METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT

• US 20100263142A1
• Filed: 06/30/2010
• Published: 10/21/2010
• 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 8,838,274 B2
• Time in Patent Office: Days
• US Class Current: 15/21.100
• CPC Class Codes: A47L 11/00 Machines for cleaning floors, carpets, furniture, walls, or wall coverings
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• 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 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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: Y10S 901/01 Mobile robot

Abstract

A mobile robot operable to move on a surface in a room is provided. The mobile robot includes a shell and a chassis including at least two wheels. At least one motor is connected to the wheels for moving the mobile robot on the surface. A cleaner is operable to clean the surface as the mobile robot moves on the surface. A wall sensor is operable to detect a wall in the room as the mobile robot moves on the surface. A controller is operable to control the motor to move the mobile robot on the surface in accordance with a wall following mode and a bounce mode. In the wall following mode, the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor. In the bounce mode, the mobile robot moves away from the wall.

Claims

1. A mobile robot operable to move on a surface in a room, the mobile robot comprising:

a shell;

a chassis including at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot on the surface;

a controller operable to control the at least one motor to move the mobile robot on the surface in accordance with a wall following mode and a bounce mode;

a cleaner operable to clean the surface as the mobile robot moves on the surface; and

a wall sensor operable to detect a wall in the room as the mobile robot moves on the surface,

wherein, in the wall following mode, the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor, and

in the bounce mode, the mobile robot moves away from the wall.

2. The mobile robot according to claim 1, wherein the controller is operable to control the mobile robot to move in accordance with the bounce mode after controlling the mobile robot to move in accordance with the wall following mode for a predetermined distance.

3. The mobile robot according to claim 1, wherein the controller is operable to control the mobile robot to move in accordance with the bounce mode after controlling the mobile robot to move in accordance with the wall following mode for a predetermined time.

4. The mobile robot according to claim 1, wherein the controller is further operable to control the mobile robot to move in accordance with a freelance mode in which the mobile robot moves on the surface and throughout the room in accordance with a predetermined algorithm.

5. The mobile robot according to claim 4, wherein the controller is operable to control the mobile robot to move in accordance with the freelance mode after controlling the mobile robot to move in accordance with the bounce mode.

6. The mobile robot according to claim 4, wherein the controller as operable to control the mobile robot to move cyclically in accordance with the wall following mode, the bounce mode, and the freelance mode cyclically.

7. The mobile robot according to claim 1, wherein the controller is further operable to control the mobile robot to move in accordance with a spot cleaning mode in which the mobile robot moves only within a predetermined area of the room.

8. The mobile robot according to claim 7, wherein, in the spot cleaning mode, the mobile robot moves from a center of the predetermined area to a periphery of the predetermined area by successively moving around the center in increasing paths.

9. The mobile robot according to claim 8, further comprising:

a side brush disposed on a brush side of the mobile robot,

wherein, in the spot cleaning mode, the mobile robot moves around the center of the predetermined area with the brush side toward the periphery of the predetermined area.

10. The mobile robot according to claim 8, further comprising:

a side brush disposed on a brush side of the mobile robot,

wherein, in the spot cleaning mode, the mobile robot moves around the center of the predetermined area with the brush side toward the center of the predetermined area.

11. The mobile robot according to claim 1, further comprising:

an obstacle sensor operable to detect a presence of an obstacle in the room,

wherein the controller is further operable to control the mobile robot to move in accordance with an obstacle mode in which the mobile robot moves to avoid physically contacting the obstacle in response to detection of the presence of the obstacle.

12. The mobile robot according to claim 11, wherein, in the obstacle mode, the mobile robot moves generally adjacent to and along a periphery of the obstacle.

13. The mobile robot according to claim 1, further comprising:

a cliff sensor operable to detect a cliff in the room,

wherein the controller is further operable to control the mobile robot to move in accordance with a cliff mode in which the mobile robot moves away from the cliff in response to detection of the cliff by the cliff sensor.

14. A mobile robot operable to move on a surface in a room, the mobile robot comprising:

a shell;

a chassis including at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot on the surface;

a controller operable to control the at least one motor to move the mobile robot on the surface in accordance with a plurality of modes;

a cleaner operable to clean the surface as the mobile robot moves on the surface;

a wall sensor operable to detect a wall in the room as the mobile robot moves on the surface;

a cliff sensor operable to detect a cliff in the room as the mobile robot moves on the surface; and

an obstacle sensor operable to detect a presence of an obstacle in the room as the mobile robot moves on the surface.

15. The mobile robot according to claim 14, wherein the controller is operable to control the mobile robot to move in accordance with the plurality of modes in response to detection of the wall by the wall sensor, detection of the cliff by the cliff sensor, and detection of the presence of the obstacle by the obstacle sensor.

16. The mobile robot according to claim 14, wherein the plurality of modes includes a wall following mode in which the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor.

17. The mobile robot according to claim 16, wherein the plurality of modes includes a bounce mode in which the mobile robot moves away from the wall after the mobile robot moves in accordance with the wall following mode for one of a predetermined time and a predetermined distance.

18. The mobile robot according to claim 17, wherein the plurality of modes includes a free lance mode in which the mobile robot moves on the surface and throughout the room in accordance with a predetermined algorithm.

19. The mobile robot according to claim 18, wherein the controller is operable to control the mobile robot to move cyclically in accordance with the wall following mode, the bounce mode, and the freelance mode.

20. The mobile robot according to claim 14, wherein the plurality of modes includes a spot cleaning mode in which the mobile robot moves only within a predetermined area of the room from a center of the predetermined area to a periphery of the predetermined area by successively moving around the center in increasing paths.

21. The mobile robot according to claim 14, wherein the plurality of modes includes an obstacle mode in which the mobile robot moves to avoid physically contacting the obstacle in response to detection of the presence of the obstacle by the obstacle sensor.

22. The mobile robot according to claim 21, wherein, in the obstacle mode, the mobile robot moves generally adjacent to and along a periphery of the obstacle.

23. The mobile robot according to claim 14, wherein the plurality of modes includes a cliff mode in which the mobile robot moves away from the cliff in response to detection of the cliff by the cliff sensor.