Method of controlling a mobile robot

• US 10,028,632 B2
• Filed: 05/26/2016
• Issued: 07/24/2018
• Est. Priority Date: 05/28/2015
• Status: Active Grant

• Current Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Original Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Inventors: Britain, Maximilian John, Wakeling, William Matthew, Ord, Christopher John
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): TAVERAS, KENNY ABEL
• Application Number:
  US15/165,826
• Publication Number:
  US 20160345791A1
• Time in Patent Office: 789 Days
• 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 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2842 Suction motors or blowers
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method of controlling a mobile robot, the method including monitoring a first system of the mobile robot to detect a first error associated with the first system, monitoring a second system of the mobile robot to detect a second error associated with the second system, and when the first error and the second error are detected at the same time, determining that a third error has occurred.

Claims

1. A method of controlling a mobile robot, the method comprising:

monitoring a first system of the mobile robot to detect a first error associated with the first system;

monitoring a second system of the mobile robot to detect a second error associated with the second system;

in response to detecting the first error and the second error at the same time, determining that a third error has occurred; and

in response to determining that the third error has occurred, causing the mobile robot to perform an error-handling operation.

2. The method of claim 1, wherein the error-handling operation performed in response to the third error is different to an alternate error-handling operation performed in response to one of the first or the second error.

3. The method of claim 1, wherein the first system is a floor cleaning system and comprises a motor for generating an airflow through the mobile robot.

4. The method of claim 3, wherein the first error is an airway blockage.

5. The method of claim 3, wherein detection of the first error comprises detecting a reduction in load experienced by the motor.

6. The method of claim 1, wherein the second system is a drive system and comprises one or more navigation sensors to monitor the robot'"'"'s position within an environment, and a drive actuator to move the robot within the environment.

7. The method of claim 6, wherein the second error is slip.

8. The method of claim 6, wherein monitoring the second system comprises monitoring changes in position of the robot as the robot is driven.

9. The method of claim 8, wherein detection of the second error comprises detecting that a change in the robot'"'"'s position detected by the one or more navigation sensors does not correspond to the amount driven by the drive actuator.

10. The method of claim 1, wherein the third error is a limpet-state of the robot.

11. The method of claim 1, wherein the first system comprises a motor for generating an airflow through the mobile robot, and wherein the error-handling operation in response to a determination that a third error has occurred comprises running the motor in a reduced power mode to reduce suction and continuing to drive the robot.

12. The method of claim 11, wherein the motor is run in the reduced power mode until the mobile robot has travelled outside a calculated area of pre-determined size, the centre of the calculated area being the position at which the third error was detected.

13. The method of claim 1, wherein the first error and the second error are detected at the same time if an instance of one of the first error and the second error is detected while the other of the first error and the second error is on-going.

14. A non-transitory computer-readable storage medium comprising computer-executable instructions which, when executed by a processor, cause a computing device to perform a method of controlling a mobile robot, the method comprising:

monitoring a first system of the mobile robot to detect a first error associated with the first system; and

monitoring a second system of the mobile robot to detect a second error associated with the second system;

in response to detecting the first error and the second error at the same time, determining that a third error has occurred; and

in response to determining that the third error has occurred, causing the mobile robot to perform an error-handling operation.

15. The non-transitory computer-readable storage medium of claim 14, wherein the error-handling operation performed in response to the third error is different to an alternate error-handling operation performed in response to one of the first or the second error.

16. The non-transitory computer-readable storage medium of claim 14, wherein the first system is a floor cleaning system and comprises a motor for generating an airflow through the mobile robot.

17. The computer-readable storage medium of claim 16, wherein the first error is an airway blockage.

18. The computer-readable storage medium of claim 16, wherein detection of the first error comprises detecting a reduction in load experienced by the motor.

19. The computer-readable storage medium of claim 14, wherein the second system is a drive system and comprises one or more navigation sensors to monitor the robot'"'"'s position within an environment, and a drive actuator to move the robot within the environment.

20. The computer-readable storage medium of claim 19, wherein the second error is slip.

21. The computer-readable storage medium of claim 19, wherein monitoring the second system comprises monitoring changes in position of the robot as the robot is driven.

22. The computer-readable storage medium of claim 21, wherein detection of the second error comprises detecting that a change in the robot'"'"'s position detected by the one or more navigation sensors does not correspond to the amount driven by the drive actuator.

23. The computer-readable storage medium of claim 14, wherein the third error is a limpet-state of the robot.

24. The computer-readable storage medium of claim 14, wherein the first system comprises a motor for generating an airflow through the mobile robot, and wherein the error-handling operation in response to a determination that a third error has occurred comprises running the motor in a reduced power mode to reduce suction and continuing to drive the robot.

25. The computer-readable storage medium of claim 24, wherein the motor is run in the reduced power mode until the mobile robot has travelled outside a calculated area of pre-determined size, the centre of the calculated area being the position at which the third error was detected.

26. The computer-readable storage medium of claim 14, wherein the first error and the second error are detected at the same time if an instance of one of the first error and the second error is detected while the other of the first error and the second error is on-going.

27. A mobile robot comprising a control system configured to perform a method for controlling the mobile robot, the method comprising:

monitoring a first system of the mobile robot to detect a first error associated with the first system;

monitoring a second system of the mobile robot to detect a second error associated with the second system;

in response to detecting the first error and the second error at the same time, determining that a third error has occurred; and

in response to determining that the third error has occurred, causing the mobile robot to perform an error-handling operation.

28. The mobile robot of claim 27, wherein the error-handling operation performed in response to the third error is different to an alternate error-handling operation performed in response to one of the first or the second error.

29. The mobile robot of claim 27, wherein the first system is a floor cleaning system and comprises a motor for generating an airflow through the mobile robot.

30. The mobile robot of claim 29, wherein the first error is an airway blockage.

31. The mobile robot of claim 29, wherein detection of the first error comprises detecting a reduction in load experienced by the motor.

32. The mobile robot of claim 27, wherein the second system is a drive system and comprises one or more navigation sensors to monitor the robot'"'"'s position within an environment, and a drive actuator to move the robot within the environment.

33. The mobile robot of claim 32, wherein the second error is slip.

34. The mobile robot of claim 32, wherein monitoring the second system comprises monitoring changes in position of the robot as the robot is driven.

35. The mobile robot of claim 34, wherein detection of the second error comprises detecting that a change in the robot'"'"'s position detected by the one or more navigation sensors does not correspond to the amount driven by the drive actuator.

36. The mobile robot of claim 27, wherein the third error is a limpet-state of the robot.

37. The mobile robot of claim 27, wherein the first system comprises a motor for generating an airflow through the mobile robot, and wherein the error-handling operation in response to a determination that a third error has occurred comprises running the motor in a reduced power mode to reduce suction and continuing to drive the robot.

38. The mobile robot of claim 37, wherein the motor is run in the reduced power mode until the mobile robot has travelled outside a calculated area of pre-determined size, the centre of the calculated area being the position at which the third error was detected.

39. The mobile robot of claim 27, wherein the first error and the second error are detected at the same time if an instance of one of the first error and the second error is detected while the other of the first error and the second error is on-going.