Area coverage with an autonomous robot

• US 20050113990A1
• Filed: 11/12/2004
• Published: 05/26/2005
• Est. Priority Date: 05/11/1998
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: F Robotics Acquisitions Ltd. (Stanley Black & Decker, Inc.)
• Inventors: Abramson, Shai, Peleg, Ilan, Peless, Ehud, Friedman, Ronen
• Granted Patent: US 7,155,309 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• 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 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0208 Lawn mower

Abstract

There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the are to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

Claims

1. A robotic system for systematically moving about an area to be covered, the system comprising:

at least one boundary marker located along the outer edge of the area to be covered;

a robot for systematically moving about said area to be covered, the robot including a navigation system for navigating said robot in generally straight, parallel lines from an initial location and for turning said robot when said robot encounters one of said at least one boundary marker; and

a sensor unit for sensing proximity to one of said at least one boundary marker.

2-8. -8. (canceled)

9. A robot comprising:

a movement system for moving the robot over a surface;

at least one obstacle detection sensor; and

a unit in communication with the movement system and the at least one obstacle detection sensor, the unit configured for following an obstacle in response to the at least one obstacle detection sensor detecting the obstacle.

10. The robot of claim 9, wherein the unit, in communication with the movement system and the at least one obstacle detection sensor, is additionally configured for signaling the movement system to turn the robot in response to the at least one obstacle detection sensor detecting the obstacle.

11. The robot of claim 10, wherein the unit is configured for signaling the movement system to turn the robot approximately 180 degrees in response to the at least one obstacle detection sensor detecting the obstacle.

12. The robot of claim 10, wherein the unit, in communication with the movement system and the at least one obstacle detection sensor, is additionally configured for providing a scanning pattern to the movement system when the movement system is moving the robot over a surface.

13. The robot of claim 10, wherein the at least one obstacle detection sensor includes a contact sensor.

14. The robot of claim 10, wherein the at least one obstacle detection sensor includes a proximity sensor.

15. The robot of claim 10, wherein the robot is a lawn mower.

16. The robot of claim 10, wherein the robot is a vacuum cleaner.

17. The robot of claim 12, wherein the scanning pattern includes substantially straight lines, substantially parallel to each other.

18. The robot of claim 9, wherein the movement system includes wheels.

19. A robot comprising:

a movement system for moving the robot over a surface;

at least one obstacle detection sensor; and

a unit in communication with the movement system and the at least one obstacle detection sensor, the unit configured for signaling the movement system to turn the robot in response to the at least one obstacle detection sensor detecting the obstacle.

20. The robot of claim 19, wherein the unit, in communication with the movement system and the at least one obstacle detection sensor, is additionally configured for following the obstacle in response to the at least one obstacle detection sensor detecting the obstacle.

21. The robot of claim 19, wherein the unit is configured for signaling the movement system to turn the robot approximately 180 degrees in response to the at least one obstacle detection sensor detecting the obstacle.

22. The robot of claim 20, wherein the unit in communication with the movement system and the at least one obstacle detection sensor is additionally configured for providing a scanning pattern to the movement system when the movement system is moving the robot over a surface.

23. The robot of claim 20, wherein the at least one obstacle detection sensor includes a contact sensor.

24. The robot of claim 20, wherein the at least one obstacle detection sensor includes a proximity sensor.

25. The robot of claim 19, wherein the robot is a lawn mower.

26. The robot of claim 19, wherein the robot is a vacuum cleaner.

27. The robot of claim 20, wherein the scanning pattern includes substantially straight lines, substantially parallel to each other.

28. The robot of claim 19, wherein the movement system includes wheels.

29. A robot comprising:

a movement system for moving the robot along a surface;

at least one obstacle detection sensor; and

a navigation system in communication with the movement system and the at least one obstacle detection sensor, the navigation system configured for causing the movement system to turn the robot in response to an obstacle being detected and move the robot in a direction away from the obstacle.

30. The robot of claim 29, wherein the navigation system is additionally configured for following the obstacle in response to the at least one obstacle detection sensor detecting the obstacle.

31. The robot of claim 29, wherein said turn is approximately 180 degrees.

32. The robot of claim 30, wherein the navigation system is additionally configured for providing a scanning pattern to the movement system when the movement system is moving the robot over a surface.

33. The robot of claim 30, wherein the at least one obstacle detection sensor includes a contact sensor.

34. The robot of claim 30, wherein the at least one obstacle detection sensor includes a proximity sensor.

35. The robot of claim 29, wherein the robot is a lawn mower.

36. The robot of claim 29, wherein the robot is a vacuum cleaner.

37. The robot of claim 32, wherein the scanning pattern includes substantially straight lines, substantially parallel to each other.

38. The robot of claim 29, wherein the movement system includes wheels.

39. A method for operating a robot comprising:

moving the robot over a surface, initially in accordance with a first scanning mode;

detecting an obstacle;

moving the robot so as to follow the obstacle in accordance with a second scanning mode; and

,

returning to the first scanning mode when the robot is beyond the obstacle.

40. The method of claim 39, wherein the second scanning mode includes detecting the obstacle and turning the robot in response to the obstacle being detected.

41. The method of claim 40, wherein the second scanning mode additionally includes moving the robot away from the obstacle after the robot has turned.

42. The method of claim 40, wherein turning the robot includes turning the robot approximately 180 degrees.

43. The method of claim 39, wherein the first scanning mode includes moving the robot in substantially straight lines, substantially parallel to each other.

44. The method of claim 39, additionally comprising:

operating the robot for lawn mowing.

45. The method of claim 39, additionally comprising:

operating the robot for vacuum cleaning.

46. A method for operating a robot comprising:

moving the robot over a surface;

detecting a first obstacle;

turning the robot in response to a first obstacle being detected; and

moving the robot in a direction away from the first obstacle.

47. The method of claim 46, wherein the moving the robot away from the first obstacle includes, moving the robot for a distance until either of a boundary or a second obstacle is detected.

48. The method of claim 47, additionally comprising:

turning the robot in response to the second obstacle or the boundary being detected and moving the robot in a direction toward the first obstacle.

49. The method of claim 48, wherein the turning the robot includes turning the robot approximately 180 degrees.

50. The method of claim 48, additionally comprising:

moving the robot so as to follow the first obstacle.

51. The method of claim 48, wherein moving the robot for a distance until either of a boundary or a second obstacle is detected and moving the robot in a direction toward the first obstacle is performed in substantially straight lines, substantially parallel to each other.

52. The method of claim 46, additionally comprising:

operating the robot for lawn mowing.

53. The method of claim 46, additionally comprising:

operating the robot for vacuum cleaning.

54. A robot for moving about an area to be covered, the robot comprising:

a navigation system;

a boundary sensor for sensing proximity to a boundary marker;

an obstacle sensor for indicating proximity to an obstacle within said area to be covered; and

,

said navigation system programmed to navigate said robot in a pattern of generally straight, parallel lines, turning said robot when said robot senses a boundary marker or an obstacle.

55. The robot of claim 54, wherein said navigation system is additionally configured to count the number of laps needed to cover the area between an obstacle and a boundary marker.

56. The robot of claim 54, wherein said navigation system is additionally configured to note a position of said robot prior to covering an area behind an obstacle, to enable said robot to return to the position after covering said area behind said obstacle.