Wide area navigation for a robot scrubber

  • US 6,124,694 A
  • Filed: 03/18/1999
  • Issued: 09/26/2000
  • Est. Priority Date: 03/18/1999
  • Status: Expired due to Term
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First Claim
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1. A method for controlling a self-propelled cleaning robot between a first and a second wall, said robot having a first side and a second side, said first and second sides having a first and second sound wave distance sensor, respectively, and said second side having a light wave distance sensor, said method comprising:

  • making a second wall baseline pass along said first wall while measuring a first distance from said robot to said first wall with said first sound wave distance sensor and contemporaneously measuring a second distance from said robot to said second wall with said light wave distance sensor and determining a second wall baseline using said first distance and said second distance, said robot being substantially closer to said first wall then to said second wall;

    making a first wall baseline pass along said first wall while measuring a third distance from said robot to said first wall with said second sound wave distance sensor and contemporaneously measuring a fourth distance from said robot to said first wall with said light wave distance sensor and determining a first wall baseline using said third distance and said fourth distance, said robot being substantially closer to said first wall then to said second wall; and

    navigating a serpentine path toward said second wall in response to distance measured from said robot to said walls with said light wave distance sensor in combination with said first wall baseline and said second wall baseline.

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