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.

Abstract: Access control for an autonomous vehicle through a door in a doorway. A magnet is attached to the autonomous vehicle and a magnetometer is located some distance from the doorway. The magnetometer outputs a magnetometer signal in response to detecting the magnet, which causes the transmitter to transmit a detection signal. A doorway device is fixed about the doorway, and includes a receiver, and a locking mechanism with a locking pin. The doorway device retracts the pin to unlock the door for a predetermined period of time in response to receipt of the detection signal, and extents the pin to lock the door after the predetermined period of time ends.

Abstract: 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, and a door movably disposed within the doorway, between a closed position and an open position. A doorway device with a wireless receiver that is coupled to a locking mechanism is configured to selectively engage and lock the door at the closed position, and unlock the door upon receipt of the electronic signal by the wireless receiver. Movement of the robotic vehicle toward the doorway device enables communication of the electronic signal from the wireless transmitter to the wireless receiver. Upon passage of the robotic vehicle through the doorway to the separated area, and return of the door to the closed position, the controller controls the locking mechanism to engage and lock the door.