Mobile robot area cleaning
First Claim
Patent Images
1. A cleaning robot comprising:
- a chassis;
a drive system connected to the chassis and configured to drive the robot across a floor surface;
a plurality of associated pairs of signal generators and sensors disposed at different locations about a peripheral edge of the cleaning robot, a respective signal generator of each of the associated pairs arranged to direct a signal toward the floor surface, a respective sensor of each of the associated pairs configured to produce a sensor signal responsive to a reflection from the floor surface of the directed signal from the respective signal generator; and
a controller in communication with the drive system and the sensors, the controller configured to;
receive information indicative of an area to be cleaned, the area having a first surface type,implement an area cleaning routine to clean the area by controlling the drive system to alter a drive direction of the robot in response to an evaluation of which sensor of the plurality of associated pairs receives the sensor signal indicating that the reflection of the directed signal indicates that an edge of the area having the first surface type has been reached, so as to keep at least a portion of the robot from entering a second area having a second surface type that differs from the first surface type,control the drive system to drive the robot across the edge of the first area of the floor surface in response to a completion of the area cleaning routine, andredirect the robot away from a cliff edge sensed from the sensor signal indicating at least one of an absence of the reflection and a radiation level of the reflection being below a predetermined threshold.
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Abstract
A cleaning robot includes a chassis, a drive system connected to the chassis and configured to drive the robot, a signal generator and sensor carried by the chassis, and a controller in communication with the drive system and the sensor. The signal generator directs a signal toward the floor surface. The sensor is responsive to reflected signals from the floor surface. The controller controls the drive system to alter direction of the robot responsive to a reflected signal indicating an edge of the floor surface.
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Citations
19 Claims
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1. A cleaning robot comprising:
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a chassis; a drive system connected to the chassis and configured to drive the robot across a floor surface; a plurality of associated pairs of signal generators and sensors disposed at different locations about a peripheral edge of the cleaning robot, a respective signal generator of each of the associated pairs arranged to direct a signal toward the floor surface, a respective sensor of each of the associated pairs configured to produce a sensor signal responsive to a reflection from the floor surface of the directed signal from the respective signal generator; and a controller in communication with the drive system and the sensors, the controller configured to; receive information indicative of an area to be cleaned, the area having a first surface type, implement an area cleaning routine to clean the area by controlling the drive system to alter a drive direction of the robot in response to an evaluation of which sensor of the plurality of associated pairs receives the sensor signal indicating that the reflection of the directed signal indicates that an edge of the area having the first surface type has been reached, so as to keep at least a portion of the robot from entering a second area having a second surface type that differs from the first surface type, control the drive system to drive the robot across the edge of the first area of the floor surface in response to a completion of the area cleaning routine, and redirect the robot away from a cliff edge sensed from the sensor signal indicating at least one of an absence of the reflection and a radiation level of the reflection being below a predetermined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of maneuvering an autonomous robot across a floor, the method comprising:
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receiving information indicative of a first area to be cleaned, the area having a first surface type; driving the robot across the floor in the first area having the first surface type while receiving a sensor signal from a respective sensor of a plurality of associated pairs of signal generators and sensors disposed at different locations about a peripheral edge of the cleaning robot, the sensor signal received by a controller in communication with a drive system of the robot, the sensor signal being responsive to a signal reflected by the floor; while continuing to drive the robot, evaluating a characteristic of the sensor signal to determine whether the robot is adjacent a second area having a second surface type that differs from the first surface type; implementing an area cleaning routine to clean the first area by altering, in response to determining from evaluating the characteristic of the sensor signal that the robot is adjacent the second area, a direction of robot motion such that at least a portion of the robot avoids the second area; determining from evaluating the characteristic of the sensor signal that the robot is adjacent a cliff edge based on at least one of an absence of the reflected signal and a radiation level of the reflected signal being below a predetermined threshold; controlling the drive system to drive the robot across the edge of the first area of the floor surface in response to a completion of the area cleaning routine; and in response to determining the robot is adjacent the cliff edge, redirecting the robot away from the cliff edge. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification