# US 10,767,383 B2 · Ground wire guidance system for robotic vehicle with doorway access > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,383 B2 - Document ID: US10767383B2 - Status: Granted - Kind: B2 - Application number: 16/050,256 - Filed: 2018-07-31 - Published: 2019-05-09 - Granted: 2020-09-08 - Earliest claimed: 2017-11-07 - Assignees: Robin Technologies, Inc. - Applicants: Justin Crandall; Bart M. Lomont; David J. Melbourne - Inventors: Justin Crandall; Bart M. Lomont; David J. Melbourne - Web page: https://patentgrep.com/patent/US10767383B2 ## CPC - E04H 6/422: {Automatically operated car-parks} - A01D 34/008: {for automated or remotely controlled operation} - E04H 6/426: {Parking guides} - E05B 47/00: Operating or controlling locks or other fastening devices by electric or magnetic means (electric permutation locks E05B49/00) - E05B 47/0038: {using permanent magnets} - E05B 65/0021: {for overhead or roll-up doors, e.g. garage doors} - E05F 15/76: responsive to devices carried by persons or objects, e.g. magnets or reflectors (E05F15/77 takes precedence) - E05F 15/79: using time control - G01R 33/0206: {Three-component magnetometers} - G01V 3/081: {the magnetic field is produced by the objects or geological structures (characterised by the method of magnetic field measurement G01R33/00)} - G05D 1/0265: {using buried wires} - E05B 2047/0067: {Monitoring} - E05Y 2400/20: of brakes, disengaging means, holders or stops - E05Y 2400/44: Sensors not directly associated with the wing movement - E05Y 2400/445: Switches - E05Y 2900/106: for garages - G01R 33/0017: {Means for compensating offset magnetic fields or the magnetic flux to be measured; Means for generating calibration magnetic fields} - E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D) - A01D: HARVESTING; MOWING - E05B: LOCKS; ACCESSORIES THEREFOR; HANDCUFFS - E05F: DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - E05Y: INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The system of claim 1, and wherein: said first and fourth wires are routed through the doorway a distance away from the central portion of the doorway that is selected to provide a minimum separation therebetween for navigation by the robotic vehicle. ### Claim 3 (depends on 1) The system of claim 1, and wherein: said first and fourth wires are shielded to provide navigation by the robotic vehicle along either of said second or third wires. ### Claim 4 (depends on 1) The system of claim 1, further comprising: a sensor disposed adjacent the doorway, operable to detect an approaching vehicle, and output a detention signal to said controller, and wherein said controller, upon receipt of said detection signal, switches from said default state to said switched state. ### Claim 5 (depends on 4) The system of claim 4, and wherein: said controller reverts from said switched state back to said default stated after a predetermined period of time. ### Claim 6 (depends on 4) The system of claim 4, wherein the robotic vehicle has a magnet fixed thereto, and wherein: said sensor is a magnetometer responsive to the magnet in the robotic vehicle. ### Claim 7 (depends on 1) The system of claim 1, and wherein a door is disposed within the doorway of the barrier, and further comprising: a door latch sensor disposed adjacent the doorway, operable to detect an approaching vehicle, and coupled to unlock a door locking mechanism on the door upon detection of the approaching vehicle. ### Claim 8 (depends on 7) The system of claim 7, and wherein: said door latch sensor outputs a door latch signal to said controller, and wherein said controller changes the state of said first, second, third, and fourth switches in response to said door latch signal. ### Claim 9 (depends on 8) The system of claim 8, and wherein: said door latch signal is wirelessly communicated to said controller and to said door locking mechanism. ### Claim 10 (depends on 1) The system of claim 1, and wherein: said first, second, third, and fourth switches are single-pole, double-throw relays. ### Claim 11 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. ### Claim 12 (depends on 11) The method of claim 11, and wherein: said routing the first and fourth wires steps include routing through the doorway by selecting a distance away from the central portion of the doorway, and thereby providing provide a minimum separation from the second and third wires, respectively, for navigation by the robotic vehicle. ### Claim 13 (depends on 11) The method of claim 11, further comprising the steps of: shielding the first and fourth wires, thereby providing navigation by the robotic vehicle along either of the second or third wires. ### Claim 14 (depends on 11) The method of claim 11, further comprising the step of: disposing a sensor adjacent the doorway; detecting an approaching vehicle by the sensor, and outputting a detention signal, and switching from the default state to the switched state in response to the detection signal. ### Claim 15 (depends on 14) The method of claim 14, further comprising the step of: reverting from the switched state back to the default stated after a predetermined period of time. ### Claim 16 (depends on 11) The method of claim 11, and wherein a door having a door locking mechanism attached thereto is disposed within the doorway of the barrier, and a door latch sensor is disposed adjacent the doorway, and further comprising the steps of: detecting an approaching vehicle by the door latch sensor, and unlocking the door locking mechanism upon detecting of the approaching vehicle. ### Claim 17 (depends on 16) The method of claim 16, further comprising the steps of: outputting a door latch signal by the door latch sensor, and changing the state of said first, second, third, and fourth switches in response to the door latch signal. ### Claim 18 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. ### Claim 19 (depends on 18) The system of claim 18, wherein the system is disposed about an opening in a barrier, and wherein: said second switching wire and said fourth switching wire extend away from said first switching wire and said third switching wire, respectively, towards a central portion of the opening. ### Claim 20 (depends on 18) The system of claim 18, and further comprising: a sensor electrically connected to each of the plurality of switching devices.