Coverage robot navigating

• US 10,152,062 B2
• Filed: 06/29/2016
• Issued: 12/11/2018
• Est. Priority Date: 12/30/2010
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Schnittman, Mark Steven
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US15/196,563
• Publication Number:
  US 20160334791A1
• Time in Patent Office: 895 Days
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A method of navigating an autonomous coverage robot on a floor includes controlling movement of the robot across the floor in a cleaning mode, receiving a sensor signal indicative of an obstacle, rotating the robot away from the sensed obstacle, determining a change in the received sensor signal during at least a portion of the rotation of the robot away from the sensed obstacle, and identifying the sensed obstacle based at least in part on the determined change in the received sensor signal.

Claims

1. A method of navigating, on a floor, an autonomous coverage robot comprising a camera, the method comprising steps of:

controlling movement of the robot across the floor in a cleaning mode along a stored heading;

obtaining images from the camera;

extracting features of an obstacle from the images obtained by the camera;

classifying the obstacle as an object to be circumnavigated upon determining that a width or angular width of the obstacle is less than a threshold and classifying the obstacle as an object to be followed upon determining that the width or angular width of the obstacle is equal to or greater than the threshold, wherein the determination that the width or angular width of the obstacle is less than the threshold or equal to or greater than the threshold is made based on the extracted features of the obstacle;

upon classifying the obstacle as an object to be circumnavigated, controlling movement of the robot to cause the robot to circumnavigate the obstacle, including directing the robot to execute an orbiting routine to orbit around the obstacle; and

subsequent to controlling the movement of the robot to circumnavigate the obstacle, controlling movement of the robot across the floor by resuming the stored heading.

2. The method of claim 1, wherein extracting features of the obstacle comprises extraction through the use of a Hough transform.

3. The method of claim 1, wherein extracting features of the obstacle comprises a threshold determination of an edge of an obstacle and an inflection point corresponding approximately to a center of the width of the obstacle.

4. The method of claim 1, wherein obtaining images from the camera comprises obtaining images across a 180 degree field of view forward of the robot in the stored heading.

5. The method of claim 4, wherein the camera is movable with respect to the robot, and

wherein obtaining images across a 180 degree field of view forward of the robot in the stored heading comprises obtaining images while sweeping the camera with respect to the robot.

6. The method of claim 4, wherein obtaining images across a 180 degree field of view forward of the robot in the stored heading comprises obtaining images while controlling movement of the robot to cause the robot to rotate in place.

7. The method of claim 1 in which classifying the obstacle as an object to be circumnavigated upon determining that a width or angular width of the obstacle is less than a threshold comprises classifying the obstacle as a post or post-like structure upon determining that a width or angular width of the obstacle is less than a threshold.

8. The method of claim 7, wherein identifying the obstacle as a post comprises:

determining a size of the obstacle based at least in part on the extracted features; and

identifying the obstacle as a post based at least in part on the size of the obstacle.

9. The method of claim 8, wherein determining a size of the obstacle based at least in part on the extracted features comprises:

storing information concerning a direction of the edge as a first direction; and

storing information concerning a direction of the inflection point as a second direction.

10. The method of claim 9, wherein determining a size of the obstacle based at least in part on the extracted features comprises determining the size of the obstacle based at least in part on the difference between the first and second directions, and

wherein identifying the obstacle as a post comprises comparing the determined size of the obstacle to a threshold.

11. The method of claim 10, wherein the threshold is set based at least in part on the size of the obstacle.

12. The method of claim 10, wherein in the step of identifying the obstacle as a post, upon determining that the size of the obstacle is less than the threshold, the obstacle is identified as a post.

13. The method of claim 12, wherein upon identifying the obstacle as a post, directing the robot to turn toward the obstacle.

14. The method of claim 13, wherein the robot is substantially cylindrical and directing the robot to turn toward the obstacle comprises turning the robot with a radius greater than or equal to the radius of the robot.

15. The method of claim 14, wherein the robot is directed to turn with a radius equal to the radius of the robot to about 1.8 times the radius of the robot.

16. The method of claim 13, wherein the robot is directed to turn with a turn radius based at least in part on the determined size of the obstacle.

17. The method of claim 13, wherein the robot is directed to turn toward the obstacle until a difference between the stored heading and an instantaneous heading of the robot equals to a predetermined value.

18. The method of claim 17, wherein if the difference equals to a predetermined value, the robot is turned in place until the instantaneous heading of the robot equals to the stored heading.

19. The method of claim 1 in which classifying the obstacle as an object to be followed upon determining that the width or angular width of the obstacle is equal to or greater than the threshold comprises classifying the obstacle as a wall or wall-like structure upon determining that the width or angular width of the obstacle is equal to or greater than the threshold.

20. The method of claim 1, further comprising upon classifying the obstacle as an object to be followed, controlling movement of the robot to cause the robot to follow the obstacle, including moving along the obstacle at a substantially fixed distance to the obstacle.