Obstacle following sensor scheme for a mobile robot

• US 8,478,442 B2
• Filed: 05/23/2008
• Issued: 07/02/2013
• Est. Priority Date: 01/24/2000
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Casey, Christopher, Cross, Matthew, Ozick, Daniel, Jones, Joseph L.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Kiswanto, Nicholas
• Application Number:
  US12/126,757
• Publication Number:
  US 20090055022A1
• Time in Patent Office: 1,866 Days
• Field of Search: 700/245, 700/247, 700/248, 700/253, 700/258, 318/568.1, 318/568.12, 318/568.16, 318/568.17, 701/23, 701/25, 701/26, 15/491, 153/19, 342/127, 901/1, 901/47
• US Class Current: 700/245
• 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. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected; and

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall,

wherein detecting comprises defining a finite volume of intersection space between a signal emission region and a detection region and driving the robot comprises causing the robot to be directed back towards the wall while the wall does not occupy the intersection space.

2. The method of claim 1, further comprising realigning the robot for travel along the wall in response to contacting or again detecting the wall.

3. The method of claim 1, further comprising terminating a wall seeking routine in response to determining that the robot has turned a predetermined angle without encountering the wall.

4. The method of claim 1, further comprising detecting a level of ambient light and detecting a level of robot emitted light relative to the ambient light.

5. The method of claim 1, further comprising pivoting the robot 180 degrees about a wall end to follow an opposing side of the wall.

6. The method of claim 1, wherein driving the robot comprises maintaining a range of detected signal strength as a function of the orientation of the robot with respect to the wall.

7. The method of claim 1, further comprising varying the radius of rotation of the robot in response to the difference between a detected signal strength and a target signal strength.

8. The method of claim 1, further comprising terminating a wall following routine in response to determining that the robot has rotated 360 degrees in following the wall or in seeking the wall since last detecting the wall.

9. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall; and

realigning the robot for travel along the wall in response to contacting or again detecting the wall.

10. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall; and

terminating a wall seeking routine in response to determining that the robot has turned a predetermined angle without encountering the wall.

11. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall; and

detecting a level of ambient light and detecting a level of robot emitted light relative to the ambient light.

12. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected; and

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall,

wherein driving the robot comprises maintaining a range of detected signal strength as a function of the orientation of the robot with respect to the wall.

13. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall; and

varying the radius of rotation of the robot in response to the difference between a detected signal strength and a target signal strength.

14. A method for operating a mobile robot, the method comprising the steps of:

detecting the presence of a wall;

driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;

rotating the robot to seek the wall while determining;

whether the wall is again detected,

whether the robot is in contact with the wall, and

whether the robot has turned a predetermined angle without detecting or contacting the wall; and

terminating a wall following routine in response to determining that the robot has rotated 360 degrees in following the wall or in seeking the wall since last detecting the wall.