Autonomous mobile robot and method for operating the same

• US 9,599,987 B2
• Filed: 06/28/2013
• Issued: 03/21/2017
• Est. Priority Date: 09/27/2012
• Status: Active Grant

• Current Assignee: Versuni Holding BV
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Tjeerdsma, Peter, Vennegoor Op Nijhuis, Jeroen Johannes Gerardus, Subramanian, Natarajan Ganapathy, Dekker, Karel, Hoekstra, Peter
• Primary Examiner(s): SMITH, JELANI A
• Application Number:
  US14/431,074
• Publication Number:
  US 20160195875A1
• Time in Patent Office: 1,362 Days
• US Class Current: 1/1
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

An autonomous mobile robot is configured to move across a floor area in accordance with a floor covering strategy and includes: based on a topological map of the floor area, designating a location of a current cell that is bounded by a primary boundary; executing a series of double strokes into and within the current cell, while mapping obstructive objects within the current cell onto an obstacle map; from the obstacle map, determining a secondary boundary of the current cell that encloses an area of the current cell covered by the executed double strokes, and distinguishes between secondary boundary portions thereof at which an obstructive object is located, and secondary boundary portions thereof at which no obstructive object is located; and adding the determined secondary boundary to the topological map of the floor area.

Claims

1. An autonomous mobile robot, comprising:

a drive system;

at least one perceptor for detecting obstructive objects;

a controller that is operably connected to both the drive system and the least one perceptor, said controller being configured to control the drive system in order to move the robot across a floor area in accordance with a floor covering strategy that includes;

based on a topological map of the floor area, designating a location of a current cell, wherein the current cell includes a functional unit of the floor area being covered by the robot, and wherein said current cell is spatially bounded by a primary boundary;

from an entry point at the primary boundary of said current cell;

executing an initial double stroke into the current cell that includes both a forward stroke for a forward movement, and a backward stroke for a backward movement of the robot;

designating a forking point disposed within said current cell, and from said forking point executing a number of additional double strokes within the current cell that are angularly distributed;

during execution of the initial double stroke and the additional double strokes, mapping obstructive objects within the current cell onto an obstacle map by said at least one perceptor;

from said obstacle map, determining a secondary boundary associated with the current cell, wherein said secondary boundary encloses at least part of an area of the current cell covered by the executed initial double stroke and the additional double strokes, and distinguishes between first portions of the secondary boundary at which an obstructive object is located, and second portions of the secondary boundary at which no obstructive object is located; and

adding the determined secondary boundary of the current cell to the topological map of the floor area.

2. The autonomous mobile robot according to claim 1, wherein the execution of additional double strokes is conditional upon a minimum accomplished length of the forward stroke of the initial double stroke.

3. The autonomous mobile robot according to claim 1, wherein the number of additional double strokes is related to an accomplished length of the forward stroke of the initial double stroke, such that a greater accomplished length of said forward stroke corresponds to a larger number of the additional double strokes.

4. The autonomous mobile robot according to claim 1, wherein an angular distribution of the additional double strokes covers an angular range of at least 180 degrees.

5. The autonomous mobile robot according to claim 1, wherein an average angle between adjacent strokes of the additional double strokes is ≦

90 degrees.

6. The autonomous mobile robot according to claim 1, wherein the at least one perceptor includes an optical or acoustic range sensor.

7. The autonomous mobile robot according to claim 1, wherein at least one of the primary boundary and the secondary boundary is polygonal, such that respective boundary portions of the at least one of the primary boundary and the secondary boundary are defined by substantially straight edges.

8. The autonomous mobile robot according to claim 1, wherein a housing of said robot has an outer diameter D, and

wherein a distance between the entry point and the forking point of the current cell is in a range of 0.4 D to 0.6 D.

9. The autonomous mobile robot according to claim 1, wherein said robot has an outer diameter D, and

wherein the current cell, as defined by the primary boundary, has both a width and a length in a range of 1.5 D to 4.0 D.

10. The autonomous mobile robot according to claim 1, further comprising a floor treatment system configured to treat the floor area across which the robot moves during operation by vacuuming, mopping or waxing.

11. The autonomous mobile robot according to claim 10, wherein the floor treatment system includes a vacuum cleaning system having a nozzle for sucking up dirt from the floor area, and a vacuum source that is operably connected to said nozzle.

12. A method of operating an autonomous mobile robot so as to move the robot across a floor area, wherein said method includes controlling the robot in accordance with a floor covering strategy that includes acts of:

based on a topological map of the floor area, designating a location of a current cell, wherein the current cell includes a functional unit of the floor area being covered by the robot, and wherein said current cell is spatially bounded by a primary boundary;

from an entry point at the primary boundary of said current cell, executing an initial double stroke into the current cell that includes a forward stroke for a forward movement, and a backward stroke for a backward movement of the robot;

designating a forking point disposed within said current cell, and from said forking point executing a number of additional double strokes within the current cell that are angularly distributed;

during execution of the initial double stroke and the additional double strokes, mapping obstructive objects within the current cell onto an obstacle map;

from said obstacle map, determining a secondary boundary associated with the current cell, wherein said secondary boundary encloses at least part of an area of the current cell covered by the executed initial double stroke and additional double strokes, and distinguishes between first portions of the secondary boundary at which an obstructive object is located, and second portions of the secondary boundary at which no obstructive object is located; and

adding the determined secondary boundary of the current cell to the topological map of the floor area.