Method and system for multi-mode coverage for an autonomous robot
DCFirst Claim
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1. A mobile coverage robot, comprising:
- a drive mechanism comprising drive wheels that both drive the robot forward across a surface in a drive direction and turns the robot to change the drive direction;
a floor cleaner disposed on a lateral side of the robot;
a proximity sensor aimed forward of the drive wheels in the drive direction, the proximity sensor responsive to an object proximate the lateral side of the robot;
a tactile sensor responsive to a bump event between the robot and an object, the tactile sensor comprising a bumper switch; and
a plurality of floor level sensors, each floor level sensor responsive to a condition of an area below the robot, the floor level sensors comprising;
a cliff sensor aimed forward of the drive wheels in the drive direction and responsive to a presence of a cliff in the drive direction of the robot; and
a wheel drop sensor responsive to a wheel drop event; and
a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to;
operate the robot to follow a sensed object on the lateral side of the robot;
operate the robot to travel in an altered direction in response to a bump event between the robot and the object, and to shut off the robot in response to determining that the bumper switch has been constantly depressed for a predetermined amount of time;
operate the robot to avoid a cliff; and
reduce the velocity of the robot in response to a wheel drop event.
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Abstract
A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
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Citations
27 Claims
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1. A mobile coverage robot, comprising:
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a drive mechanism comprising drive wheels that both drive the robot forward across a surface in a drive direction and turns the robot to change the drive direction; a floor cleaner disposed on a lateral side of the robot; a proximity sensor aimed forward of the drive wheels in the drive direction, the proximity sensor responsive to an object proximate the lateral side of the robot; a tactile sensor responsive to a bump event between the robot and an object, the tactile sensor comprising a bumper switch; and a plurality of floor level sensors, each floor level sensor responsive to a condition of an area below the robot, the floor level sensors comprising; a cliff sensor aimed forward of the drive wheels in the drive direction and responsive to a presence of a cliff in the drive direction of the robot; and a wheel drop sensor responsive to a wheel drop event; and a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to; operate the robot to follow a sensed object on the lateral side of the robot; operate the robot to travel in an altered direction in response to a bump event between the robot and the object, and to shut off the robot in response to determining that the bumper switch has been constantly depressed for a predetermined amount of time; operate the robot to avoid a cliff; and reduce the velocity of the robot in response to a wheel drop event. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A mobile coverage robot, comprising:
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a drive mechanism comprising drive wheels that both drives the robot forward across a surface in a drive direction and turns the robot to change the drive direction; a floor cleaner disposed on a lateral side of the robot; a proximity sensor aimed forward of the drive wheels in the drive direction, the proximity sensor responsive to an object proximate the lateral side of the robot; a tactile sensor responsive to a bump event between the robot and an object, the tactile sensor comprising a bumper switch; and a plurality of floor level sensors, each floor level sensor responsive to a condition of an area below the robot, the floor level sensors comprising; a cliff sensor aimed forward of the drive wheels in the drive direction and responsive to a presence of a cliff in the drive direction of the robot; and a wheel drop sensor responsive to a wheel drop event; and a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to; operate the robot to follow a sensed object on the lateral side of the robot; operate the robot to travel in an altered direction in response to a bump event between the robot and the object; and in response to one or more predetermined signals from a sensor, operate the robot according to an escape sequence, and to shut off the robot in response to determining that the bumper switch has been constantly depressed for a predetermined amount of time during the escape sequence. - View Dependent Claims (25, 26, 27)
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Specification