Coverage Robot Beacon Navigation for Gateway Transitions
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Solution Overview
Problem
Autonomous coverage robots face challenges in navigating and maintaining boundaries between different areas without continuous human guidance, particularly in efficiently transitioning between bounded spaces and accurately detecting navigation signals.
Innovation Solution
The implementation of a directional receiver system on the robot, including omni-directional and directional receivers, allows for precise alignment with emission signals to navigate and dock, combined with a navigation beacon system that uses infrared signals to mark boundaries and guide the robot through gateways between areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a directional receiver system with multiple component receivers is used to accurately detect navigation signals, then the robot's navigation precision and ability to detect emission directions are improved, but the device complexity increases due to the need for multiple receivers and their coordination
Solution Approach 1:
The directional receiver is segmented into multiple component receivers (first and second component receivers) positioned at different locations on the robot. Each component receiver independently detects the emission signal, and the controller processes the differential signals from these segmented receivers to determine the direction of the emission, thereby achieving accurate navigation signal detection without requiring a single complex receiver system
Solution Approach 2:
The patent combines the functions of multiple component receivers into a single directional receiver assembly mounted on the robot's front portion. The controller merges the signals from the first and second component receivers to determine emission direction, effectively combining multiple detection elements into a unified navigation system that achieves high precision while managing complexity through integrated control
2Adaptability or versatility
If the robot uses an omni-directional receiver to detect emissions from all directions, then the robot's ability to locate navigation beacons is improved, but the precision in determining the specific direction of the emission is reduced compared to directional receivers
Solution Approach 1:
The system segments the reception function into two distinct receiver types: an omni-directional receiver for initial emission detection and localization from any direction, and a directional receiver with component receivers for precise direction determination. This segmentation allows each receiver to specialize in its function, achieving both broad coverage and high precision
Solution Approach 2:
The omni-directional receiver performs preliminary action by first detecting the presence of an emission and determining its general location. Based on this preliminary detection, the robot navigates to position the directional receiver optimally, where the directional receiver then performs precise direction measurement. This preliminary action sequence ensures both comprehensive detection coverage and accurate direction determination
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot to autonomously traverse and clean within bounded areas, accurately detect navigation signals, and transition between areas, ensuring efficient cleaning and navigation without human intervention.
Implementation Method 1
The conical reflector is disposed on an upper surface of the cavity to reflect emissions incident on the upper portion of the housing down into the cavity
Implementation Method 2
The receivers may be configured to receive transmissions of infrared light
Data Source
Figure 1A
Figure 1B
Figure 1C
AI summary
An autonomous mobile robot system for adjacent bounded areas (204; 206) including a navigation beacon (150, 202, 203, 304) and an autonomous coverage robot (100, 212, 302). The navigation beacon has a gateway beacon emitter (152) arranged to transmit a gateway marking emission (208, 316) with the navigation beacon disposed within a gateway (210) between the first bounded area (204) and an adjacent second bounded area (206). The autonomous coverage robot includes a beacon emission sensor (104, 106) responsive to the beacon emission, and a drive system (130, 132) configured to maneuver the robot about the first bounded area (204) in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission (208, 316). The drive system is also configured to maneuver the robot through the gateway (210) into the second bounded area (206) in a migration mode.