Celestial navigation system for an autonomous vehicle
A navigation control system for an autonomous vehicle comprises a transmitter and an autonomous vehicle. The transmitter comprises an emitter for emitting at least one signal, a power source for powering the emitter, a device for capturing wireless energy to charge the power source, and a printed circuit board for converting the captured wireless energy to a form for charging the power source. The autonomous vehicle operates within a working area and comprises a receiver for detecting the at least one signal emitted by the emitter, and a processor for determining a relative location of the autonomous vehicle within the working area based on the signal emitted by the emitter.
1. An autonomous coverage robot comprising:
a drive system operable to move the autonomous coverage robot about a floor surface;
a receiving subsystem responsive to a signal directed by a transmitter placed in a transition region between first and second areas of the floor surface to detect the transition region; and
one or more processors configured to execute instructions to perform operations comprising:
maneuvering, using the drive system, the autonomous coverage robot across the first area in a cleaning mode in which the receiving subsystem detects the transition region without the autonomous coverage robot traversing the transition region, and then
maneuvering, using the drive system, the autonomous coverage robot from the first area to the second area in a migration mode in which the receiving subsystem detects the transition region and the autonomous coverage robot passes through the transition region.
2. The autonomous coverage robot of claim 1 , wherein maneuvering the autonomous coverage robot from the first area to the second area comprises maneuvering the autonomous coverage robot through a frame of a doorway within which the transmitter is positioned.
3. The autonomous coverage robot of claim 1 , wherein the receiving subsystem is responsive to two distinct signals of the signal directed into the first and second areas, respectively, by the transmitter.
4. The autonomous coverage robot of claim 3 , wherein the receiving subsystem is configured to distinguish between the two distinct signals, and the operations comprise determining which of the first and second areas the autonomous coverage robot is within based on the receiving subsystem responding to one of the two distinct signals.
5. The autonomous coverage robot of claim 1 , wherein the operations comprise:
maneuvering, using the drive system, the autonomous coverage robot to dock at a charging station for charging the autonomous coverage robot responsive to a low power level of the autonomous coverage robot.
6. The autonomous coverage robot of claim 5 , wherein maneuvering the autonomous coverage robot to the charging station comprises:
maneuvering the autonomous coverage robot toward the transmitter, and
once through the transition region, maneuvering the autonomous coverage robot to the charging station.
7. The autonomous coverage robot of claim 1 , wherein the operations comprise:
determining a relative location of the transmitter based on input from the receiving subsystem, and
maneuvering, using the drive system, the autonomous coverage robot relative to the transmitter.
8. The autonomous coverage robot of claim 1 , wherein the signal is a collimated signal emitted by the transmitter.
9. The autonomous coverage robot of claim 1 , wherein the operations comprise:
identifying a coded signal of a unique identifier of the signal emitted by the transmitter, and
initiating an operating behavior as a function of the identified coded signal.
10. The autonomous coverage robot of claim 1 , wherein the autonomous coverage robot comprises a floor cleaner.
11. The autonomous coverage robot of claim 1 , wherein the receiving subsystem is responsive to the transmitter in an active mode and is not responsive to the transmitter in a dormant mode, the receiving subsystem being responsive to the signal when the transmitter is in the active mode.
12. The autonomous coverage robot of claim 11 , wherein the operations comprise emitting a mode selection signal to switch the transmitter from the dormant mode to the active mode.
13. The autonomous coverage robot of claim 12 , wherein the autonomous coverage robot comprises an emitter to emit the mode selection signal.
14. A method comprising:
maneuvering an autonomous coverage robot across a first area of a floor surface in a cleaning mode, wherein maneuvering the autonomous coverage robot across the first area comprises detecting, based on a signal emitted by a transmitter positioned in a transition region between the first area and a second area of the floor surface, the transition region without the autonomous coverage robot traversing the transition region; and then
maneuvering the autonomous coverage robot from the first area to the second area in a migration mode, wherein maneuvering the autonomous coverage robot from the first area to the second area comprises detecting the transition region and maneuvering the autonomous coverage robot through the transition region.
15. The method of claim 14 , wherein maneuvering the autonomous coverage robot from the first area to the second area comprises maneuvering the autonomous coverage robot through a frame of a doorway within which the transmitter is positioned.
16. The method of claim 14 , further comprising maneuvering the autonomous coverage robot to dock at a charging station for charging the autonomous coverage robot responsive to a low power level of the autonomous coverage robot.
17. The method of claim 16 , wherein maneuvering the autonomous coverage robot to dock at the charging station comprises:
maneuvering the autonomous coverage robot toward the transmitter, and
once through the transition region, maneuvering the autonomous coverage robot to the charging station.
18. An autonomous coverage robot comprising:
a drive system operable to move the autonomous coverage robot about a floor surface;
a receiving subsystem responsive to a directed signal emitted by a transmitter into a first area of the floor surface; and
one or more processors configured to execute instructions to perform operations comprising:
maneuvering, using the drive system, the autonomous coverage robot in a cleaning mode in which the autonomous coverage robot continues to execute a first cleaning behavior within the first area in response to the receiving subsystem detecting the directed signal; and
maneuvering, using the drive system, the autonomous coverage robot in a migration mode in which the autonomous coverage robot moves toward the transmitter in response to detection of the directed signal so as to pass from the first area through a doorway into a second area.
19. The autonomous coverage robot of claim 18 , wherein maneuvering the autonomous coverage robot in the migration mode comprises causing the autonomous coverage robot to follow the directed signal to pass from the first area into the second area.
20. The autonomous coverage robot of claim 18 , wherein maneuvering the autonomous coverage robot in the migration mode comprises maneuvering the autonomous coverage robot through a frame of the doorway within which the transmitter is positioned.
21. The autonomous coverage robot of claim 18 , wherein the operations further comprise maneuvering, using the drive system, the autonomous coverage robot, after passing through the doorway, to execute a second cleaning behavior within the second area.