OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT

• US 20140288708A1
• Filed: 06/06/2014
• Published: 09/25/2014
• Est. Priority Date: 01/24/2000
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Casey, Christopher M., Cross, Matthew, Ozick, Daniel N., Jones, Joseph L.
• Granted Patent: US 9,446,521 B2
• Time in Patent Office: Days
• US Class Current: 700/253
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Claims

1-20. -20. (canceled)

21. A robot comprising:

a robot housing;

a drive system housed by the robot housing and configured to maneuver the robot with respect to an obstacle;

at least one sensor component housed in the robot housing and directed outwardly for detecting the presence of the obstacle, the sensor component comprising;

an emitter that emits a directed signal having a defined field of emission; and

a detector having a defined field of view directed to intersect the field of emission of the emitter, the intersection of the field of emission and the field of view defining a volume of intersection space laterally adjacent the robot housing; and

a circuit in communication with the detector and the drive system for maneuvering the robot and the intersection space as a function of the orientation of the robot with respect to the obstacle as determined by detection of the signal in the intersection space.

22. The robot of claim 21, further comprising a bump sensor supported on a forward portion of the robot housing and responsive to a collision of the robot with the obstacle, and wherein the circuit is in communication with the bump sensor and configured to maneuver the robot via the drive system in response to a detection signal from the bump sensor.

23. The robot of claim 22, further comprising at least one cliff sensor housed in a forward portion of the robot housing below the bump sensor and responsive to the presence of a cliff in a forward direction as the robot maneuvers, and wherein the circuit is in communication with the at least one cliff sensor and configured to maneuver the robot via the drive system in response to a detection signal from the at least one cliff sensor.

24. The robot of claim 23, wherein the at least one cliff sensor comprises at least three cliff sensor components spaced from each other along the forward portion of the robot housing.

25. The robot of claim 24, wherein each cliff sensor component comprises an optical emitter and a photon detector configured to receive emitter emissions reflected off a floor surface supporting the robot housing, each cliff sensor component having a detection volume defined by an intersection of an emission field of the optical emitter and a field of view of the photon detector, the detection volumes of the at least three sensor components being distributed along the forward portion of the robot housing.

26. The robot of claim 25, wherein the detection volumes of the at least three cliff sensor components are arranged to precede the forward portion of the robot housing as the robot maneuvers.

27. The robot of claim 21, further comprising an emitter lens and a detector lens, wherein the focal lengths of the two lenses are selected to have a common focus in the intersection space.

28. The robot of claim 21, wherein the obstacle comprises a wall surface.

29. The robot of claim 21, wherein the emitter field and detector field are further directed downward.

30. The robot of claim 29, wherein at least one of the directed signal and the defined field of view is directed downward at about 45 degrees.

31. The robot of claim 21, wherein the field of emission and field of view define an angle therebetween of about between 20-80 degrees.

32. The robot of claim 21, wherein the emitter is configured to modulate the directed signal and the detector is configured to filter signals to detect the modulated directed signal.

33. The robot of claim 21, wherein the directed signal is one of an infrared beam and a laser beam.

34. The robot of claim 21, wherein the detector is further configured to detect a baseline level of ambient light.

35. The robot of claim 21, further comprising an emitter collimator about the emitter for directing the directed signal and a detector collimator about the detector to define the field of view.

36. The robot of claim 21, wherein the circuit is configured to maneuver the robot via the drive system by redirecting the robot away from the obstacle when the obstacle occupies the intersection space.

37. The robot of claim 21, wherein the circuit is configured to determine whether a detected obstacle is a wall.

38. The robot of claim 37, wherein the circuit is further configured to follow a detected wall and to avoid the obstacle if it is determined not to be a wall.

39. The robot of claim 21, further comprising a floor cleaner disposed on a lateral side of the robot housing.

40. The robot of claim 39, wherein the floor cleaner includes a side brush extending beyond a lateral extent of the robot housing, the side brush driven to sweep debris from a floor surface beyond the lateral extent of the housing, for collection by the robot.