Patent Description:
Yard maintenance tasks are commonly performed using various tools and/or machines that are configured for the performance of corresponding specific tasks. Certain tasks, like grass cutting, are typically performed by lawn mowers. Lawn mowers themselves may have many different configurations to support the needs and budgets of consumers. Walk-behind lawn mowers are typically compact, have comparatively small engines and are relatively inexpensive. Meanwhile, at the other end of the spectrum, riding lawn mowers, such as lawn tractors, can be quite large. More recently, robotic mowers and/or remote controlled mowers have also become options for consumers to consider.

Robotic mowers are typically confined to operating on a parcel of land that is bounded by some form of boundary (e.g., defined by a wire or other methods). The robotic mower is capable of detecting the boundary and operating relatively autonomously within the area defined by the boundary. However, in some cases, a physical boundary (e.g., a fenced in yard or portion thereof) may only be part of the operating area inside which the robotic mower is intended to operate. For example, while front yards or traditionally not fenced in, a back yard may indeed be fenced in. Meanwhile, it may be desirable for the robotic mower to operate within both the front yard and the back yard. In a situation like this, or in other situations where it may be desirable to have the robotic mower pass from one area to another without sacrificing the security, privacy or integrity of a barrier such as a wall or fence.

<CIT> discloses a doorway system for a robotic vehicle that accesses a separated area through a barrier that has a doorway formed through it. The system includes a wireless transmitter that transmits an electronic signal from the robotic vehicle to a wireless receiver of a doorway device that is coupled to a locking mechanism and configured to selectively engage and lock the door at the closed position or to unlock the door upon receipt of the electronic signal by the wireless receiver.

Some example embodiments may therefore provide a selectively operable door for passage of a robotic vehicle. According to the subject-matter of claim <NUM> there is provided a selectively operable door for passage of a robotic vehicle, the selectively operable door comprising a door frame disposable in a barrier dividing two areas in which the robotic vehicle is enabled to travel, a door body hingedly connected to the door frame; and a latching assembly configured to alternately allow movement of the door body such that the robotic vehicle to enabled to pass through the selectively operable door via displacement of the door body and prevent movement of the door body such that the door body is retained in a closed state, wherein the latching assembly comprises an automatic lock configured to define a release position in which movement of the door body from the closed state is allowed, and a capture position in which movement of the door body to the closed state is allowed and movement of the door body from the closed state is prevented, wherein the automatic lock is disposed at the door body and a bolt of the latching assembly extends from the door frame toward the automatic lock, wherein the automatic lock comprises a first capture element and a second capture element, wherein the first and second capture elements extend on opposite sides of the bolt when the door body is in the closed state, and wherein the first and second capture elements are withdrawn into a housing of the automatic lock in the release position.

Some example embodiments now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all example embodiments are shown. Indeed, the examples described and pictured herein should not be construed as being limiting as to the scope, applicability or configuration of the present claims.

Rather, these example embodiments are provided so that this disclosure will satisfy applicable legal requirements. Furthermore, as used herein, the term "or" is to be interpreted as a logical operator that results in true whenever one or more of its operands are true. Additionally, the term "yard maintenance" is meant to relate to any outdoor grounds improvement or maintenance related activity and need not specifically apply to activities directly tied to grass, turf or sod care. As used herein, operable coupling should be understood to relate to direct or indirect connection that, in either case, enables functional interconnection of components that are operably coupled to each other.

Robotic mowers, which are one example of a robotic vehicle of an example embodiment, typically mow an area that is defined by a boundary that bounds the area to be mowed. The robotic mower roams within the bounded area to ensure that the entire area is mowed, but the robotic mower does not go outside of the bounded area. When operating in a fenced in area, the fence could form the boundary either actually or by virtue of having a boundary wire buried proximate to the fence. However, if the robotic mower needs to exit the fenced in area for any reason several issues may arise. First, a breach may be required in the fence to enable the robotic mower to leave the fenced in area. Second, if some type of door is used to avoid defining a breach, the door may not be secure, or otherwise may require manual operation that inhibits operation of the robotic mower. If the door is automated with respect to opening, the amount of power consumption that is generated by unlocking the door when the robotic mower comes near without intending to go through the door can lead to excessive battery drain or other waste of power.

Example embodiments may provide a selectively operable door that makes it possible to preserve the integrity and continuity of the fence with respect to enclosing the fenced in area by avoiding introduction of a non-secure portion of the fence. Example embodiments may also enable the robotic vehicle (e.g., robotic mower) to easily (and autonomously) pass through the fence (i.e., via the selectively operable door) to reach other service areas and/or a charging station of the robotic vehicle. Additionally, example embodiments may provide operability of the door in such a way that minimizes the incidence of false positive or unnecessary unlock cycles for the door.

Although a robotic mower is one example of a device that may employ the selectively operable door of an example embodiment, it should be noted that other robotic vehicles may also work in connection with such a device. For example, robotic vehicles that are configured as mobile sensing devices, watering devices, fertilizing devices, spraying/spreading machines, and/or the like) may also use example embodiments. In this regard, while the robotic vehicle operates within boundaries (which can be defined by any of a number of different ways), the robotic vehicle may perform a function, and may be intelligent enough to avoid (and possibly even classify) objects it encounters by employing contactless sensors, while further enabling the robotic vehicle to navigate through a doorway into a physically separated portion of a parcel that is serviced by the robotic vehicle. By enabling the robotic vehicle to accurately determine its position and experience its surroundings, including interactions with a selectively operable door, some example embodiments may greatly expand the capabilities and the performance of robotic vehicles.

A boundary wire may be one way to define the boundary. However, since a boundary wire can be difficult to install in some areas, other strategies may be employed in some cases. For example, global positioning system (GPS), dead reckoning, local positioning beacons, physical boundaries or even visual fixing relative to various structural markers may alternatively be employed to locate and retain the robotic vehicle within the boundary. A robotic vehicle may therefore be provided that can operate and stay within boundaries that can be defined by any of a number of different ways. Moreover, the robotic vehicle may be intelligent enough to pass through a door into a physically separated portion of a service area.

<FIG> illustrates an example operating environment for a robotic vehicle <NUM> that may be employed as a deicing robot in connection with an example embodiment. However, it should be appreciated that example embodiments may be employed on numerous other robotic vehicles, so the robotic vehicle <NUM> should be recognized as merely one example of such a vehicle. The robotic vehicle <NUM> may operate to mow grass in a service area <NUM> (i.e., a parcel of land on which the robotic vehicle <NUM> is operable). The service area <NUM> includes a first portion <NUM> and a second portion <NUM> that are physically separated from each other. In this example, the first portion <NUM> is a back yard that is enclosed by a first boundary, which is a fence <NUM>. Notably, a structure <NUM> (e.g., a house or other building) may also form part of the first boundary.

The first boundary may be defined using one or more physical boundaries (e.g., the fence <NUM>, wall, curb, building, boundary wire and/or the like), or programmed location based boundaries or combinations thereof. When the first boundary <NUM> is detected, by any suitable means, the robotic vehicle <NUM> may be informed so that the robotic vehicle <NUM> can operate in a manner that prevents the robotic vehicle <NUM> from leaving or moving outside the boundary <NUM>.

In the example of <FIG>, the service area <NUM> also includes a second portion <NUM>, which may be a front yard (which is not fenced in this example). As noted above, a portion of the fence <NUM> (and the structure <NUM>) separates the first portion <NUM> from the second portion <NUM> of the service area <NUM>. The second portion <NUM> of the service area <NUM> may be enclosed by a second boundary <NUM>. The second boundary <NUM> in this example may be a boundary wire. However, as noted above, other means of defining the second boundary <NUM> may be used in some cases. Moreover, it should be understood that if the second boundary <NUM> and the first boundary are both defined by boundary wires, the boundary wires could be the same continuous boundary wire or different boundary wires in alternative examples.

The robotic vehicle <NUM> may be controlled, at least in part, via control circuitry <NUM> located onboard the robotic vehicle <NUM>. The control circuitry <NUM> may include, among other things, a positioning module and a sensor module, which will be described in greater detail below. Accordingly, the robotic vehicle <NUM> may utilize the control circuitry <NUM> to define a path (e.g., which may be random in some cases) for coverage of the service area <NUM> in terms of performing a task over the first and second portions <NUM> and <NUM> of the service area <NUM>. In this regard, the positioning module may be used to guide the robotic vehicle <NUM> over the service area <NUM> and to ensure that full coverage (of at least predetermined portions of the service area <NUM>) is obtained, while the sensor module may detect objects and/or gather data regarding the surroundings of the robotic vehicle <NUM> while the service area <NUM> is traversed.

If a sensor module is employed, the sensor module may include a sensors related to positional determination (e.g., a GPS receiver, an accelerometer, a camera, a radar transmitter/detector, an ultrasonic sensor, a laser scanner and/or the like). Thus, for example, positional determinations may be made using GPS, inertial navigation, optical flow, radio navigation, visual location (e.g., VSLAM) and/or other positioning techniques or combinations thereof. Accordingly, the sensors may be used, at least in part, for determining the location of the robotic vehicle <NUM> relative to boundaries or other points of interest (e.g., a starting point or other key features) of the service area <NUM>, or determining a position history or track of the robotic vehicle <NUM> over time. The sensors may also detect collision, tipping over, or various fault conditions. In some cases, the sensors may also or alternatively collect data regarding various measurable parameters (e.g., moisture, temperature, soil conditions, etc.) associated with particular locations on the service area <NUM>.

In an example embodiment, the robotic vehicle <NUM> may be battery powered via one or more rechargeable batteries. Accordingly, the robotic vehicle <NUM> may be configured to return to a charging station <NUM> that may be located at some position on the service area <NUM> in order to recharge the batteries. The batteries may power a drive system and a blade control system (or other functional element) of the robotic vehicle <NUM>. However, the control circuitry <NUM> of the robotic vehicle <NUM> may selectively control the application of power or other control signals to the drive system and/or the blade control system to direct the operation of the drive system and/or blade control system. Accordingly, movement of the robotic vehicle <NUM> over the service area <NUM> may be controlled by the control circuitry <NUM> in a manner that enables the robotic vehicle <NUM> to systematically or randomly traverse the service area <NUM> while operating the blade control system to mow grass (or otherwise service) the service area <NUM>.

The charging statin <NUM> may be disposed on either the first portion <NUM> or the second portion <NUM> of the service area <NUM>. Thus, the fact that the charging station is in the first portion <NUM> in <FIG> should not be seen as limiting in any way. In order to enable the charging station <NUM> from operating on the second portion <NUM>, the robotic vehicle <NUM> must have a way to pass between the first portion <NUM> and the second portion <NUM>. Accordingly, a selectively operable door <NUM> (or simply "door") of an example embodiment may be provided in the fence <NUM>. However, it should also be appreciated that the charging station <NUM> could be located in the structure <NUM>, and the selectively operable door <NUM> may then be located in a wall of the structure <NUM>.

<FIG> illustrates a perspective view of the selectively operable door <NUM> of an embodiment located in situ in the fence <NUM>. The fence <NUM> in this example is made of a series of vertical and horizontal beams or bars. However, the fence <NUM> could take any form in alternative embodiments, and may be made of any material. The selectively operable door <NUM> may be disposed in a portion of the fence <NUM> proximate to the ground in order to enable the robotic vehicle <NUM> to drive through the selectively operable door <NUM> (and therefore also through the fence <NUM>) without difficulty or interference.

As shown in <FIG>, the selectively operable door <NUM> includes a number of physical components including a door frame <NUM> and a door body <NUM> that is hingedly attached to the door frame <NUM>. The door body <NUM> is hingedly attached to a top or cross member of the door frame <NUM>. The top or cross member of the door frame <NUM> may extend between two parallel door jambs on opposing sides of the door body <NUM>. The door frame <NUM> may include a bottom member in some cases, but such bottom member is not required. Thus, the door body <NUM> may extend nearly to the ground or to the ground in some cases. If a bottom member is employed, the bottom member may be relatively thin (or ramped with a slight incline) to enable the robotic vehicle <NUM> to transit over the bottom member relatively easily.

In an example embodiment, the door body <NUM> may include an interface member <NUM> attached to each opposing side of the door body <NUM> (i.e., one interface member <NUM> facing the first portion <NUM> and one interface member <NUM> facing the second portion <NUM> of the service area <NUM>). The interface member <NUM> may be used for one or more different functional interactions with the robotic vehicle <NUM>. For example, in a simple case, the interface member <NUM> may be (or include) one or more rollers. In such an example, the robotic vehicle <NUM> may, when passing through the selectively operable door <NUM>, contact the interface member <NUM> for minimizing any damage or friction with a body of the robotic vehicle <NUM>. The rollers may therefore ensure that the physical appearance and exterior of the body of the robotic vehicle <NUM> does not become excessively damaged, marred or scratched. In other examples, the interface member <NUM> may have additional or alternative functions (as discussed in greater detail below).

<FIG> illustrates a block diagram of the selectively operable door <NUM> of an embodiment. The selectively operable door <NUM> includes a latching assembly that is configured to alternately lock to prevent opening of the selectively operable door <NUM> and unlock to permit the robotic vehicle <NUM> to pass through the selectively operable door <NUM>. The latching assembly may include components that may be embodied in a number of different ways. In the embodiment shown in <FIG>, the door frame <NUM> has a bolt <NUM> extending therefrom toward the door body <NUM>, to engage an automatic lock <NUM> disposed at the door body <NUM>. The automatic lock <NUM> and the bolt <NUM> therefore form the latching assembly (or portions thereof) in this embodiment. In some cases, the automatic lock <NUM> may be inside the door body <NUM>, and have portions thereof that are exposed to receive the bolt <NUM> when aligned therewith. However, it should be appreciated that the automatic lock <NUM> could alternatively be completely or partially located outside the door body <NUM>. The locations of the bolt <NUM> and automatic lock <NUM> could also be reversed in some examples. In either case, when the door body <NUM> is in a closed state relative to the door frame <NUM>, the automatic lock <NUM> and the bolt <NUM> align with each other so that the automatic lock <NUM> can capture or retain the bolt <NUM> (e.g., in a locked or captured state).

In some examples, a magnet <NUM> may be disposed at a portion of the door body <NUM> that aligns with another magnet <NUM> disposed in the door frame <NUM> when the door body <NUM> is in the closed state. Accordingly, as the door body <NUM> swings (either freely or resisted by spring force), the magnets <NUM> and <NUM> will tend to attract each other to bring the door body <NUM> to a stop in the closed state. The automatic lock <NUM> will then also be brought into proper alignment with the bolt <NUM> so that operation of the automatic lock <NUM> alternately captures or releases the bolt <NUM> as described in greater detail below to lock and unlock, respectively, the door body <NUM> with respect to the door frame <NUM>. When the door body <NUM> is locked with respect to the door frame <NUM>, the selectively operable door <NUM> (or latching assembly) may also be considered to be locked. When the door body <NUM> is unlocked with respect to the door frame <NUM>, the selectively operable door <NUM> (or latching assembly) may be considered to be unlocked.

When the selectively operable door <NUM> is unlocked, the robotic vehicle <NUM> may be enabled to pass through the selectively operable door <NUM> with minimal interference by pushing the door body <NUM> to swing on the hinge that connects the door body <NUM> to the door frame <NUM>. When the selectively operable door <NUM> is locked, the robotic vehicle <NUM> may not be enabled to pass through the selectively operable door <NUM>, and the door body <NUM> may be prevented from swinging out of the closed state on the hinge that connects the door body <NUM> to the door frame <NUM> by virtue of the automatic lock <NUM> capturing the bolt <NUM>.

In an example embodiment, the automatic lock <NUM> alternately captures or releases the bolt <NUM> responsive to movement of a portion of the automatic lock <NUM>. The automatic lock <NUM> may therefore define a release position in which the bolt <NUM> is released so that door body <NUM> can be moved relative to the door frame <NUM> and a capture position in which, movement of the door body <NUM> from the closed state relative to the door frame <NUM> is prevented, but movement of the door body <NUM> to the closed state (e.g., if the door body <NUM> is displaced from the closed state) is still possible. In some cases, a motor <NUM> may be operably coupled to the automatic lock <NUM> to drive the automatic lock <NUM> (or portion thereof) to alternately capture and release the bolt <NUM> (or at least move between respective capture and release positions that enable the capturing and releasing of the bolt <NUM>, respectively). The motor <NUM> may be an AC or DC motor that is powered from a power supply <NUM>. In an example embodiment, the power supply <NUM> may be a battery, and the motor <NUM> may be a DC motor (e.g., a brushless DC (BLDC) motor). However, in alternative embodiments, the motor <NUM> may be an AC motor and the power supply <NUM> may be mains power. The power supply <NUM> may be in the door frame <NUM> (or otherwise external to the door body <NUM>) and connected to the motor <NUM> via wires that extend between the door frame <NUM> and door body <NUM> proximate to or via the hinge. However, the power supply <NUM> could alternatively be located in the door body <NUM> in some cases.

Operation of the motor <NUM> may be managed by a controller <NUM>. The controller <NUM> may include processing circuitry (e.g., a processor and memory) that are configurable to respond to triggers provided thereto in order to instruct the motor <NUM> to operate to move the automatic lock <NUM> between the capture and release positions. In an example embodiment, the controller <NUM> may be operably coupled to a vehicle detector <NUM> that is configured to provide an opening trigger to the controller <NUM> when the robotic vehicle <NUM> is determined to be moving toward the selectively operable door <NUM> to pass therethrough. The opening trigger (or signal) may be an electric signal or mechanical signal as discussed in greater detail below, and the vehicle detector <NUM> may also take a number of forms as discussed below. Responsive to receipt of the opening trigger, the controller <NUM> may instruct the motor <NUM> to operate to move the automatic lock <NUM> (or portion thereof) to the release position.

In an example embodiment, the motor <NUM> may operate to move the automatic lock <NUM> (or portion thereof) to the capture position responsive to instruction from the controller <NUM> when the controller <NUM> has received a closing trigger (or signal) from a door motion detector (or simply motion detector <NUM>). The motion detector <NUM> may be configured to detect movement of the door body <NUM> of at least a predetermined amount. In an example embodiment, the motion detector <NUM> may be an accelerometer, and the accelerometer may be configured to detect movement of the door body <NUM> of at least a predetermined amount (e.g., greater than <NUM> degrees of pivot about the hinge). Thus, the motion detector <NUM> may detect that the robotic vehicle <NUM> is moving through the selectively operable door <NUM> and has displaced the door body <NUM> relative to the door frame <NUM> by the predetermined amount, and may provide the closing trigger to the controller <NUM>.

<FIG> illustrates a partial cutaway view of portions of the selectively operable door <NUM> in accordance with an example embodiment. In this regard, a portion of the door frame <NUM> is shown along with the door body <NUM> (in dashed lines). The door body <NUM> encloses the automatic lock <NUM> and the motor <NUM> therein. The door body <NUM> also includes an aperture inside which the bolt <NUM> may extend to be captured by the automatic lock <NUM>. Meanwhile, the magnets <NUM> and <NUM> are disposed proximate to each other at a bottom portion of the door body <NUM> and door frame <NUM>, respectively. However, the magnets <NUM> and <NUM> could alternatively (or additionally) be at other locations.

<FIG> and <FIG> illustrates a perspective view of the automatic lock <NUM> in the capture position (<FIG>) and moving toward (or in) the release position (<FIG>). As shown in <FIG>, the automatic lock <NUM> has a housing <NUM> from which a first capture element <NUM> and a second capture element <NUM> extend. The first and second capture elements <NUM> and <NUM> may, in this case, extend from a bottom portion of the housing <NUM> to define the capture position. In this regard, when the first and second capture elements <NUM> and <NUM> are fully extended, the first and second capture elements <NUM> and <NUM> are considered to be in the capture position (as shown in <FIG>). To the extent the door body <NUM> is in the closed state while the first and second capture elements <NUM> and <NUM> are in the capture position, the first and second capture elements <NUM> and <NUM> extend on opposite sides of the bolt <NUM> (as shown in <FIG>).

The first and second capture elements <NUM> and <NUM> are retractable into the housing <NUM> to transition to the release position. Thus, as shown in <FIG>, the first and second capture elements <NUM> and <NUM> move in the direction of arrow <NUM> such that they are no longer on opposing sides of the bolt <NUM>, and therefore the automatic lock <NUM> and the door body <NUM> can move relative to the bolt <NUM> and the door frame <NUM>, respectively. When the first and second capture elements <NUM> and <NUM> are retracted, both the first and second capture elements <NUM> and <NUM> are incapable of touching the bolt <NUM>. However, when not retracted (and therefore extended), the first and second capture elements <NUM> and <NUM> are capable of contacting the bolt <NUM>.

<FIG> shows a perspective view of the automatic lock <NUM> in accordance with an example embodiment. <FIG> illustrates the automatic lock <NUM> with one half of the housing <NUM> removed to reveal internal components of the automatic lock <NUM> in accordance with one example embodiment. <FIG> and <FIG> will be used to describe operation of the automatic lock <NUM> when the door body <NUM> returns to the closed state while the automatic lock is in the capture position. Meanwhile, <FIG> show the automatic lock <NUM> with the first and second capture elements <NUM> and <NUM> in the capture position and the release position, to facilitate a description of the shift between the capture position and the release position. <FIG> illustrates a perspective view of some internal parts of the automatic lock <NUM> to further explain certain aspects of operation of the automatic lock <NUM>.

Referring first to <FIG> and <FIG>, it can be seen that the housing <NUM> (or at least one half thereof) includes receiving tracks <NUM> for the first and second capture elements <NUM> and <NUM>. In this regard, there is one instance of receiving tracks <NUM> on each lateral side of the housing <NUM> and the receiving tracks <NUM> form a void space inside which the first and second capture elements <NUM> and <NUM> can move upward and downward.

The first and second capture elements <NUM> and <NUM> each include a ramp surface <NUM> at a distal end thereof. The ramp surfaces <NUM> are angled to face away from each other, and are located on a projection <NUM> that is capable of engaging the bolt <NUM> when the projections <NUM> of the first and second capture elements <NUM> and <NUM> extend out of the housing <NUM>. The first and second capture elements <NUM> and <NUM> each also include a longitudinally extending retaining slot <NUM> inside which a biasing member (e.g., spring <NUM>) is located. The springs <NUM> extend from the projection <NUM> to a stop member <NUM> that is located in the receiving tracks <NUM> of the housing <NUM>. Thus, as can be appreciated from <FIG>, any upward movement of one either one of the projections <NUM> in the corresponding one of the receiving tracks <NUM> may cause the spring <NUM> in the corresponding retaining slot <NUM> to be compressed between the projection <NUM> and the stop member <NUM>. When any force moving the projection <NUM> upward (in the direction of arrow <NUM>) or retaining the projection <NUM> in a position that compresses the spring <NUM> is removed, the spring <NUM> will unload itself and move the projection downward (in a direction opposite the direction of arrow <NUM>).

Accordingly, for example, as shown in <FIG>, if the door body <NUM> is allowed to pivot from an opened position toward the closed state (e.g., in a swinging direction shown by arrow <NUM>), the bolt <NUM> may initially contact the ramp surface <NUM> of the second capture element <NUM> (at a position of the bolt <NUM> shown by dashed circle <NUM>). The bolt <NUM> will then ride (e.g., due to the weight of the door body <NUM> and corresponding momentum cause be gravity acting on the door body <NUM>) along the ramped surface <NUM> and will overcome the spring <NUM> to compress the spring <NUM> as the second capture element <NUM> moves upwardly into the housing <NUM> along the receiving track <NUM>. The bolt <NUM> will then pass by the second capture element <NUM> and into the space between the first and second capture elements <NUM> and <NUM> and strike the side of the first capture element <NUM> that is opposite the ramped surface <NUM> of the first capture element <NUM> thereby stopping movement of the door body <NUM> in the direction of arrow <NUM>. Meanwhile, the spring <NUM> will unload after the bolt <NUM> clears the second capture element <NUM> and the projection <NUM> of the second capture element <NUM> will move downward (in a direction opposite arrow <NUM>) to return to the position shown in <FIG> and <FIG>. To the extent the bolt <NUM> bounces off of the first capture element <NUM> and moves in a direction opposite that of arrow <NUM>, the second capture element <NUM> will deflect the bolt <NUM> rearward to retain the bolt <NUM> in the space between the first and second capture elements <NUM> and <NUM>. The magnets <NUM> and <NUM> will cause the movement of the door body <NUM> to stop and the bolt <NUM> will be retained at the location shown by dashed circle <NUM>.

Notably, all of the actions described in reference to <FIG> and <FIG> occur while the automatic lock <NUM> is in the capture position. While transition toward the release position was shown and described in reference to <FIG>, <FIG> illustrates the automatic lock <NUM> fully in the release position. Moreover, it can be appreciated from <FIG> and <FIG> that movement of the motor <NUM> may cause corresponding movement of a carrier assembly <NUM> of the automatic lock <NUM>. The carrier assembly <NUM> may be operably coupled to the motor <NUM> at a proximal end thereof, and may be operably coupled to the first and second capture elements <NUM> and <NUM> (while extending therebetween) at a distal end of the carrier assembly <NUM>. In this example, the distal end of the carrier assembly <NUM> may include lift arms <NUM> that engage a portion of the first and second capture elements <NUM> and <NUM> and retain the first and second capture elements <NUM> and <NUM> in the receiving tracks <NUM> against the force of the springs <NUM> (which would otherwise force the first and second capture elements <NUM> and <NUM> out of the housing <NUM>.

The carrier assembly <NUM> further includes a slot <NUM>, a ramp <NUM> and a retaining well <NUM>. The slot <NUM>, the ramp <NUM> and the retaining well <NUM> may each extend along a longitudinal centerline of the carrier assembly <NUM>. A holding bolt <NUM> may be retained by the housing <NUM>, and may have a ball member <NUM> facing internally (toward the carrier assembly <NUM>). The ball member <NUM> may be configured to ride in the slot <NUM> when the carrier assembly <NUM> is located in a position that corresponds to the capture position (shown in <FIG>). This may represent the farthest downward travel of the carrier assembly <NUM>, and the carrier assembly <NUM> may be moved to this position by the motor <NUM>. When the opening trigger is received, as mentioned above, the motor <NUM> may operate to draw the automatic lock <NUM> out of the capture position and into the release position (shown in <FIG>). The motor <NUM> may therefore draw the proximal end of the carrier assembly <NUM> upward (as shown by arrow <NUM> in <FIG>) and correspondingly also carry the first and second capture elements <NUM> and <NUM> upward to retract them inside the housing <NUM>. The ball member <NUM> may slide along the ramp <NUM> and into the retaining well <NUM> as the motor <NUM> draws the carrier assembly <NUM> upward relative to the housing <NUM>. When the motor <NUM> has moved the carrier assembly <NUM> to the position shown in <FIG>, the motor <NUM> may stop operation in order to limit the power consumed by the motor <NUM>. The fact that the motor <NUM> does not stay on through the entire cycle can save power and therefore extend the life of a battery, if the power supply <NUM> is a battery. Although the power of the motor <NUM> is off, and the springs <NUM> are compressed, the interaction between the retaining well <NUM> and the ball member <NUM> may hold the carrier assembly <NUM> in the release position shown in <FIG>.

When the motor <NUM> is operated to transition the automatic lock <NUM> to the capture position (of <FIG>), responsive to receipt of the closing trigger, the carrier assembly <NUM> is moved downward (in a direction opposite that of arrow <NUM>). The downward movement pushes the ball member <NUM> out of the retaining well <NUM> and onto the ramp <NUM>. When the ball member <NUM> reaches the ramp <NUM>, the springs <NUM> may push against the stop member <NUM> and unload to extend the first and second capture elements <NUM> and <NUM> back to the capture position of <FIG>. As an alternative to the ball member <NUM>, other spring loaded or energy storing devices may be employed. For example, any spring loaded catch that fits into a detent may be employed including a ball plunger, a plastic or Delrin feature molded into an assembly to fit into a detent on a separate puller piece, a flat metal piece attached to a spring that interferes with a detent on the outside of a puller assembly, etc..

As noted above, the motor <NUM> may operate responsive to instructions from the controller <NUM>, and the controller <NUM> may receive the opening trigger and closing trigger from the vehicle detector <NUM> and the motion detector <NUM>, respectively. The vehicle detector <NUM> may take numerous forms. For example, the vehicle detector <NUM> may be wireless detector in some cases. In such examples, the vehicle detector <NUM> may detect the robotic vehicle <NUM> without any physical contact between the robotic vehicle <NUM> and the selectively operable door <NUM>.

In other examples, the vehicle detector <NUM> may require physical contact for detection of the robotic vehicle <NUM>, so the vehicle detector <NUM> may be considered to be a mechanical or physical detector. One such example of a physical detector may include the provision of a mechanical switch on each side of the selectively operable door <NUM>. For example, the interface member <NUM> of <FIG> may be an example of a physical detector since the interface member <NUM> may be actuated when contact is made with the robotic vehicle <NUM>. Effectively, the interface member <NUM> may act as a mechanical switch that is triggered when the robotic vehicle <NUM> engages the interface member <NUM>. The switch may be synchronized to the controller <NUM> in the door body <NUM> (thereby providing the opening trigger) to enable the controller <NUM> to direct the motor <NUM> to operate the automatic lock <NUM> as described above to shift the first and second capture elements <NUM> and <NUM> to the release position when contact is detected. When the motion detector <NUM> of <FIG> detects motion of the door body <NUM> beyond a predetermined amount (e.g., <NUM> degrees), the controller <NUM> may receive the closing trigger, and may instruct the motor <NUM> to operate in the reverse direction (e.g., as described above) to transition the automatic lock <NUM> to the capture position. As the door body <NUM> swings shut, one of the first or second capture elements <NUM> or <NUM> will be displaced as described above in reference to <FIG> to resume capture of the bolt <NUM>. The interface member <NUM> could also take other physical forms at the door body <NUM> (or proximate thereto) and may be located in a mechanical assembly or housing that shields the interface member <NUM> from interaction with natural debris, weather or animals.

As another alternative, the interface member <NUM> may be an open electrical circuit that is closed by physical contact with the robotic vehicle <NUM>. In this regard, for example, electrical contacts may be provided at the interface member <NUM> to interact with an electrically conductive portion or strip on the front of the robotic vehicle <NUM>. When the robotic vehicle <NUM> hits the interface member <NUM>, the open circuit of the interface member <NUM> may be closed to provide the opening trigger to the controller <NUM> to transition the automatic lock <NUM> to the release position as discussed above. After the robotic vehicle <NUM> displaces the door, and the circuit is no longer closed, the automatic lock <NUM> may also shift back to the capture position as also described above.

<FIG> illustrates a block diagram of example structures that may be employed to provide a wireless detector for the vehicle detector <NUM> of some example embodiments. Notably, the components shown in <FIG> are merely examples of some components that may be used in connection with some example embodiments. Other structures are also possible. Moreover, some embodiments may use fewer than all of the components shown in <FIG> and/or may use selected ones of such components in any combination. Other components may also be substituted or added to those shown in <FIG> in some cases.

Referring now to <FIG>, the robotic vehicle <NUM> may include control circuitry <NUM>, as discussed above. The vehicle detector <NUM> may include processing circuitry <NUM>, which may be similar in form and/or function to the control circuitry <NUM> of the robotic vehicle <NUM>, for example, insofar as each may include a processor and memory that may be programmable to define corresponding operable functions of the respective devices. The control circuitry <NUM> and processing circuitry <NUM> may each be configured to perform data processing or control function execution and/or other processing and management services according to an example embodiment of the present invention. In some embodiments, the control circuitry <NUM> and processing circuitry <NUM> may each be embodied as a chip or chip set. In other words, the control circuitry <NUM> and processing circuitry <NUM> may comprise one or more physical packages (e.g., chips) including materials, components and/or wires on a structural assembly (e.g., a baseboard). The structural assembly may provide physical strength, conservation of size, and/or limitation of electrical interaction for component circuitry included thereon. The control circuitry <NUM> and processing circuitry <NUM> may therefore, in some cases, be configured to implement an embodiment of the present invention on a single chip or as a single "system on a chip. " As such, in some cases, a chip or chipset may constitute means for performing one or more operations for providing the functionalities described herein. Thus, for example, the control circuitry <NUM> and processing circuitry <NUM> may include one or more instances of a processor and memory. In some cases, the processing circuitry <NUM> of the vehicle detector <NUM> may be shared with or distinct from corresponding processing circuitry of the controller <NUM>.

In an example embodiment, the processing circuitry <NUM> of the vehicle detector <NUM> may include or otherwise be in communication with (e.g., may be operably coupled to) a transmitter <NUM> and/or receiver <NUM>. Similarly, the control circuitry <NUM> of the robotic vehicle <NUM> may include or otherwise be in communication with (e.g., may be operably coupled to) a transmitter <NUM> and/or receiver <NUM>. The interactions and structures used to embody selective ones of these transmitters and receivers may define a number of different specific ways that the vehicle detector <NUM> may be defined as a wireless detector.

In one example embodiment, the wireless detector may be embodied as a Bluetooth or Bluetooth Low Energy (BLE) detector. In such an example, the transmitter <NUM> of the robotic vehicle <NUM> may transmit a relatively low power signal (e.g., Bluetooth or other low power signals) that is detectable by the receiver <NUM> of the vehicle detector <NUM> when the robotic vehicle <NUM> is within range. There may be no need for or existence of the receiver <NUM> or transmitter <NUM> in this particular example embodiment. The distance at which the low power signal is detectable may be adjustable by adjusting the power level of the transmitter <NUM>. The receiver <NUM> of the vehicle detector <NUM> may have a predefined signal detection threshold (e.g., a certain received signal strength indicator (RSSI) that is sufficient to be considered as an opening trigger. Thus, for example, the receiver <NUM> may either be configured to generate the opening trigger responsive to any receipt of the low power signal, or only responsive to receipt of the low power signal above a predefined threshold.

In some cases, the transmitter <NUM> may further be shielded (e.g., on sides and the rear of the robotic vehicle <NUM>) so that the signal transmitted is strongest directly in front of the robotic vehicle <NUM>. Thus, the robotic vehicle <NUM> may pass close to the selectively operable door <NUM> without triggering an unlock event unless the robotic vehicle <NUM> is headed directly (or nearly directly) toward the selectively operable door <NUM>. The shielding may therefore provide a type of angle of approach (AOA) detection may be a further component of the process used to generate the opening trigger. Another AOA detection paradigm may be employed by making the receiver <NUM> at the vehicle detector <NUM> capable of discerning AOA based on signal reception. In this regard, for example, the receiver <NUM> may actually be embodied by two spaced apart receivers located at the door body <NUM> (or door frame <NUM>) in different parts thereof. The signal received from the transmitter <NUM> may therefore be received at slightly different times based on the AOA, and the timing difference may be used to calculate the AOA. If the AOA is outside a certain range (e.g., a range of values indicating likely intent of the robotic vehicle <NUM> to pass through the selectively operable door <NUM>), then no opening trigger may be initiated. However, if the AOA is within the certain range of values, then the opening trigger may be initiated.

The wireless detector may alternatively be embodied as a radio frequency identifier (RFID) reader in some cases. In such an example, the transmitter <NUM> of the vehicle detector <NUM> may be configured to transmit a signal that may be received (e.g., by receiver <NUM>) at a passive RFID tag on the robotic vehicle <NUM>. The RFID tag may respond to the signal received by transmitting, and the transmission from the RFID tag may be received by the receiver <NUM> of the vehicle detector <NUM> indicating the presence of the robotic vehicle <NUM> within a short distance of the selectively operable door <NUM> to generate the opening trigger. As an alternative, the RFID tag may be an active tag instead of a passive tag. In either case, an RFID reader may be in the door frame <NUM> or the door body <NUM> and may read the RFID tag as the robotic vehicle <NUM> approaches the selectively operable door <NUM> to generate the opening trigger.

An example employing RFID techniques may also use the AOA techniques similar to those described above to increase accuracy. In this regard, for example, the robotic vehicle <NUM> may have two passive or active RFID tags located thereat. Each of the two RFID tags may have a unique identity or identifier, and may be placed on opposite sides (e.g., right and left) of the robotic vehicle <NUM>. As the robotic vehicle <NUM> approaches the selectively operable door <NUM>, the vehicle detector <NUM> may record a difference in the time that the signals were received from each of the RFID tags in order to determine the AOA based on the time difference. Alternatively, the two RFID tags could be located at the selectively operable door <NUM> and the reader may be located at the robotic vehicle <NUM>. In such alternative, the calculation may be similarly performed to generate AOA, except that the roles and locations of the components involved in the calculation are reversed.

In another example embodiment, the wireless detector may be embodied as a time of flight (TOF) sensor. In such an example, each side of the door body <NUM> may have an instance of the transmitter <NUM> thereon (or the transmitter <NUM> may be omni or bi-directional). The transmitter <NUM> may generate a signal that bounces off the robotic vehicle <NUM> and is returned and received at the receiver <NUM>. The TOF may be calculated and a range may be determined from the calculation. If the range is decreasing at a rate that indicates that the robotic vehicle <NUM> is heading toward the selectively operable door <NUM>, the opening trigger may be generated. In some cases, AOA may be integrated into the calculation by using a known speed of the robotic vehicle <NUM>, and the rate at which range is decreasing to the selectively operable door <NUM>. In this regard, by comparing the rate of range closure to the known speed of the robotic vehicle <NUM>, the AOA can be determined to see if the approach of the robotic vehicle <NUM> is direct, and therefore more likely to be made with intent to pass through the selectively operable door <NUM> rather than simply performing a cutting operation in the vicinity of the selectively operable door <NUM>.

In some embodiments, wireless detection may be accomplished via a combination of components that accurately track the location of the robotic vehicle <NUM>. For example, the robotic vehicle <NUM> may include a location module <NUM> configured to accurately determine the location of the robotic vehicle <NUM>. The location module <NUM> may be a GPS receiver or may employ real time kinematic (RTK) GPS positioning or any other suitable means by which to accurately obtain location information in real time (e.g., GPS, GLONASS, Galileo, GNSS, and/or the like). The location information may then be transmitted (e.g., via transmitter <NUM>) to the receiver <NUM> of the vehicle detector <NUM>. The vehicle detector <NUM> may then (e.g., via the processing circuitry <NUM>) determine whether the robotic vehicle <NUM> is intended to pass through the selectively operable door <NUM> and cause a transition to the release condition, as described above. The communication from the transmitter <NUM> to the receiver <NUM> may be direct or indirect. Thus, for some examples, a wireless network component (e.g., a WiFi/Bluetooth/cellular connection via a hotspot, access point, cell site, or the like) may be interposed between the transmitter <NUM> and receiver <NUM>.

As another alternative, wireless detection may be accomplished visually. For example, the vehicle detector <NUM> may be embodied as or include a camera <NUM>, and the camera <NUM> may enable visual recognition techniques to be employed to act as the opening trigger. In such cases, for example, one or more cameras may be mounted at the selectively operable door <NUM>. The camera <NUM> may be configured to initiate the opening trigger responsive to visually identifying the robotic vehicle <NUM> in a specific location or on a recognized trajectory that, in either case, is understood to have a high probability of corresponding to an intent of the robotic vehicle <NUM> to pass through the selectively operable door <NUM>. However, in some cases, the camera <NUM> may have a focus point that is relatively close to the selectively operable door <NUM>, and the camera <NUM> may be configured to read indicia that may be provided on a body of the robotic vehicle <NUM>. If the robotic vehicle <NUM> is at the focus point and the indicia is readable, it may be clear that the robotic vehicle <NUM> has moved toward the selectively operable door <NUM> with the intent to pass through. The camera <NUM> may, in some cases, be located in the interface member <NUM>. However, the camera <NUM>, if employed, could also be at other locations on or near the selectively operable door <NUM>.

In some embodiments, the opening trigger may be initiated via magnetic triggering. For example, the interface member <NUM> or another portion of the selectively operable door <NUM> may include a Hall effect sensor or magnetic reed switch. In such an example, the robotic vehicle <NUM> may emit a magnetic field over a relatively short range (e.g., to keep power level and battery consumption low, or to facilitate use of small permanent magnets). The magnetic emitter of the robotic vehicle <NUM> may be considered as the transmitter <NUM> of <FIG>. If the robotic vehicle <NUM> moves close enough to the selectively operable door <NUM> to enable the receiver <NUM> (e.g., Hall effect sensor or magnetic reed switch) of the vehicle detector <NUM> to detect the magnetic field emitted by the robotic vehicle <NUM>, the opening trigger may be initiated.

In some embodiments, the transmitter <NUM> and receiver <NUM> may be portions of an internal electronic communication system and/or execute an internal electronic communication protocol inside the robotic vehicle <NUM>. One non-limiting example of such a system/protocol may include a universal asynchronous receiver-transmitter (UART). Regardless of how implemented, the internal electronic communication system may be configured to follow a guide wire to the selectively operable door <NUM>. When the robotic vehicle <NUM> has found and is following the guide wire, the robotic vehicle <NUM> may clearly be headed toward the selectively operable door <NUM> for passage therethrough. In such an example, the internal electronic communication system may have corresponding predetermined conditions associated therewith, which may cause generation of the opening trigger. For example, the opening trigger for the selectively operable door <NUM> may be generated when the robotic vehicle <NUM> is following the guide wire.

For any of the mechanisms described above, via which the opening trigger may be initiated, it is desirable for the selectively operable door <NUM> to remain unlocked for as little time as possible after the opening trigger is initiated so that power consumed to unlock and/or open the selectively operable door <NUM> can be minimized. False triggers and any power associated with holding a condition (e.g., the release position) are therefore desirable to be kept to a minimum. Accordingly, as noted above, the selectively operable door <NUM> may be configured to minimize power consumption by operating the motor <NUM> only to transition the automatic lock <NUM> to the release position. Thereafter, the design of the automatic lock <NUM> causes the release position to be held without any power consumption by the motor <NUM> until an actual event associated with movement of the robotic vehicle <NUM> through the selectively operable door <NUM> (e.g., swinging of the door body <NUM> of a predetermined amount) causes the motor <NUM> to operate again only long enough to return the automatic lock <NUM> to the release position.

In some cases, a timing circuit <NUM> may be provided at the vehicle detector <NUM> and if the opening trigger is received, the timing circuit <NUM> may begin to count for a threshold amount of time. When the threshold amount of time has elapsed, if the door body <NUM> has not moved sufficient to initiate a release trigger, the timing circuit <NUM> may provide a signal to the controller <NUM> and the controller <NUM> may cause the motor <NUM> to operate to transition the automatic lock <NUM> to the capture position to ensure that the door body <NUM> is no longer free to move.

In some embodiments, to further ensure that unwanted unlocks are avoided, the robotic vehicle <NUM> may be configured to overtly signal an intent to transition through the selectively operable door <NUM>. In such an example, the transmitter <NUM> of the robotic vehicle <NUM> may only be powered and therefore enabled to transmit (regardless of the type of transmission) when the robotic vehicle <NUM> intends to transit through the selectively operable door <NUM>. Movement of the door body <NUM> may then be detected (e.g., instead of detecting any door position itself) to transition from release position to capture position. As noted above, the movement of the door body <NUM> may be accomplished via an accelerometer. However, other sensors could alternatively be employed to sense door movement, door location relative to the frame or displacement including, for example, magneto resistive sensors, Hall effect sensors, inductive sensors, infrared sensors, optical sensors, physical switches, or RFID tags or other near field communication (NFC) tags. In some cases, the sensors may be specifically tailored to detecting door angle or detecting rotation of the door. Such sensors may include, for example, potentiometers (e.g., rotary on the axis or hinge of the door body <NUM> or linear potentiometers on a spring loaded plunger with a cam to show relative degree of rotation), momentary plunger switch with a cam to trigger on a specific angle or range of angles, optical angular sensors, mechanical rotary sensors, angular Hall effect sensors, a mercury angle switch, or inertial measurement units (IMU) such as magnetometer or gyroscope.

In an example embodiment, a selectively operable door for passage of a robotic vehicle may be provided. The selectively operable door may include a door frame disposable in a barrier dividing two areas in which the robotic vehicle is enabled to travel, a door body hingedly connected to the door frame, and a latching assembly configured to alternately allow movement of the door body such that the robotic vehicle to enabled to pass through the selectively operable door via displacement of the door body and prevent movement of the door body such that the door body is retained in a closed state. The latching assembly may include an automatic lock configured to define a release position in which movement of the door body from the closed state is allowed, and a capture position in which movement of the door body to the closed state is allowed and movement of the door body from the closed state is prevented.

The selectively operable door of some embodiments may include additional features, modifications, augmentations and/or the like to achieve further objectives or enhance performance of the selectively operable door. The additional features, modifications, augmentations and/or the like may be added in any combination with each other. Below is a list of various additional features, modifications, and augmentations that can each be added individually or in any combination with each other. For example, the automatic lock may be disposed at the door body and a bolt of the latching assembly extends from the door frame toward the automatic lock. In an example embodiment, the automatic lock may include a first capture element and a second capture element. The first and second capture elements may extend on opposite sides of the bolt when the door body is in the closed state, and the first and second capture elements may be withdrawn into a housing of the automatic lock in the release position. In some cases, each of the first and second capture elements may include a ramp surface at a distal end thereof, the ramp surfaces being angled to face away from each other. In response to the door body swinging toward the closed state while the automatic lock is in the capture position, a corresponding one of the ramp surfaces rides along the bolt to displace a respective one of the first and second capture elements toward the housing to enable the door body to return to the closed state. In an example embodiment, the first and second capture elements may be biased toward the extended position, and a carrier assembly operable by a motor may overcome the biasing of the first and second capture elements to transition the automatic lock to the release position. In some cases, the carrier assembly may include a retaining well configured to interface with a ball member to hold the automatic lock in the release position until returned to the capture position by operation of the motor. In an example embodiment, the automatic lock may be operably coupled to a motor, which may be configured to operate the automatic lock to the release position responsive to an opening trigger and to the capture position responsive to a closing trigger. In some cases, the motor may be configured to turn off responsive to completing a cycle to transition the automatic lock between the release position and the capture position. The automatic lock may be biased toward the capture position, and the automatic lock may be configured to be retained in the release position when the motor is off after the motor transitions the automatic lock to the release position. In an example embodiment, the motor and the automatic lock may each be disposed within the door body. In some cases, the opening trigger may be received wirelessly via transmission of a signal from the robotic vehicle to a vehicle detector located at the door body. In an example embodiment, the signal is received at two locations with a time difference therebetween, and the time difference may enable a determination of an angle of approach of the robotic vehicle toward the door body. In some cases, the opening trigger may be received wirelessly based on location information specifying a location of the robotic vehicle relative to the door body. In an example embodiment, the opening trigger may be received wirelessly based on reading an radio frequency identification (RFID) tag associated with the robotic vehicle. In an example embodiment, the opening trigger may be received wirelessly based on a receiver at the door body reading a magnetic signature generated by the robotic vehicle. In an example embodiment, the opening trigger may be received wirelessly from a camera detecting movement of the robotic vehicle toward the door body. In some cases, the opening trigger may be received based on a physical interaction between a portion of the door body and the robotic vehicle. In an example embodiment, the physical interaction may include the robotic vehicle activating a switch located at the door body or a conductive component of the robotic vehicle closing an open circuit at the door body by contact with the door body. In an example embodiment, the automatic lock may be transitioned from the release position to the capture position responsive to movement of the door body by at least a predetermined amount away from the closed state. In some cases, the door may further include a movement sensor configured to detect the movement of the door body. In an example embodiment, the movement sensor may include an accelerometer configured to detect at least a thirty degree movement of the door from the closed state.

Claim 1:
A selectively operable door (<NUM>) for passage of a robotic vehicle (<NUM>), the selectively operable door (<NUM>) comprising:
a door frame (<NUM>) disposable in a barrier dividing two areas in which the robotic vehicle (<NUM>) is enabled to travel;
a door body (<NUM>) hingedly connected to the door frame (<NUM>); and
a latching assembly configured to alternately allow movement of the door body (<NUM>) such that the robotic vehicle (<NUM>) to enabled to pass through the selectively operable door (<NUM>) via displacement of the door body (<NUM>) and prevent movement of the door body (<NUM>) such that the door body (<NUM>) is retained in a closed state,
wherein the latching assembly comprises an automatic lock (<NUM>) configured to define a release position in which movement of the door body (<NUM>) from the closed state is allowed, and a capture position in which movement of the door body (<NUM>) to the closed state is allowed and movement of the door body (<NUM>) from the closed state is prevented;
wherein the automatic lock (<NUM>) is disposed at the door body (<NUM>) and a bolt (<NUM>) of the latching assembly extends from the door frame (<NUM>) toward the automatic lock (<NUM>);
characterized in that
the automatic lock (<NUM>) comprises a first capture element (<NUM>) and a second capture element (<NUM>),
wherein the first and second capture elements (<NUM>, <NUM>) extend on opposite sides of the bolt (<NUM>) when the door body (<NUM>) is in the closed state, and
wherein the first and second capture elements (<NUM>, <NUM>) are withdrawn into a housing (<NUM>) of the automatic lock (<NUM>) in the release position.