Mobile robot area cleaning

• US 10,296,007 B2
• Filed: 09/07/2017
• Issued: 05/21/2019
• Est. Priority Date: 10/10/2014
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vicenti, Jasper
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US15/698,005
• Publication Number:
  US 20180088585A1
• Time in Patent Office: 621 Days
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals

Abstract

A cleaning robot includes a chassis, a drive system connected to the chassis and configured to drive the robot, a signal generator and sensor carried by the chassis, and a controller in communication with the drive system and the sensor. The signal generator directs a signal toward the floor surface. The sensor is responsive to reflected signals from the floor surface. The controller controls the drive system to alter direction of the robot responsive to a reflected signal indicating an edge of the floor surface.

Claims

1. A cleaning robot comprising:

a drive system configured to drive the cleaning robot;

a sensor configured to produce a sensor output indicative of a characteristic of a surface on which the cleaning robot is traveling; and

a controller in communication with the drive system and the sensor, the controller configured to control the drive system to drive the cleaning robot within a first area having a first surface type, and alter a drive direction of the cleaning robot in response to a determination indicating an edge of the first area having the first surface type has been reached, in which the edge represents a traversable border between the first area and a second area having a second surface type that is different from the first surface type, the determination being based on a change in a surface characteristic determined from a change in the sensor output, the drive direction altered so as to keep at least a portion of the cleaning robot from crossing the edge of the first area,

wherein the edge of the first area is an edge of at least one of a rug, a carpet, a hardwood surface, or a tile surface on which the cleaning robot is moving, and the sensor output is produced in response to sensing a signal reflected from another surface adjacent the edge of the at least one of the rug, the carpet, the hardwood surface, or the tile surface.

2. The cleaning robot of claim 1, wherein the controller is configured to alter a drive direction of the cleaning robot in response to a determination indicating an edge of the rug surface has been reached, and the sensor output is produced in response to sensing a signal reflected from another surface adjacent the edge of the rug.

3. The cleaning robot of claim 1, wherein the controller is configured to alter a drive direction of the cleaning robot in response to a determination indicating an edge of the carpet surface has been reached, and the sensor output is produced in response to sending a signal reflected from another surface adjacent the edge of the carpet.

4. The cleaning robot of claim 1, in which the sensor is configured to produce the sensor output in response to sensing a reflection of a signal from a surface, and the cleaning robot further comprises multiple sensors disposed at different locations about a peripheral edge of the cleaning robot, and wherein the controller is configured to alter the drive direction as a function of which sensor out of the multiple sensors senses the reflection of the signal from which the determination is made indicating the edge of the first area has been reached.

5. The cleaning robot of claim 1, wherein the sensor output indicates, at least in part, an elevation of floor surface.

6. The cleaning robot of claim 1, wherein the sensor output indicates, at least in part, a reflectivity of floor surface.

7. The cleaning robot of claim 1, wherein the sensor is configured to produce the sensor output in response to sensing a reflection of a signal from a surface, and the cleaning robot comprises a signal generator configured to generate the signal that is reflected from the surface.

8. The cleaning robot of claim 7, wherein the signal generator is configured to emit an infrared signal and wherein the sensor output indicates a reflection of the infrared signal from the surface.

9. The cleaning robot of claim 1, wherein the controller is further configured to control the drive system to drive the cleaning robot across the edge of the first area in response to completion of a predetermined cleaning period.

10. The cleaning robot of claim 1, wherein the controller is further configured to redirect the cleaning robot away from a cliff edge sensed by an absence of a reflected signal at the sensor.

11. The cleaning robot of claim 1 in which the first area comprises a carpeted area and the second area comprises an uncarpeted area.

12. The cleaning robot of claim 1 in which the controller is configured to control the drive system to drive the cleaning robot to follow the edge of the first area while keeping at least a portion of the cleaning robot from crossing the edge of the first area.

13. A method of maneuvering an autonomous robot across a surface within a bounded area having at least one open edge, the method comprising:

driving the autonomous robot across a surface while sensing a sensor output from a sensor of the autonomous robot, the sensor output indicative of a characteristic of the surface on which the autonomous robot is traveling;

while continuing to drive the autonomous robot, evaluating the sensor output against a baseline signal characteristic to determine whether the sensor output is indicative of the autonomous robot being adjacent the at least one open edge of the bounded area, in which the open edge represents a traversable border between the bounded area having a first surface type and a second area having a second surface type that is different from the first surface type; and

,

in response to determining from the sensor output that the autonomous robot is adjacent the at least one open edge of the bounded area, altering a direction of motion of the autonomous robot such that the autonomous robot is directed away from the at least one open edge,

wherein the open edge is an edge of at least one of a rug, a carpet, a hardwood surface, or a tile surface on which the cleaning robot is moving, and the sensor output is produced in response to sensing a signal reflected from another surface adjacent the edge of the at least one of the rug, the carpet, the hardwood surface, or the tile surface.

14. The method of claim 13, wherein the bounded area is the area of the rug having a perimeter edge adjacent a surrounding floor surface, and the method comprises driving the autonomous robot across the rug and altering the direction of motion of the autonomous robot in response to the sensor output indicating reflection of a signal from a surface other than a surface of the rug.

15. The method of claim 13, wherein the bounded area is the carpeted area, wherein the at least one open edge is adjacent an uncarpeted floor surface, and the method comprises driving the autonomous robot across the carpet and altering the direction of motion of the autonomous robot in response to the sensor output indicating reflection of a signal from the uncarpeted floor surface.

16. The method of claim 13, wherein the sensor is one of multiple sensors disposed at different places about a periphery of the autonomous robot, and wherein sensor output is evaluated separately for each sensor of the multiple sensors.

17. The method of claim 16, wherein the direction of motion of the autonomous robot is altered as a function of what portion of the sensor output differs greatest from the baseline signal characteristic.

18. The method of claim 16, wherein the direction of motion of the autonomous robot is altered to navigate a corner of the bounded area in response to the sensor output indicating differences between respective signals received at sensors located on opposite sides of the autonomous robot.

19. The method of claim 13, wherein the autonomous robot further comprises a signal emitter configured to emit an infrared signal, and wherein the sensor output indicates a reflection of the infrared signal from a floor.

20. The method of claim 13, further comprising, in response to a reflected signal for the sensor diminishing below a predetermined threshold, moving the autonomous robot in a direction away from a current location of the sensor.

21. The method of claim 13, further comprising, upon determining from the sensor output that the autonomous robot is adjacent the at least one open edge of the bounded area following a triggering event, driving the autonomous robot across the at least one open edge.

22. The method of claim 13 in which altering a direction of motion of the autonomous robot comprises driving the autonomous robot to follow the edge of the bounded area while keeping at least a portion of the cleaning robot from crossing the edge of the bounded area.