AUTONOMOUS COVERAGE ROBOT SENSING
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Abstract
An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.
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Citations
32 Claims
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1-19. -19. (canceled)
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20. An autonomous robot comprising:
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a body configured to move over a surface; two driven wheels carried by the body and defining a transverse axis, with each wheel carried on a respective side of the body; a stasis sensor carried by the body and responsive to inertia of the body; and a controller configured to change the rotation speed and direction of each wheel to rotate the body, the controller in electrical communication with the stasis sensor and configured to determine a stasis condition based at least in part on the inertia sensed by the stasis sensor in response to the changed speed and direction of the wheels. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A method of detecting stasis of an autonomous robot, the method comprising:
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changing the direction and speed of two driven wheels carried by a body of an autonomous robot; sensing inertia of the body in response to the change in direction and speed of the two driven wheels; and determining a stasis condition of the autonomous robot based at least in part on the sensed inertia of the body. - View Dependent Claims (31, 32)
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Specification