Wide area navigation for a robot scrubber

• US 6,124,694 A
• Filed: 03/18/1999
• Issued: 09/26/2000
• Est. Priority Date: 03/18/1999
• Status: Expired due to Term

• Current Assignee: Diversey Incorporated (Sealed Air)
• Original Assignee: Nilfisk-Advance Incorporated (Nilfisk Holding A/S)
• Inventors: Daly, Daniel M., Bancroft, Allen J.
• Primary Examiner(s): Ip, Paul
• Assistant Examiner(s): Duda, Rina I.
• Application Number:
  US09/271,705
• Time in Patent Office: 558 Days
• Field of Search: 318/587, 318/640, 318/568.12, 318/568.16, 318/652, 180/167, 180/169, 901/1, 901/46, 15/49.1, 15/98, 15/319, 15/340.1, 15/340.4
• US Class Current: 318/587
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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 cleaning robot navigates a wide area by using sonar near the walls and a laser range finder for distances beyond the range of the sonar. The sonar is used with the laser to establish baselines. The laser distances are then referenced to the baselines for improved accuracy during laser navigation.

Claims

1. A method for controlling a self-propelled cleaning robot between a first and a second wall, said robot having a first side and a second side, said first and second sides having a first and second sound wave distance sensor, respectively, and said second side having a light wave distance sensor, said method comprising:

making a second wall baseline pass along said first wall while measuring a first distance from said robot to said first wall with said first sound wave distance sensor and contemporaneously measuring a second distance from said robot to said second wall with said light wave distance sensor and determining a second wall baseline using said first distance and said second distance, said robot being substantially closer to said first wall then to said second wall;

making a first wall baseline pass along said first wall while measuring a third distance from said robot to said first wall with said second sound wave distance sensor and contemporaneously measuring a fourth distance from said robot to said first wall with said light wave distance sensor and determining a first wall baseline using said third distance and said fourth distance, said robot being substantially closer to said first wall then to said second wall; and

navigating a serpentine path toward said second wall in response to distance measured from said robot to said walls with said light wave distance sensor in combination with said first wall baseline and said second wall baseline.

2. A method according to claim 1, further comprising:

making a finishing baseline pass along said second wall while measuring distance from said robot to said second wall with at least one of said sound wave distance sensors and determining a finishing baseline, said robot being substantially closer to said second wall then to said first wall; and

navigating a finishing serpentine path toward said second wall in response to distance measured from said robot to said second wall with said first and second sound wave sensors in combination with said finishing base line.

3. A method according to claim 1, wherein said sound wave distance sensor uses ultrasonic sound waves.

4. A method according to claim 1, wherein said light wave distance sensor uses a laser light source.