Coverage robot mobility

• US 8,600,553 B2
• Filed: 06/05/2007
• Issued: 12/03/2013
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Svendsen, Selma, Ozick, Daniel N., Casey, Christopher M., Kapoor, Deepak Ramesh, Campbell, Tony L., Won, Chikyung, Morse, Christopher John, Burnett, Scott Thomas
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US11/758,289
• Publication Number:
  US 20080091305A1
• Time in Patent Office: 2,373 Days
• Field of Search: 700/258, 700/245, 700/246, 700/249, 700/250, 700/256, 700/259, 700/261, 701/23, 701/25, 318/568.1, 318/568.12, 318/580, 318/581, 318/587, 318/567, 318/568.18, 901/1, 901/46, 901/47, 153/19
• US Class Current: 700/258
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/12 Dry filters
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/30 Arrangement of illuminating devices
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• 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: 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
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: H04L 1/16 : in which the return channel carries supervisory signals, e.g. repetition request signals
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

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.

Claims

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.

2. The robot of claim 1 wherein the drive system is configured to alter the heading setting in response to the signals received from the bump sensor and the proximity sensor to follow a perimeter of the obstacle.

3. The robot of claim 1 wherein the drive system is configured to alter the heading setting in response to the signals received from the bump sensor and the proximity sensor to direct the robot away from the obstacle.

4. The robot of claim 1 wherein the proximity sensor comprises at least one infrared emitter and receive pair.

5. The robot of claim 1 wherein the proximity sensor comprises a sonar device.

6. The robot of claim 1 wherein the bump sensor comprises a switch.

7. The robot of claim 1 wherein the bump sensor comprises a capacitive sensor.

8. The robot of claim 1 wherein the drive system is configured to maneuver the robot at a torque setting, wherein the drive system is configured to alter the torque setting in response to a signal received from the bump sensor indicating contact with an obstacle.

9. The robot of claim 8 wherein the drive system increases the torque setting in response to a signal received from the bump sensor indicating contact with an obstacle.

10. The robot of claim 1 wherein the drive system is configured to increase the speed setting if the drive system does not receive the subsequent signal from the bump sensor indicating the presence of an obstacle within an elapsed time after the speed setting is reduced.

11. A method of navigating an autonomous coverage robot with respect to an object on a floor, the method comprising the robot:

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.

12. The method of claim 11 wherein the robot follows a perimeter of the object while cleaning next to the object.

13. The method of claim 11 wherein the robot maintains a substantially constant following distance from the object while cleaning next to the object in response to the contact with the object.

14. The method of claim 13 wherein the following distance from the object is substantially a distance between the robot and the object substantially immediately after the contact with the object.

15. The method of claim 13 wherein the following distance from the object is between about 0 and 2 inches.

16. The method of claim 13 wherein the robot performs a maneuver to move around the object in response to the contact with the object.

17. The method of claim 16 wherein the maneuver comprises the robot moving in a substantially semi-circular path around the object.

18. The method of claim 16 wherein the maneuver comprises the robot moving away from the object and then moving in a direction substantially tangential to the object.

19. The method of claim 13 wherein the robot decreases the cleaning speed to a reduced speed at a constant rate.

20. The method of claim 13 wherein the robot decreases the cleaning speed to a reduced speed at an exponential rate.

21. The method of claim 13 wherein the robot decreases the cleaning speed to a reduced speed at a nor-linear rate.

22. The method of claim 13 wherein the cleaning speed of the robot is about 300 mm/sec.

23. The method of claim 13 wherein the reduced speed of the robot is about 100 mm/sec.

24. The method of claim 13 wherein the robot autonomously traverses the floor in the cleaning mode having a torque setting, wherein upon sensing contact with the object, the robot increasing the torque setting.

25. 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 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.