stop the door body 54 from moving and the bolt 100 will remain in the position shown by the dotted circle 276.

[0046] Obviously, reference Figure 7 and Figure 8 All actions described occur when the automatic lock 110 is in the captured position. Figure 6 The transition to the release position is shown and described, but Figure 10 The automatic lock 110 is shown in a fully released position. Figure 6 and Figure 10 As can be appreciated, movement of the motor 130 can cause corresponding movement of the carrier assembly 300 of the automatic lock 110. The carrier assembly 300 can be operably coupled to the motor 130 at a proximal end and can be operably coupled to (and extend between) the first and second catch elements 210, 212 at a distal end of the carrier assembly 300. In this example, the distal end of the carrier assembly 300 can include a lifting arm 310 that engages a portion of the first and second catch elements 210, 212 and holds the first and second catch elements 210, 212 in the receiving track 240 against the force of the spring 256 (which would otherwise force the first and second catch elements 210, 212 out of the housing 200).

[0047] The bearing assembly 300 further includes a slot 320, an inclined portion 322, and a retaining well 324. The slot 320, the inclined portion 322, and the retaining well 324 can each extend along the longitudinal centerline of the bearing assembly 300. The fixing bolt 330 can be retained by the housing 200 and can have a ball member 332 facing inward (toward the bearing assembly 300). The ball member 332 can be configured to engage the ball member 332 when the bearing assembly 300 is in a position corresponding to the captured position (e.g., Figure 9 ) corresponding position in the slot 320. This may represent the farthest downward travel of the carrier assembly 300, and the carrier assembly 300 may be moved to this position by the motor 130. As mentioned above, upon receiving the open trigger command, the motor 130 may be operated to pull the automatic lock 110 out of the captured position and into the released position (as shown in FIG. Figure 10 Thus, the motor 130 can move upward (as shown in FIG. Figure 10The motor 130 pulls the proximal end of the carrier assembly 300 (as indicated by the arrow 340 in FIG. 1 ) and correspondingly also lifts the first and second capture elements 210 and 212 upward to retract the first and second capture elements into the interior of the housing 200. When the motor 130 pulls the carrier assembly 300 upward relative to the housing 200, the ball member 332 can slide along the inclined portion 322 and enter the holding well 324. When the motor 130 has moved the carrier assembly 300 to the position shown in FIG. Figure 10 , the motor 130 may stop operating in order to limit the power consumed by the motor 130. The fact that the motor 130 does not remain on throughout the cycle can save power and thus extend the life of the battery if the power source 132 is a battery. While the power source for the motor 130 is disconnected and the spring 256 is compressed, the interaction between the retaining well 324 and the ball member 322 can maintain the bearing assembly 300 in the position shown. Figure 10 in the released position shown in .

[0048] When the motor 130 is operated in response to receiving the closing trigger command to switch the automatic lock 110 to ( Figure 9 When the ball member 332 reaches the inclined portion 322, the spring 326 can push the stop member 260 and unload to extend the first and second capture elements 210, 212 back to the original position. Figure 9 As an alternative to the ball member 332, other spring-loaded or energy storage devices may be employed. For example, any spring-loaded catch that fits into the stopper may be used, including a ball plunger, a plastic or Delrin feature molded into the assembly to fit into the stopper on a separate pullout, a flat metal piece attached to the spring and interacting with the stopper on the exterior of the pullout assembly, and the like.

[0049] As mentioned above, motor 130 can operate in response to instructions from controller 140, and controller 140 can receive an open trigger instruction and a close trigger instruction from vehicle detector 150 and motion detector 160, respectively. Vehicle detector 150 can take a variety of forms. For example, vehicle detector 150 can be a wireless detector in some cases. In such an example, vehicle detector 150 can detect robotic vehicle 10 without any physical contact between robotic vehicle 10 and selectively operable door 50.

[0050] In other examples, the vehicle detector 150 may require physical contact to detect the robotic vehicle 10, and thus the vehicle detector 150 may be considered a mechanical detector or a physical detector. One such example of a physical detector may include providing a mechanical switch on each side of the selectively operable door 50. For example, Figure 2 The engagement member 58 of can be an example of a physical detector because the engagement member 58 can be actuated when in contact with the robotic vehicle 10. Effectively, the engagement member 58 can act as a mechanical switch that is triggered when the robotic vehicle 10 engages the engagement member 58. The switch can be synchronized with the controller 140 in the door body 54 (thereby providing an open trigger instruction) so that when contact is detected, the controller 140 can command the motor 130 to operate the automatic lock 110 as described above, thereby causing the first and second arresting elements 210, 212 to transition to the release position. When Figure 3 When the motion detector 160 detects that the movement of the door body 54 exceeds a predetermined amount (e.g., 30 degrees), the controller 140 may receive a closing trigger instruction and may instruct the motor 130 to operate in the opposite direction (e.g., as described above) to switch the automatic lock 110 to the capture position. When the door body 54 stops swinging, the second capture element or one of the second capture elements 210 or 212 will be as described above. Figure 8 The engaging member 58 may also take other physical forms at (or near) the door body 54 and may be located in a mechanical assembly or housing that protects the engaging member 58 from interaction with natural debris, weather, or animals.

[0051] Alternatively, the engagement member 58 can be configured to close an open circuit by physically contacting the robotic vehicle 10. In this regard, for example, electrical contacts can be provided at the engagement member 58 to interact with a conductive portion or strip on the front of the robotic vehicle 10. When the robotic vehicle 10 impacts the engagement member 58, the open circuit of the engagement member 58 can be closed to provide an open trigger command to the controller 140, thereby causing the automatic lock 110 to transition to the released position (as described above). After the robotic vehicle 10 displaces the door and the circuit is no longer closed, the automatic lock 110 can also transition back to the captured position (as described above).

[0052] Figure 12 FIGURE 1 shows a block diagram of an exemplary structure that may be used to provide a wireless detector for vehicle detector 150 of some exemplary embodiments. Figure 12 The components shown in FIG. 1 are merely examples of some components that may be used in conjunction with some exemplary embodiments. Other configurations are also possible. In addition, some embodiments may use components other than Figure 12All of the components shown may be fewer than the components shown and / or selected components may be used in any combination. In some cases, other components may also be substituted for or added to the Figure 12 The parts shown in .

[0053] Now refer to Figure 12 , the robotic vehicle 10 may include the control circuitry 12 discussed above. The vehicle detector 150 may include processing circuitry 400, which may be similar in form and / or function to the control circuitry 12 of the robotic vehicle 10. For example, each may include a processor and memory, which may be programmable to define the corresponding operational functions of the respective devices. According to an exemplary embodiment of the present invention, the control circuitry 12 and the processing circuitry 400 may each be configured to perform data processing or control functions and / or other processing and management services. In some embodiments, the control circuitry 12 and the processing circuitry 400 may each be embodied as a chip or chipset. In other words, the control circuitry 12 and the processing circuitry 400 may include one or more physical packages (e.g., chips) including materials, components, and / or cables on a structural assembly (e.g., a substrate). The structural assembly may provide physical strength, dimensional stability, and / or electrical interaction limitations for the component circuitry contained thereon. Therefore, the control circuitry 12 and the processing circuitry 400 may, in some cases, be configured to implement embodiments of the present invention on a single chip or as a single "system on a chip." Thus, in some cases, a chip or chipset may constitute a means for performing one or more operations to provide the functionality described herein. Thus, for example, the control circuitry 12 and the processing circuitry 400 may include one or more instances of a processor and memory. In some cases, the processing circuitry 400 of the vehicle detector 150 may be shared with or distinct from the corresponding processing circuitry of the controller 140.

[0054] In an exemplary embodiment, processing circuitry 400 of vehicle detector 150 may include a transmitter 410 and / or a receiver 420 or otherwise communicate with (e.g., may be operably coupled to) the transmitter and / or the receiver. Similarly, control circuitry 12 of robotic vehicle 10 may include a transmitter 430 and / or a receiver 440 or otherwise communicate with (e.g., may be operably coupled to) the transmitter and / or the receiver. The interaction and configuration of selected ones of these transmitters and receivers may define a variety of specific implementations, such that vehicle detector 150 may be defined as a wireless detector.

[0055] In one exemplary embodiment, the wireless detector may be embodied as a Bluetooth or Bluetooth Low Energy (BLE) detector. In this instance, a transmitter 430 of the robotic vehicle 10 may transmit a relatively low-power signal (e.g., a Bluetooth or other low-power signal) that can be detected by the receiver 420 of the vehicle detector 150 when the robotic vehicle 10 is within range. In this particular exemplary embodiment, the receiver 440 or transmitter 410 may not be required or present. The distance at which the low-power signal can be detected can be adjusted by adjusting the power level of the transmitter 430. The receiver 420 of the vehicle detector 150 may have a predetermined signal detection threshold (e.g., a certain received signal strength indicator (RSSI) sufficient to be considered an open trigger). Thus, for example, the receiver 420 may be configured to generate an open trigger in response to any received low-power signal or only in response to received low-power signals above the predetermined threshold.

[0056] In some cases, the transmitter 430 may also be shielded (e.g., on the sides and rear of the robotic vehicle 10) so that the transmitted signal is strongest directly in front of the robotic vehicle 10. Thus, unless the robotic vehicle 10 is moving directly (or nearly directly) toward the selectively operable door 50, the robotic vehicle 10 may approach the selectively operable door 50 without triggering an unlock event. Thus, this shielding may provide a type of angle of approach (AOA) detection, which may be another component of the process for generating an open trigger command. Another AOA detection paradigm may be employed by enabling the receiver 420 at the vehicle detector 150 to identify the AOA based on signal reception. In this regard, for example, the receiver 420 may actually be implemented as two spaced-apart receivers located at different portions of the door body 54 (or door frame 52). Thus, the signals received from the transmitter 430 may be received at slightly different times based on the AOA, and the time difference may be used to calculate the AOA. If the AOA is outside a certain range (e.g., a range of values ​​indicating a possible intent of the robotic vehicle 10 to pass through the selectively operable door 50), the open trigger command may not be initiated. However, if the AOA is within a certain value range, an open trigger instruction may be initiated.

[0057] In some cases, the wireless detector may alternatively be embodied as a radio frequency identification (RFID) reader. In this example, transmitter 410 of vehicle detector 150 may be configured to transmit a signal that can be received at a passive RFID tag on robotic vehicle 10 (e.g., via receiver 440). The RFID tag may respond by transmitting the received signal, and the transmission from the RFID tag may be received by receiver 420 of vehicle detector 150, thereby indicating the presence of robotic vehicle 10 within a short distance of selectively operable door 50 to generate an open trigger command. Alternatively, the RFID tag may be an active tag rather than a passive tag. In either case, an RFID reader may be located in door frame 52 or door body 54 and may read the RFID tag to generate an open trigger command when robotic vehicle 10 approaches selectively operable door 50.

[0058] Examples employing RFID technology may also utilize AOA techniques similar to those described above to improve accuracy. In this regard, for example, the robotic vehicle 10 may have two passive or active RFID tags located thereon. Each of the two RFID tags may have a unique identity or identifier and may be placed on opposite sides of the robotic vehicle 10 (e.g., right and left sides). When the robotic vehicle 10 approaches the selectively operable door 50, the vehicle detector 150 may record the difference in the time it receives a signal from each RFID tag to determine the AOA based on the time difference. Alternatively, the two RFID tags may be located at the selectively operable door 50, and the reader may be located at the robotic vehicle 10. In this alternative, the calculation to generate the AOA may be similarly performed, except that the roles and positions of the components involved in the calculation are reversed.

[0059] In another exemplary embodiment, the wireless detector may be embodied as a time-of-flight (TOF) sensor. In this example, each side of the door body 54 may have an instance of a transmitter 410 thereon (or the transmitter 410 may be omnidirectional or bidirectional). The transmitter 410 may generate a signal that bounces off the robotic vehicle 10 and returns to and is received at the receiver 420. The TOF may be calculated, and the range may be determined based on this calculation. If the range decreases at a rate, this indicates that the robotic vehicle 10 is advancing toward the selectively operable door 50, and an open trigger command may be generated. In some cases, the AOA may be incorporated into this calculation by using the known speed of the robotic vehicle 10 and the rate at which the range to the selectively operable door 50 is decreasing. In this regard, the AOA may be determined by comparing the range closure rate with the known speed of the robotic vehicle 10 to determine whether the robotic vehicle 10 is directly approaching and, therefore, more likely intending to pass through the selectively operable door 50, rather than merely performing a cutting operation near the selectively operable door 50.

[0060] In some embodiments, wireless detection can be achieved via a combination of components that accurately track the location of the robotic vehicle 10. For example, the robotic vehicle 10 can include a positioning module 450 configured to accurately determine the location of the robotic vehicle 10. Positioning module 450 can be a GPS receiver or any other suitable device that can employ real-time kinematic (RTK) GPS positioning or accurately obtain location information in real time (e.g., GPS, GLONASS, Galileo, GNSS, etc.). The location information can then be transmitted (e.g., via transmitter 430) to receiver 420 of vehicle detector 150. Vehicle detector 150 can then determine (e.g., via processing circuitry 400) whether the robotic vehicle 10 is intended to pass through the selectively operable door 50 and transition the selectively operable door to the released condition as described above. Communication from transmitter 430 to receiver 420 can be direct or indirect. Thus, for some examples, a wireless network component (e.g., a WiFi / Bluetooth / cellular connection via a hotspot, access point, cellular base station, etc.) can be interposed between transmitter 430 and receiver 420.

[0061] As another alternative, wireless detection can be achieved visually. For example, vehicle detector 150 can be embodied as or include camera 460, and camera 460 can enable visual recognition technology to be used as the opening trigger. In this case, for example, one or more cameras can be mounted at selectively operable door 50. Camera 460 can be configured to initiate the opening trigger in response to visually recognizing robotic vehicle 10 in a specific position or on a recognized trajectory, each of which should be understood to have a high probability of corresponding to the robotic vehicle 10 intending to pass through selectively operable door 50. However, in some cases, camera 460 can have a focus relatively close to selectively operable door 50 and can be configured to read a marking that can be provided on the body of robotic vehicle 10. If robotic vehicle 10 is in focus and the marking is readable, it can be clear that robotic vehicle 10 has moved toward selectively operable door 50 and intends to pass through. In some cases, camera 460 can be located in engagement member 58. However, the camera 460 (where used) may also be located elsewhere on or near the selectively operable door 50 .

[0062] In some embodiments, the opening trigger command can be initiated via a magnetic trigger. For example, the engagement member 58 or other portion of the selectively operable door 50 can include a Hall effect sensor or a reed switch. In this example, the robotic vehicle 10 can emit a magnetic field at a relatively short range (e.g., to keep power levels and battery consumption low or to facilitate the use of small permanent magnets). The magnetic transmitter of the robotic vehicle 10 can be considered Figure 12 If the robotic vehicle 10 moves close enough to the selectively operable door 50 so that the receiver 420 (e.g., a Hall effect sensor or a reed switch) of the vehicle detector 150 can detect the magnetic field emitted by the robotic vehicle 10, an open trigger command may be initiated.

[0063] In some embodiments, transmitter 430 and receiver 440 may be part of an internal electronic communication system and / or implement an internal electronic communication protocol within robotic vehicle 10. A non-limiting example of such a system / protocol may include a universal asynchronous receiver-transmitter (UART). Regardless of implementation, the internal electronic communication system may be configured to follow the guide line to selectively operable door 50. When robotic vehicle 10 has found and followed the guide line, robotic vehicle 10 may explicitly proceed toward selectively operable door 50 to pass through the selectively operable door. In this example, the internal electronic communication system may have a corresponding predetermined condition associated therewith, which may cause an open trigger command to be generated. For example, when robotic vehicle 10 follows the guide line, an open trigger command for selectively operable door 50 may be generated.

[0064] For any of the mechanisms described above (via which an open trigger command may be initiated), it is desirable that the selectively operable door 50 remain unlocked for as short a time as possible after the open trigger command is initiated so that the power consumed to unlock and / or open the selectively operable door 50 can be minimized. It is therefore desirable that false triggering and any power associated with maintaining a condition (e.g., a released position) be kept to a minimum. Therefore, as mentioned above, the selectively operable door 50 can be configured to minimize power consumption by operating the motor 130 only to transition the automatic lock 110 to the released position. Thereafter, the automatic lock 110 is designed to remain in the released position without any power consumption by the motor 130 until an actual event associated with the robotic vehicle 10 moving past the selectively operable door 50 (e.g., the door body 54 swings a predetermined amount) causes the motor 130 to be operated again only long enough to return the automatic lock 110 to the released position.

[0065] In some cases, a timing circuit 470 may be provided at the vehicle detector 150, and upon receiving an open trigger command, the timing circuit 470 may begin counting a threshold amount of time. When the threshold amount of time has passed, if the door body 54 has not moved sufficiently to initiate a release trigger command, the timing circuit 470 may provide a signal to the controller 140, and the controller 140 may operate the motor 130 to switch the automatic lock 110 to the captured position to ensure that the door body 54 is no longer free to move.

[0066] In some embodiments, to further ensure against unwanted unlocking, the robotic vehicle 10 can be configured to overtly signal its intent to travel through the selectively operable door 50. In this example, the transmitter 430 of the robotic vehicle 430 can only be powered and thus enabled to transmit (regardless of the type of transmission) when the robotic vehicle 10 intends to travel through the selectively operable door 50. Movement of the door body 54 can then be detected (e.g., rather than detecting any door position itself) to transition from the released position to the captured position. As mentioned above, movement of the door body 54 can be achieved via an accelerometer. However, other sensors can alternatively be used to sense door movement, door position, or displacement relative to the frame, including, for example, magnetoresistive sensors, Hall effect sensors, inductive sensors, infrared sensors, optical sensors, physical switches, or RFID tags or other near-field communication (NFC) tags. In some cases, the sensor can be specifically configured to detect door angle or door rotation. Such sensors may include, for example, a potentiometer (e.g., a linear potentiometer rotating on an axis or hinge of the door body 54, or located on a spring-loaded plunger with a cam to show relative rotation angle), a momentary plunger switch (with a cam to trigger at a specific angle or range of angles), an optical angle sensor, a mechanical rotation sensor, an angular Hall effect sensor, a mercury angle switch, or an inertial measurement unit (IMU) (such as a magnetometer or gyroscope).

[0067] In one exemplary embodiment, a selectively operable door for passage of a robotic vehicle may be provided. The selectively operable door may include: a door frame, positionable within a barrier that demarcates two areas in which a robotic vehicle can travel; a door body hingedly connected to the door frame; and a latch assembly configured to alternately allow movement of the door body, wherein allowing movement of the door body enables a robotic vehicle to pass through the selectively operable door via displacement of the door body, and preventing movement of the door body maintains the door body in a closed state. The latch assembly may include an automatic latch configured to define a release position, in which the door body is allowed to move from the closed state, and a capture position, in which the door body is allowed to move from the closed state and the capture position is prevented from moving from the closed state.

[0068] Some embodiments of selectively operable doors may include additional features, modifications, enhancements, and the like to achieve other purposes or enhance the performance of the selectively operable door. These additional features, modifications, enhancements, and the like may be added in any combination. Below is a list of various additional features, modifications, and enhancements, which may be added individually or in any combination. For example, an automatic latch may be positioned on the door body, with the bolt of the latch assembly extending from the door frame toward the automatic latch. In one exemplary embodiment, the automatic latch may include a first and second catch element. When the door body is in the closed position, the first and second catch elements may extend on opposite sides of the bolt, and in the released position, the first and second catch elements may retract into the housing of the automatic latch. In some cases, each of the first and second catch elements may include an inclined surface at its distal end, the inclined surfaces being angled away from each other. In response to the door body swinging toward the closed position while the automatic latch is in the captured position, a corresponding one of the inclined surfaces moves along the bolt, displacing the corresponding one of the first and second catch elements toward the housing, thereby enabling the door body to return to the closed position. In one exemplary embodiment, the first and second capture elements can be biased toward an extended position, and a motor-operated load-bearing assembly can overcome the bias of the first and second capture elements to transition the automatic lock to a released position. In some cases, the load-bearing assembly can include a retaining well configured to engage with a ball member to retain the automatic lock in the released position until it is returned to the captured position by operation of the motor. In one exemplary embodiment, the automatic lock can be operably coupled to a motor that can be configured to operate the automatic lock to the released position in response to an open trigger command and to operate the automatic lock to the captured position in response to a close trigger command. In some cases, the motor can be configured to close in response to completing a cycle of transitioning the automatic lock between the released and captured positions. The automatic lock can be biased toward the captured position, and the automatic lock can be configured to remain in the released position when the motor is disconnected after transitioning the automatic lock to the released position. In one exemplary embodiment, the motor and the automatic lock can each be disposed within the door body. In some cases, the open trigger command can be received wirelessly via a signal transmitted from a robotic vehicle to a vehicle detector located on the door body. In one exemplary embodiment, a signal is received at two locations with a time difference between the two locations, and this time difference can enable determination of the angle of approach of the robotic vehicle toward the door body. In some cases, the open trigger command can be wirelessly received based on position information specifying the position of the robotic vehicle relative to the door body. In one exemplary embodiment, the open trigger command can be wirelessly received based on reading a radio frequency identification (RFID) tag associated with the robotic vehicle.In one exemplary embodiment, the open trigger command may be received wirelessly based on a receiver located on the door body reading a magnetic signature generated by the robotic vehicle. In one exemplary embodiment, the open trigger command may be received wirelessly via a camera that detects the movement of the robotic vehicle toward the door body. In some cases, the open trigger command may be received based on a physical interaction between a portion of the door body and the robotic vehicle. In one exemplary embodiment, the physical interaction may include the robotic vehicle activating a switch located on the door body, or a conductive component of the robotic vehicle closing an open circuit in the door body by contact with the door body. In one exemplary embodiment, the automatic lock may transition from a released position to a captured position in response to the door body moving at least a predetermined amount away from a closed state. In some cases, the door may further include a motion sensor configured to detect movement of the door body. In one exemplary embodiment, the motion sensor may include an accelerometer configured to detect movement of the door body of at least thirty degrees from a closed state.

[0069] Having benefited from the teachings provided in the foregoing description and accompanying drawings, those skilled in the art will recognize numerous modifications and other embodiments of the inventions described herein. It should be understood, therefore, that the invention is not limited to the specific embodiments disclosed, and that such modifications and other embodiments are intended to be encompassed within the scope of the appended claims. Furthermore, while the foregoing description and accompanying drawings describe exemplary embodiments in the context of certain exemplary combinations of elements and / or functions, it should be understood that alternative embodiments may provide different combinations of elements and / or functions without departing from the scope of the appended claims. In this regard, for example, combinations of elements and / or functions other than those explicitly described above are contemplated, as set forth in some of the appended claims. Where advantages, benefits, or solutions to problems are described herein, it should be understood that such advantages, benefits, and / or solutions may apply to some exemplary embodiments, but not necessarily to all exemplary embodiments. Therefore, any advantages, benefits, or solutions described herein should not be considered critical, essential, or essential to all embodiments or the embodiments claimed herein. Although specific terms are employed herein, these terms are used in a general and illustrative sense only and not for purposes of limitation.

Claims

1. A selectively operable door for passage of a robotic vehicle, the selectively operable door comprising: a door frame capable of being arranged in a barrier dividing two areas in which the robotic vehicle is capable of navigating; a door body hingedly connected to the door frame; as well as a latch assembly configured to alternately allow the door body to move and prevent the door body from moving, wherein allowing the door body to move enables the robotic vehicle to pass through the selectively operable door via displacement of the door body, and preventing the door body from moving maintains the door body in a closed state. wherein the latch assembly includes an automatic lock configured to define a release position in which the door body is allowed to move from the closed state and a capture position in which the door body is allowed to move to the closed state and is prevented from moving from the closed state, wherein the automatic lock is arranged at the door body, and the bolt of the latch assembly extends from the door frame toward the automatic lock, Wherein, the automatic lock comprises a first capture element and a second capture element, wherein, when the door body is in the closed state, the first capture element and the second capture element extend on opposite sides of the bolt, and In the release position, the first arresting element and the second arresting element are retracted into the housing of the automatic lock.

2. The selectively operable door according to claim 1, wherein: Each of the first capture element and the second capture element includes an inclined surface at a distal end thereof, the inclined surfaces being angled to face away from each other, and wherein, in response to the door body swinging toward the closed state while the automatic lock is in the capture position, a corresponding one of the inclined surfaces moves along the bolt to cause a corresponding one of the first capture element and the second capture element to shift toward the housing, thereby enabling the door body to return to the closed state.

3. The selectively operable door according to claim 1, wherein: The first catch element and the second catch element are biased toward an extended position, and A motor-operated carrier assembly overcomes the bias of the first and second arresting elements to shift the automatic lock to the release position.

4. The selectively operable door according to claim 3, wherein: The carrier assembly includes a retaining well configured to engage a ball member to retain the automatic lock in the released position until returned to the captured position by operation of the motor.

5. The selectively operable door of claim 1, wherein: The automatic lock is operably coupled to a motor configured to operate the automatic lock to the released position in response to an open trigger command and to operate the automatic lock to the captured position in response to a close trigger command.

6. The selectively operable door according to claim 5, wherein: The motor is configured to shut down in response to completing a cycle of the automatic lock transitioning between the release position and the capture position, wherein the automatic lock is biased toward the captured position, and The automatic lock is configured to remain in the released position when the motor is turned off after the motor switches the automatic lock to the released position.

7. The selectively operable door of claim 5, wherein: The motor and the automatic lock are both arranged in the door body.

8. The selectively operable door of claim 5, wherein: The open trigger command is received wirelessly via a signal sent from the robotic vehicle to a vehicle detector located at the door body.

9. The selectively operable door of claim 8, wherein: The signal is received at two locations with a time difference between reception at the two locations, and wherein the time difference enables determination of an approach angle of the robotic vehicle toward the door body.

10. The selectively operable door of claim 5, wherein: The open trigger command is wirelessly received based on position information specifying a position of the robotic vehicle relative to the door body.

11. The selectively operable door of claim 5, wherein: The open trigger command is wirelessly received based on reading a radio frequency identification tag associated with the robotic vehicle.

12. The selectively operable door of claim 5, wherein: The open trigger command is received wirelessly based on a receiver located at the door body reading a magnetic signature generated by the robotic vehicle.

13. The selectively operable door of claim 5, wherein: The open trigger command is received wirelessly via a camera that detects movement of the robotic vehicle toward the door body.

14. The selectively operable door of claim 5, wherein: The open trigger command is received based on a physical interaction between a portion of the door body and the robotic vehicle.

15. The selectively operable door of claim 14, wherein: The physical interaction includes the robotic vehicle activating a switch located at the door body.

16. The selectively operable door of claim 14, wherein: The physical interaction includes a conductive component of the robotic vehicle closing an open circuit at the door body by contacting the door body.

17. The selectively operable door of claim 1, wherein: The automatic lock transitions from the release position to the capture position in response to the door body moving at least a predetermined amount away from the closed state.

18. The selectively operable door of claim 17, further comprising a motion sensor configured to detect movement of the door body.

19. The selectively operable door of claim 18, wherein: The motion sensor includes an accelerometer configured to detect movement of the door of at least thirty degrees from the closed state.

20. A system for enabling a robotic vehicle to pass between two areas divided by a barrier, the system comprising: robotic vehicles; as well as a selectively operable door for the robotic vehicle to pass through the barrier, the selectively operable door comprising: a door frame disposed in the barrier; a door body hingedly connected to the door frame; and a latch assembly configured to alternately allow the door body to move and prevent the door body from moving, wherein allowing the door body to move enables the robotic vehicle to pass through the selectively operable door via displacement of the door body, and preventing the door body from moving maintains the door body in a closed state. wherein the latch assembly includes an automatic lock configured to define a release position in which the door body is allowed to move from the closed state and a capture position in which the door body is allowed to move to the closed state and is prevented from moving from the closed state, wherein the automatic lock is arranged at the door body, and the bolt of the latch assembly extends from the door frame toward the automatic lock, Wherein, the automatic lock comprises a first capture element and a second capture element, wherein, when the door body is in the closed state, the first capture element and the second capture element extend on opposite sides of the bolt, and In the release position, the first arresting element and the second arresting element are retracted into the housing of the automatic lock.

21. The system of claim 20, wherein: The robotic vehicle includes an internal communication system configured to follow a guide wire to the selectively operable door, and wherein the robotic vehicle is configured to send an unlock signal to the latch assembly to transition the automatic lock to the release position in response to the internal communication system following the guide line.

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