Wall following robot

• US 9,918,605 B2
• Filed: 04/09/2015
• Issued: 03/20/2018
• Est. Priority Date: 04/09/2015
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Wolfe, Brian, Lu, Ping-Hong
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/682,760
• Publication Number:
  US 20160296092A1
• Time in Patent Office: 1,076 Days
• Field of Search: None
• CPC Class Codes: A47L 11/28 Floor-scrubbing machines, motor-driven A47L11/29 takes precedence
• 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 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4088 Supply pumps; Spraying devices; Supply conduits
• 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 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/00 Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.

Claims

1. A robot comprising:

a body movable relative to a wall surface;

a bumper mounted on the body, the bumper being movable relative to the body between a fully uncompressed position and a fully compressed position; and

a controller to cause the robot to execute a wall following behavior in which the robot

advances along a first portion of the wall surface while causing the bumper to contact the wall surface and while maintaining a position of the bumper within a predefined range between the fully compressed position and the fully uncompressed position to maintain an angle between the bumper and the wall surface,

in response to the position of the bumper being between the predefined range and the fully uncompressed position, rotates toward the first portion of the wall surface while advancing along the first portion of the wall surface such that contact between the robot and the wall surface is maintained, and then

advances along a second portion of the wall surface orthogonal to the first portion of the wall surface.

2. The robot of claim 1, further comprising

a cleaning pad attached to a bottom of the body;

and

a fluid applicator configured to dispense fluid from the robot;

wherein to cause the robot to execute the wall following behavior, the controller initiates operations comprising;

in response to deviation between the position of the bumper and a target position within the predefined range, adjusting rotational and translational speeds of the robot to move the bumper toward the target position.

3. The robot of claim 1, wherein the angle is between 3 degrees and 20 degrees.

4. The robot of claim 1, further comprising

a cleaning pad attached to a bottom of the body and extending beyond the bumper;

and

a fluid applicator configured to dispense fluid from the robot,

wherein to cause the robot to execute the wall following behavior, the controller initiates operations to cause the robot to maintain contact between the cleaning pad and the wall surface.

5. The robot of claim 1, further comprising:

a first sensor to produce a first signal in response to movement of the bumper relative to the body,

a second sensor to produce a second signal in response to movement of the bumper relative to the body;

wherein the controller is configured to maintain the position of the bumper within the predefined range based on the first signal and the second signal.

6. The robot of claim 5, wherein:

the robot has a left side, a right side, a front, and a back,

the first sensor is adjacent to the right side and the second sensor is adjacent to the left side, and

the bumper is located along the front of the robot and extends along at least a portion of the left side and at least a portion of the right side.

7. The robot of claim 6, further comprising:

a third sensor to produce a third signal in response to movement of the bumper relative to the body the third sensor being located between the left side and the right side and adjacent to the front, wherein the controller initiates operations to maintain the position of the bumper within the predefined range based on the first signal, the second signal, and the third signal.

8. The robot of claim 5, wherein a value of the first signal and a value of the second signal vary linearly relative to movement of the bumper at least when the bumper is within the predefined range.

9. The robot of claim 5, wherein the position of the bumper is based on an estimated value of a difference between, an average of, or a sum of a value of the first signal and a value of the second signal.

10. The robot of claim 1, further comprising a sensor comprising:

a post mounted to the bumper,

a magnet mounted to the post, and

a Hall Effect sensor mounted to the body above the magnet, the Hall Effect sensor being configured to produce a signal in response to movement of the bumper relative to the body,

wherein the controller is configured to maintain the position of the bumper within the predefined range based on the signal.

11. The robot of claim 1, further comprising:

a capacitive sensor comprising a pair of capacitive plates, at least one of the capacitive plates being movable relative to another of the capacitive plates based on movement of the bumper,

wherein the controller is programmed to

determine a time constant from a signal produced in response to movement of the at least one capacitive plate, and

maintain the position of the bumper within the predefined range based on the time constant.

12. The robot of claim 1, further comprising an inductive sensor comprising a core material movable within windings based on movement of the bumper,

wherein the controller is programmed to

determine a time constant from a signal produced in response to movement of the core material, and

maintain the position of the bumper within the predefined range based on the time constant.

13. The robot of claim 1, wherein the controller is programmed to dynamically calibrate a neutral position of the bumper relative to the body in response to the bumper being within another predefined range absent contact between the bumper and the wall surface.

14. The robot of claim 1, wherein the controller is programmed to control movement of the robot to cause the robot to retreat from the wall surface in response to the position of the bumper being between the predefined range and the fully compressed position.

15. The robot of claim 1, further comprising:

wheels; and

detectors associated with the wheels, the detectors for detecting speed of the wheels,

wherein the controller is programmed to control movement of the robot to cause the robot to retreat from the wall surface, to turn away from the wall surface, and then to re-engage the wall surface based, at least in part, on the speed of the wheels and the position of the bumper.

16. The robot of claim 1, further comprising:

a cleaning pad attached to a bottom of the body, the cleaning pad extending beyond the bumper.

17. The robot of claim 1, wherein the controller is configured to control robot to turn toward the first portion of the wall surface while advancing along the first portion of the wall surface in response to detecting a loss of contact between the bumper and the first portion of the wall surface.

18. A method of controlling a robot, comprising:

maintaining an angle between a first portion of a wall surface and the robot such that a position of a bumper of the robot between a fully uncompressed position and a fully compressed position is maintained within a predefined range between the fully uncompressed position and the fully compressed position during a wall following behavior in which the robot advances along the wall surface; and

in response to the bumper being between the predefined range and the fully uncompressed position, rotating the robot toward the first portion of the wall surface while advancing the robot along the first portion of the wall surface and maintaining contact between the robot and the first portion of the wall surface, and then

advancing along a second portion of the wall surface orthogonal to the first portion of the wall surface.

19. The method of claim 18, further comprising:

controlling, based on the position of the bumper being between the predefined range and the fully compressed position, the robot to retreat from the wall surface.

20. The method of claim 18, wherein the method further comprises:

detecting a speed of wheels of the robot; and

based at least in part on the speed of the wheels and the position of the bumper, controlling the robot to retreat from the wall surface, to turn-away from the surface, and then to re-engage the wall surface.

21. The method of claim 18, further comprising determining the position of the bumper based on values of two or more signals that vary with an amount of force between the robot and the wall surface, wherein maintaining the angle comprises maintaining the angle between the robot and the wall surface based at least in part on the values of the two or more signals.

22. The method of claim 21, wherein the values of the two or more signals vary in a linear relationship relative to movement of the bumper at least when the bumper is within the predefined range.

23. The method of claim 21, further comprising determining the position of the bumper based on an estimated value of a difference between, a sum of, or an average of values of the two or more signals.

24. The method of claim 18, wherein the robot is turned toward the first portion of the wall surface in response to detecting a loss of contact between the bumper and the first portion of the wall surface.