Coverage robot mobility
DC CAFCFirst Claim
1. An autonomous coverage robot comprising:
- a drive system configured to maneuver the robot according to a heading setting and a speed setting;
a bump sensor responsive to a collision of the robot with an obstacle in a forward direction; and
a proximity sensor responsive to a potential obstacle forward of the robot;
wherein the drive system is configured to reduce the speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle, while continuing to advance the robot according to the heading setting;
wherein the drive system is configured to increase the speed setting if the drive system does not receive a subsequent signal indicating the presence of an obstacle while continuing to advance according to the heading setting and the reduced speed setting; and
wherein the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.
4 Assignments
Litigations
2 Petitions
Accused Products
Abstract
An autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to maneuver the robot according to a heading (turn) setting and a speed setting. The bump sensor is responsive to a collision of the robot with an obstacle in a forward direction. A method of navigating an autonomous coverage robot with respect to an object on a floor includes the robot autonomously traversing the floor in a cleaning mode at a full cleaning speed. Upon sensing a proximity of the object forward of the robot, the robot reduces the cleaning speed to a reduced cleaning speed while continuing towards the object until the robot detects a contact with the object. Upon sensing contact with the object, the robot turns with respect to the object and cleans next to the object, optionally substantially at the reduced cleaning speed.
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Citations
25 Claims
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1. An autonomous coverage robot comprising:
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a drive system configured to maneuver the robot according to a heading setting and a speed setting; a bump sensor responsive to a collision of the robot with an obstacle in a forward direction; and a proximity sensor responsive to a potential obstacle forward of the robot; wherein the drive system is configured to reduce the speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle, while continuing to advance the robot according to the heading setting; wherein the drive system is configured to increase the speed setting if the drive system does not receive a subsequent signal indicating the presence of an obstacle while continuing to advance according to the heading setting and the reduced speed setting; and wherein the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of navigating an autonomous coverage robot with respect to an object on a floor, the method comprising the robot:
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autonomously traversing the floor in a cleaning mode at a cleaning speed; upon sensing a proximity of the object forward of the robot, reducing the cleaning speed to a reduced speed while continuing towards the object; in response to not sensing the presence of the object while advancing at the reduced speed, increasing the speed setting; and in response to sensing contact with the object, turning with respect to the object and cleaning next to the object. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. An autonomous coverage robot comprising:
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a drive system configured to maneuver the robot according to a heading setting and a speed setting; a bump sensor responsive to a collision of the robot with an obstacle in a forward direction; and a proximity sensor responsive to a potential obstacle forward of the robot; wherein the drive system is configured to reduce the speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle, while continuing to advance the robot according to the heading setting; wherein the drive system is configured to increase the speed setting if the drive system does not receive a signal from the bump sensor within an elapsed time after the speed setting is reduced; and wherein the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.
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Specification