Method and System for Multi-Mode Coverage For An Autonomous Robot
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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.
177 Citations
21 Claims
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1-2. -2. (canceled)
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3. A mobile robot, comprising:
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a drive mechanism that both drives the robot forward in a drive direction and turns the robot to change the drive direction;
a sensor responsive to proximity of an object to be followed on a lateral side of the robot;
a floor area cleaning mechanism disposed on the lateral side of the robot; and
a drive controller that controls the drive mechanism to follow the object on the lateral side of the robot, by monitoring the sensor to detect when the object is no longer proximate the lateral side of the robot; and
,in response to detecting that the object is no longer proximate the lateral side, turning the robot toward the lateral side while decreasing a turning radius of the robot. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11)
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12. A mobile robot, comprising:
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a drive mechanism that both drives the robot forward in a drive direction and turns the robot to change the drive direction;
a forward obstacle sensor responsive to objects encountered by the robot while moving in the drive direction;
a side sensor positioned to detect proximity of objects on a dominant side of the robot, transverse to the drive direction;
a floor area cleaning mechanism disposed on the dominant side of the robot; and
a drive controller that controls the drive mechanism to turn the robot, in response to detection of an object by the forward obstacle sensor, until proximity of the detected object on the dominant side of the robot is indicated by the side sensor, and then to drive the robot in the drive direction. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A mobile robot, comprising:
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a robot housing;
a drive mechanism that both drives the robot housing forward in a drive direction and turns the robot housing to change the drive direction;
a bump sensor responsive to the robot bumping into an object in the drive direction;
a sensor responsive to proximity of a wall to be followed on a lateral side of the robot housing;
a side brush extending beyond a lateral extent of the housing, the side brush driven to sweep debris from a floor surface beyond the lateral extent of the housing, for collection by the robot; and
a drive controller that controls the drive mechanism to follow the wall on the lateral side of the robot, by monitoring the sensor to detect when the wall is no longer proximate the lateral side of the robot; and
in response to detecting that the wall is no longer proximate the lateral side, turning the robot toward the lateral side while decreasing a turning radius of the robot until the sensor detects a wall on the lateral side.
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Specification