Method for controlling self-running cleaning apparatus

  • US 5,548,511 A
  • Filed: 10/29/1992
  • Issued: 08/20/1996
  • Est. Priority Date: 10/29/1992
  • Status: Expired due to Term
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First Claim
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1. A method for guiding a self-propelled autonomous cleaning robot having distance sensing means, obstacle sensing means, memory means and computing means, the method comprising:

  • a. starting a single-pass learning phase by said robot moving in a forward direction into an area to be cleaned having a left and right side boundary;

    b. repeatedly contemporaneously sensing a distance to the right boundary, a distance to the left boundary, and a distance travelled;

    c. storing said distances in said memory means;

    d. adjusting the direction of said robot in response to said right and left boundary distances to maintain a desired distance from said left and right boundaries;

    e. updating a plan of the area to be cleaned with said distances as the robot moves;

    f. continuing steps b through e until an obstacle in the forward direction is detected by the robot, thereby ending said single-pass learning phase;

    g. computing a cleaning path that will completely traverse said plan; and

    h. performing a cleaning phase by said robot following said cleaning path as sensed by said distance sensing means.

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