Method and system for multi-mode coverage for an autonomous robot

• US 20040207355A1
• Filed: 05/05/2004
• Published: 10/21/2004
• Est. Priority Date: 06/12/2001
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Mass, Philip R., Jones, Joseph L.
• Granted Patent: US 7,173,391 B2
• Time in Patent Office: Days
• US Class Current: 318/568.12
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

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.

Claims

1. A mobile robot comprising:

(a) means for moving the robot over a surface;

(b) an obstacle detection sensor;

(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;

(d) said control system configured to operate the robot in a plurality of operational modes said plurality of operational modes comprising;

a spot-coverage mode, said spot-coverage mode comprising substantially spiral movement,

an obstacle following mode whereby said robot travels adjacent to an obstacle, and

a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle.

2. A mobile robot comprising:

(a) means for moving the robot over a surface;

(b) an obstacle detection sensor;

(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;

(d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising;

an obstacle following mode whereby said robot travels adjacent to an obstacle, and

a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle;

(e) whereby said control system is configured to alternate into said obstacle following mode after a predetermined number of sensor interactions.