Method and System for Multi-Mode Coverage For An Autonomous Robot

• US 20160354931A1
• Filed: 04/01/2016
• Published: 12/08/2016
• Est. Priority Date: 06/12/2001
• Status: Abandoned Application

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Application Number:
  US15/088,416
• Publication Number:
  US 20160354931A1
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 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.