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CROSS-REFERENCES TO RELATED APPLICATIONS This application is a divisional of and claims priority to commonly owned U.S. Patent application Ser. 11/861,978, which is scheduled to issue on Oct. 25, 2011 as U.S. 8,046,103 and claims the benefit of U.S. Provisional Patent Application Ser.

60/848,098, filed Sep. 29, 2006, entitled: System and Method for Determining the Location of a Machine. The disclosures of the aforementioned patent applications are incorporated by reference herein.

TECHNICAL FIELD The disclosed subject matter is directed to boundary systems for robots and other autonomous machines, and in particular, to methods and systems for determining robot location within or outside of the bounded areas. BACKGROUND Autonomous machines and devices, such as autonomous robots, have been designed for performing various industrial and domestic functions. These domestic functions include lawn mowing, vacuum cleaning, floor sweeping and maintenance. By extending robots to these domestic functions, the person or user employing these robots has increased free or leisure time, as they do not have to expend the time required to perform the aforementioned tasks manually. Download Means Estimating Handbook Free Free.

Many of these robots and autonomous machines, such as robotic lawnmowers, are designed to cut grass and other vegetation when they are within a bounded area. The bounded area may be formed by a wire or the like, typically placed underground or on the ground, or other marker, to confine the robot to the bounded area.

SUMMARY The disclosed subject matter includes a system for defining a position (location) of a receiving element (receiver and/or receiver system) inside an area surrounded by a wire loop, along the perimeter (a perimeter wire loop), of a work area or other bounded area. In particular, the system can determine whether the receiver is inside or outside the loop, and evaluate its distance from the perimeter wire.

This system is of particular interest for robots working in a defined area, or automatic vehicles that need to follow a wire, but may also be used for other applications such as dog, pet and animal fences, security systems, etc. The system is economical and involves robust implementations of the transmitting and receiving methods. The system is formed of a perimeter signal generator that transmits signals conducted by the perimeter wire loop and a receiver or receiving circuit and associated control electronics on the robot. The receiver and associated control electronics evaluate parameters including, for example, 1) an amplitude inversely proportional to the distance of the receiver (receiver coil) from the perimeter wire/loop, as well as, 2) the state of whether the receiver (receiver coil) is inside or outside the work area, as defined by the perimeter loop. This is communicated to the control system of the robot or machine, that in turn drives and navigates the robot accordingly.

The disclosed subject matter is directed a robot or machine that includes at least one receiver and a detector, electrically coupled to the receiver. The at least one receiver is for receiving a signal transmitted from a boundary, that may be, for example, a perimeter wire loop that defines the boundary, for example, with a work area inside the loop, and is a closed pathway for signal generation and transmission. The at least one receiver is for receiving a transmitted signal that includes at least one positive pulse and at least one negative pulse within a predetermined interval or period. The detector is for detecting peaks in the received signal. These peaks are, for example, major negative peaks, that are analyzed to determine the location of the robot with respect to the boundary and the work area. The disclosed subject matter is directed to system for determining the location of a receiver with respect to a boundary.

The system includes a boundary marker for defining at least one boundary, the boundary marker for supporting at least one signal being transmitted therethrough, the at least one signal including at least one positive pulse and at least one negative pulse within a predetermined interval (period). The boundary marker may be, for example, a perimeter wire loop that defines the boundary, for example, with a work area inside the loop, and is a closed pathway for signal generation and transmission. There is also at least one receiver system including at least one receiver for receiving the at least one signal, and at least one detector electrically coupled to the at least one receiver, the at least one detector configured for detecting peaks in the at least one signal. The peaks, may be for example, major peaks, such as major negative peaks. The disclosed subject matter is also directed to a method for determining the location of a receiver. The method includes, providing a first loop including a first portion and a second portion, providing a second loop including the second portion and a third portion, and providing a signal over a first loop and providing the signal over a second loop at a predetermined providing interval. The signal providing is such that at least the first portion is always receiving the provided signal, and the second portion and the third portion are receiving the provided signal in accordance with the predetermined providing interval.

The method also includes, receiving the signal, converting the signal to pulses, and counting the pulses for a predetermined receiving interval. The counted pulses for the predetermined receiving interval are analyzed against predetermined pulse counts for the predetermined receiving interval in accordance with the predetermined providing interval to determine the location of the receiver. The signal providing may be by a signal generating unit with an internal switch, that switches between loops in accordance with the providing interval, or the aforementioned switch may be separate and outboard from the signal generating unit, that also switches between loops in accordance with the providing interval. The received signal, is, for example, converted to pulses based on detection of the major peaks, such as the major negative peaks. The disclosed subject matter is also directed to a method for determining the location of a robot with respect to a boundary. The method includes providing a robot.

The robot includes at least one receiver for receiving a signal transmitted from a boundary, the transmitted signal including at least one positive pulse and at least one negative pulse within a predetermined transmission interval or period, least one detector electrically coupled to the receiver for detecting peaks in the signal, and a processor electrically coupled to the at least one detector. The processor is programmed to analyze data corresponding to the detected peaks in the signal for determining the location of the robot with respect to the boundary. The method also includes detecting major peaks in the signal, and analyzing data corresponding to the major peaks detected over a predetermined receiving interval against predetermined data to determine the location of the robot with respect to the boundary.

The boundary, may be, for example, defined by a perimeter wire loop that forms a closed pathway for signal generation and transmission, with a work area for the robot inside of the boundary. The disclosed subject matter is directed to a method for determining the location of a robot with respect to a boundary. The method includes providing a robot. The robot includes at least one receiver for receiving a signal transmitted from a boundary, the transmitted signal including at least one positive pulse and at least one negative pulse within a predetermined period and transmitted at predetermined transmission intervals, for example, to define pulse trains while the signal is being transmitted. The robot also includes at least one detector electrically coupled to the receiver for detecting peaks in the signal. The method also includes detecting major peaks in the received signal corresponding to the time the signal is not being transmitted, and analyzing the data corresponding to the major peaks detected over a predetermined receiving interval against predetermined data, to determine the location of the robot with respect to the boundary. For example, the major peaks detected are major negative peaks, that are converted onto digital data.

BRIEF DESCRIPTION OF THE DRAWINGS Attention is now directed to the drawings, where like numerals and/or characters indicate corresponding or like components. In the Drawings: FIG.

1 is a diagram of the system in accordance with the disclosed subject matter; FIG. 2 is a perspective view with broken away sections of an exemplary robot for use with the system of the disclosed subject matter; FIG. 3 is a bottom view of the robot of FIG. 4 is a block diagram of the operative structure of the robot of FIG. 5A-5E form a schematic diagram of the receiver system of the robot of FIG.

6 is a diagram of a waveform generated by the signal generating unit of the system of FIG. 7A-7C form a schematic diagram of the signal generating unit of FIG. 8 is a diagram of waveforms resulting from filtration of the received signal; FIG. 9 is a diagram of waveforms of the received signal illustrating negative peaks; FIG. 10 is a diagram of the system of FIG. 1 shown with the work area separated into two sections; FIG. 11 is a diagram of an alternate arrangement of the system of FIG.

12 is a diagram of a system having an off perimeter charging station; FIG. 13 is a diagram of a wave form of a received signal illustrating pulse trains and dead time of transmission; and FIG. 14 is a diagram of the system with the work area separated into three sections. DETAILED DESCRIPTION Turning to FIG. 1, there is shown a system 20 that includes a robot 22, or other autonomous machine (machine), for example, a robotic lawnmower (robot and robotic lawnmower are used interchangeably in this document, with a robotic lawnmower being one type of robot or autonomous machine suitable for use in accordance with the disclosed subject matter), operating within a work area 24 or other bounded area, along a ground surface 25. The robot 22 is shown operating in a scanning pattern or “foot print”, as shown in broken lines, that is programmed into the control unit 104, for example, the main board 150 in the microprocessor 150 a thereof.

The work area 24 is defined by a boundary 26, formed, for example, of a wire 27 (a boundary marker) arranged around the perimeter of the work area to define a perimeter wire 28 or a perimeter wire loop (perimeter wire, perimeter wire loop, and perimeter loop used interchangeably herein). The wire 27 is proximate to the ground surface 25, but is usually buried in the ground. The perimeter wire 28 is received in a signal generating unit 30. The signal generating unit 30 generates signals utilized by the robot 22 for multiple functions, in particular, to determine the specific location of the robot 22 within the work area 24 or outside of the work area 24, as detailed herein. The perimeter wire loop 28 defines a closed pathway over which the signal(s) generated by the signal generating unit 30 travel. Throughout this document, the terms “signal” and “signals” are used interchangeably when referring to the electromagnetic output (e.g., electromagnetic waveforms) generated by the signal generating unit (SGU) 30. For example, the signal(s) output from the signal generating unit 30, and emitted through the perimeter wire 28 are, for example, low frequency electromagnetic signals, that induce magnetic fields.

The robot 22 receives and detects these signals, and based on this receipt, robot location with respect to the work area 24, and sections of the work area 24 (if divided into such sections), is determined. The wire 27 of the perimeter wire 28 is of metal or other electrically conductive metal wire. The wire 27 for the perimeter wire 28 may be for example, PERIMETER WIRE for the Robomower, MRK0014A, commercially available from Friendly Robotics (the trading name of the owner of this patent application) of Pardesyia 42815, Israel.

2-4 detail an exemplary robot 22 suitable for operation as part of the system 20. The robot 22 is shown is a robotic lawnmower, as its payload 119 ( FIG. 4) is designed for lawn mowing. However, the robot 22 may have a payload 119 designed for numerous other functions, for example, vacuum cleaning, sweeping, snow and debris removal, and the like. The robot 22 is similar to the robot disclosed in commonly owned U.S. Patent application Ser. 10/588,179, entitled: Robot Docking Station and Robot for Use Therewith, published as U.S.

Patent Application Publication No. US 20 A1, and PCT Patent Application No.

PCT/IL05/00119 (WO ), all three of these documents and their disclosures incorporated by reference herein. Patent application Ser. 10/588,179, U.S. Patent Application Publication No.

Crack Simulateur De Conduite 3d Computer there. US 20 A1, are collectively referred to as U.S. Patent application Ser. The electronics of the robot are modified to include the receiver system 180, as detailed below, integrated with the control system for the respective robot. These modifications are described below. The robot 22 includes docking contacts 102 (transmission parts for the transmission of energy, electricity, signals, or the like), extending forward or laterally from the front side 106 of the robot 22. The docking contacts 102 are typically parallel to the horizontal or ground surface. These docking contacts 102 protrude from the body 116 of the robot 22, and are described in detail in U.S.

Patent application Ser. 10/588,179 and PCT/IL05/00119. There are typically two docking contacts 102, at the front (or front end) end of the robot 22, electronically linked (e.g., connected or coupled, as shown in broken lines) to the control system 104 of the robot 22, and the power supply 126 (batteries and associated components). This electrical linkage allows for charging of the power system (not shown) once a sufficient contact is made (as determined by the control system 104, for example, there is at least a threshold voltage of, for example, as least 25 Volts, on the docking contacts 102), that allows for docking between the robot 22 and a docking station (also known as a charging station) (when a docking station is present along the perimeter wire loop 28), or when the docking station 700 is off of the perimeter loop 28 as shown, for example, in FIG. An exemplary docking station, suitable for use herewith, is the docking station disclosed in U.S. Patent application Ser. 10/588,179 and PCT/IL05/00119, with minor modifications to accommodate the present disclosed subject matter.

The front wheel 110, whose axle 111 extends into a vertical rod section 112, is slideably mounted in a vertical orientation in a well 114 in the body 116 of the robot 22. Within the well 114 is a sensor (S 1) 118, that detects wheel 110 position by detecting the position of the vertical rod section 112.

The sensor (S 1) 118 may be an electrical contact sensor, ultrasonic or light sensor, or any other position detecting sensor. The front wheel 110 of the robot 22, being slideably mounted in a vertical orientation, is such that when the axle 111/rod section 112, on which the front wheel 110 is mounted slides or drops downward to a predetermined level (also caused by lifting the body of the robot 20 at its front end), the rod section 112 is out of contact with the sensor (S 1) 118, linked to the control system 104 ( FIG. As a result, the requisite components of the control system 104 signal the drive system 151 b ( FIG. 4) to stop movement of the robot 22. The robot 22 also includes cutting blades 120 driven by motors (M) 122. It also includes and a power supply 126, for example, a battery, and front 127 a and rear 127 b bumpers, that if depressed will stop the drive system 151 b, as detailed in U.S. 6,443,509, this document and its disclosure incorporated by reference herein.

The front wheel 110 is passive (and typically has 360.degree. Movement), and the navigation system 151 a and drive system 151 b control the rear wheels 128, to move and steer the robot 22. The control system 104 for the robot 22 is shown in FIG. 4, to which reference is now made. 4 is a block diagram showing the relationship of the components, but each of the components may be electrically linked or coupled to any other component, as would be known, for proper operation of the robot 22. 4, as well, the control system 104 includes a main board 150, and all electronics, as hardware, software and combinations thereof and other components, necessary for the robot 22 to perform all of its operations and functions (known as the main board electronics).

The main board 150 includes one or more processors, and, for example, a microprocessor 150 a, as part of the main board electronics. A navigation system 151 a is electrically coupled to the main board 150 and a drive system 151 b is electrically coupled to the main board 150. The navigation system 151 a and drive system 151 b when combined define a movement system for the robot 22.

The navigation system 151 a functions in the mapping operation and for directing the robot 22 inside the work area 24 based on its determined location and in accordance with the selected scanning pattern or operative mode, such as the “edge” mode, as detailed herein. The navigation system 151 a also directs the robot 22 when outside of the work area. The navigation system 151 a is programmable, for example, to allow for navigation in a work area 24 or the like in generally straight parallel lines, that are also substantially free of repetition. It is also programmable to other scanning patterns (for operation in the work or bounded area 24), such as saw tooth, random movement, or the like, useful in scanning a bounded area to provide coverage, and cutting over the entire work area with minimal repetition.

The navigation system 151 a works cooperatively with the drive system 151 b, that controls the rear wheels 28 of the robot 22, to move the robot 22 along a desired course for its desired operation. The motors (M) 122, power supply 126, and the various sensors described herein, represented by SENSORS 156, are also electrically coupled to the main board 150. Specifically the SENSORS 156 include electronics, known as “glue electronics” that connect the requisite sensors 118, 158, 162, 168 and any other sensors and the like to the microprocessor 150 a. A receiver system (RS) 180 also electrically couples to the control system 104, for example, at the main board 150. The receiver system (RS) 180 receives and detects the perimeter signal(s) from the perimeter wire 28 of the signal generating unit 30. The receiver system 180 detects this signal(s) as being the boundary of the work area 24 or section thereof, in order to operate within the boundary of the work area 24 or section thereof, and work, for example in modes, such as the “edge” mode. The receiver system 180 also functions to convert the received signal(s) into digital data.

The control system 104, via the electronics of the main board 150, utilizes the digital data for robot operation. The electronics of the main board 150, coupled with the navigation 151 a and drive 151 b systems, function, for example, in moving the robot 22 toward and back into the work area 24, including specific sections of the work area 24 (when the work area 24 is divided into sections, as shown for example, in FIGS.

10, 11 and 14 and detailed below), from outside the work area, mapping a work area or section thereof, and moving between sections of the work area. When a docking station is present along the perimeter wire loop 28, or off the perimeter wire 28 as detailed in FIG. 12 and discussed below, the electronics of the main board 150 (including the microprocessor 150 a) are programmed to cause the robot 22 to, move toward the docking station, dock in the docking station, perform the docking operations associated therewith, as detailed in U.S. Patent application Ser. 10/588,179 and PCT/IL05/00119, and other functions associated with robot 22 operation. The main board electronics are also programmable, such that when the robot 22 is operating with a docking station 700 ( FIG.

12) along the perimeter loop 28, or off of the perimeter loop 28, as shown in FIG. 12 and detailed below, the robot 22 will move toward the perimeter loop 28 to detect the perimeter signal and ultimately move toward the docking station upon detection of a docking event.

Example docking events occur when: 1) robot operation is complete (the area within the boundary marker 28, the work area 24, has been worked); 2) the battery voltage in the robot 22 reaches (drops to) a predetermined threshold; 3) a predetermined time for robot operation has expired; or 4) a problem in the robot 22 itself is detected. With a docking event detected, the main board electronics are then programmed, for example, by mapping or the like, to cause the robot 22 to move toward the docking station 700 along the perimeter wire 28, also as detailed in U.S. Patent application Ser.

10/588,179 and PCT/IL05/00119. Alternately, the robot 22 maps the boundary 26 by detecting the perimeter wire 28 and the proximity thereto. This mapping and detection is performed by the navigation system 151 a and electronics of the main board 150 (main board electronics), as the robot 22 traverses the perimeter wire 28 and maps the work area 24, by noting its coordinates, as detailed in commonly owned U.S. 6,255,793, or in accordance with navigation and detection methods disclosed in commonly owned U.S.

6,255,793 and 6,615,108 and their disclosures are incorporated by reference herein. When a docking station is present along the perimeter wire 28, the robot 22 notes the position of the docking station as part of its mapping, as detailed in U.S. Patent application Ser. 10/588,179 and PCT IL/05/00119. For example, the electronics of the main bard 150 of the robot 22, are programmed to detect the position of the docking station along the perimeter wire 28 during its mapping operation or upon its initial placement in the docking station 700 ( FIG. 12), in both on the perimeter and off of the perimeter arrangements, and return to the docking station 700, along at least a portion of the perimeter wire 28 or wire path, when the docking station 700 is off of the perimeter wire 28, as shown for example, in FIG.

Also, as detailed below, with the signal from the perimeter wire 28 detected by the robot 22, as detailed below, the navigation 151 a and drive 151 b systems of the robot 22 can be coordinated, and controlled by the electronics of the main board 150, to move the robot 22 to the docking station 700 (traveling along at least a portion of the perimeter wire 28). This may be, for example, in response to a docking event, detected by the electronics of the main board 150. The electronics of the main board 150 (main board electronics) control operation of the robot 22 in various modes, such as an “edge” mode, where the robot 22 moves following the perimeter wire 28, by detecting a perimeter signal in the perimeter wire 28.

This may occur, for example, after the robot 22 has worked the work area 24 within the perimeter wire 28. An exemplary edge mode is described in commonly owned U.S. 6,493,613 and its disclosure is incorporated by reference herein. Alternately, the payload 119 could be replaced with any other payload, such as one for vacuuming, sweeping, and the like.

The docking contacts 102, the front wheel sensor (S 1) 118, and various signal transmitters and receivers (the actual signals detailed below), represented by SIGNALS 158, also electrically couple to the SENSORS 156. For example, the robot 22, via the main board 150, can determine that it is in the docking station when the docking contacts 102 when carrying a voltage of approximately 25 volts or greater. The docking contacts 102 are also electrically coupled to the power supply 126, either directly, or through the main board 150, in order to provide recharging of the power supply 126, when the robot 22 is docked in the docking station. Sensors, for example, voltage sensors on the docking contacts 162, are also electrically coupled to the SENSORS 156. There are also obstacle sensors 168, that are electrically coupled to the SENSORS 156.

The receiver system (RS) 180 is positioned on the robot 22 to detect the signal(s) being generated by the signal generator 30, along any point in the perimeter wire 28. The receiver system (RS) 180 includes a receiver (REC) 181 that is electrically coupled to a receiver unit (RU) 182. The receiver system (RS) 180 is electrically coupled to the control system 104, for example, to the main board 150, where data sent from the receiver system 180 is analyzed, the analysis including the determination of robot location with respect to the perimeter loop 28. The electronics of the main board 150 cause various operations of the robot 22 in response to the analyzed data (for robot location). The receiver system (RS) 180 is shown separate from the control unit 104 of the robot 22, but may be part of the control unit 104. Alternately, the receiver unit (RU) 182 may be a stand alone component, with respect to the control system 104 of the robot 22, or, for example, the receiver unit may be integrated into the main board 150.

The receiver 181 is designed to receive the signal(s), for example, the magnetic signal(s) induced by the perimeter wire/loop 28 and the receiver unit (RU) 182 is designed to evaluate parameters including, for example, 1) an amplitude inversely proportional to the distance of the receiver 181 (receiver coil 200) from the perimeter wire/loop, as well as, 2) the state of whether the receiver (receiver coil 200) is inside or outside the work area, as defined by the perimeter loop 28. The magnetic signal is detected as an analog signal and converted to a digital representation, for example, a pulse. The receiver 182 detects the signals induced by the perimeter wire loop as an analog signals and converts the analog signal(s) to digital pulses. The microprocessor 150 a of the control unit 104, counts the digital pulses to determine the location of the robot 22 inside or outside of the work area 24 or section thereof. This location information is then analyzed by the microprocessor 150 a that signals the main board electronics, to cause the drive system 151 b, and when necessary, also the navigation system 151 a, to move the robot 22 accordingly. 5A-5E, collectively referred to hereinafter as FIG. 5, to which attention is now directed, shows the receiver 181 and the receiver unit 182 of the receiver system 180 in detail, in a schematic (circuit) diagram.

The receiver 181 and the receiver unit 182 are is coordinated, for example, by being at compatible frequencies, with the signal generating unit 30, in order to determine robot 22 location as detailed below. The receiver unit 182 is, for example, formed of multiple components and/or circuits.

The elements of each component or circuit, as shown in FIG. 5, when not specifically described by manufacturer code in Table 1 below include common circuit elements such as resistors (R) and capacitors (C), that are available from numerous component manufacturers and suppliers.

The schematic diagram of FIG. 5 is in accordance with standard conventions for electronic circuits. A catalog of the major elements of the aforementioned circuits, that form the receiver unit 182 is as follows from Table 1. TABLE-US-00001 TABLE 1 COMPONENT NUMBER FROM FIGS.

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