Back to results
US 10,767,383 B2Granted
Ground wire guidance system for robotic vehicle with doorway access
AssigneeRobin Technologies, Inc.
InventorsJustin Crandall, Bart M. Lomont, David J. Melbourne
Life of this patent
Estimating the term…
Abstract
A ground wire guidance system for guiding a robotic vehicle through a doorway in a barrier. The system includes a ground wire loop arranged to pass though the doorway in two directions. Plural wires are switched as the loop passes through the doorway such that the pairs of wires conducting are spaced apart, or shielded, such that the robotic vehicle can reliably navigate through a relatively narrow doorway, while one of the wires passes through a central portion of the doorway.
Claims20
A ground wire guidance system for guiding a robotic vehicle through a doorway in a barrier, comprising:
- a ground wire loop arranged to pass though the doorway in both a first direction and a second direction, and wherein
- said ground wire arranged in said first direction is split adjacent the doorway with a first end coupled to a first switch and a second end coupled to a second switch, and wherein
- said ground wire arranged in said second direction is split adjacent the doorway with a third end connected to a third switch and a fourth end coupled to a fourth switch;
- a first and second wire, each connected between said first switch and said second switch, and wherein said first wire is routed through a central portion of the doorway, and said second wire is routed through the doorway in a manner that enables navigation by the robotic vehicle along said first wire;
- a third and fourth wire, each connected between said third switch and said fourth switch, and wherein said fourth wire is routed through a central portion of the doorway, and said third wire is routed through said doorway in a manner that enables navigation by the robotic vehicle along said fourth wire;
- a controller coupled to each of said first, second, third, and fourth switches to switch between a default state and a switched state, and wherein
- said default state couples said first wire between said first and second switches, and couples said third wire between said third and fourth switches, and, said switched state couples said second wire between said first and second switches, and couples said fourth wire between said third and fourth switches, to thereby provide that only a single one of said second wire and said third wire is connected to said ground wire loop in either of said default state or said switched state.
4 more elements
A method of guiding a robotic vehicle through a doorway in a barrier using a ground wire loop arranged to pass though the doorway in both a first direction and a second direction, comprising the steps of:
- splitting the ground wire arranged in the first direction adjacent the doorway and coupling a first switch to a first end thereof, and coupling a second switch to a second end thereof;
- splitting the ground wire arranged in the second direction adjacent the doorway and coupling a third switch to a third end thereof, and coupling a fourth switch to a fourth end thereof;
- connecting a first and second wire between the first switch and the second switch, and routing the first wire through a central portion of the doorway, and routing the second wire through the doorway in a manner enabling navigation by the robotic vehicle along the first wire;
- connecting a third and fourth wire between the third switch and the fourth switch, and routing the fourth wire through a central portion of the doorway, and routing the third wire through the doorway in a manner enabling navigation by the robotic vehicle along the third wire;
- coupling the first, second, third, and fourth switches to to a controller for switching between a default state and a switched state;
- activating the default state, thereby coupling the first wire between the first and second switches, and coupling the third wire between the third and fourth switches;
- activating the switched state, thereby coupling the second wire between the first and second switches, and coupling the fourth wire between the third and fourth switches, and thereby
- providing that only a single one of the second wire and the third wire is connected to the ground wire loop in either of the default state or the switched state.
5 more elements
A system for guiding a vehicle, comprising:
- a plurality of switching wires, including a first switching wire, a second switching wire, a third switching wire, and a fourth switching wire;
- a plurality of switching devices, including a first switching device, a second switching device, a third switching device, and a fourth switching device;
- a perimeter wire electrically connected to each of the plurality of switching devices, and
- a controller electrically connected to each of said plurality of switching devices, and wherein
- said first switching wire and said second switching wire are electrically connected to each of said first switching device and said second switching device, and wherein
- said third switching wire and said fourth switching wire are electrically connected to each of the third switching device and the fourth switching device, and wherein
- said second switching wire and fourth switching wire extend away from said first switching wire and said third switching wire, respectively.
4 more elements
Dependencies are inferred from the claim text.