Method and system for multi-mode coverage for an autonomous robot

• US 7,173,391 B2
• Filed: 05/05/2004
• Issued: 02/06/2007
• Est. Priority Date: 06/12/2001
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Mass, Philip R., Jones, Joseph L.
• Primary Examiner(s): Leykin; Rita
• Application Number:
  US10/839,374
• Publication Number:
  US 20040207355A1
• Time in Patent Office: 1,007 Days
• Field of Search: 318/568.12, 318/568.11, 15/490.1, 700/243, 701/207, 701/1, 701/23, 701/25, 701/26, 701/200, 901/1
• US Class Current: 318/568.12
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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

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 controllable drive element operable to move the robot over a surface;

an obstacle detection sensor; and

a control system operatively connected to said obstacle detection sensor and said controllable drive element;

wherein said control system is configured to operate the robot in a plurality of operational modes including an obstacle-following mode in which said robot is controlled to travel adjacent to a detected obstacle for a distance of at least twice a working width of the robot in response to detection of the detected obstacle.

10. The mobile robot of claims 1 or 9, wherein said control system is further configured to operate the robot to initiate obstacle-following always on a dominant side of the robot.

11. The mobile robot of claims 1 or 9, wherein said plurality of operational modes further comprises spiraling inwardly and then, in the absence of an obstacle encounter, spirally outwardly.

12. The mobile robot of claims 1 or 9, wherein said plurality of operational modes comprises spiraling outwardly and then, in response to a selected event, spiraling inwardly.

2. A mobile robot comprising:

a controllable drive element operable to move the robot over a surface;

an obstacle encounter sensor; and

a control system operatively connected to said obstacle encounter sensor and said controllable drive element;

said control system configured to operate the robot in a plurality of operational modes, and to switch between the modes in real time, said plurality of operational modes comprising;

a spot-coverage mode whereby the robot operates in an isolated area,

an obstacle following mode in which said robot follows a perimeter of an encountered obstacle, and

a bounce mode in which the robot travels in a direction away from the perimeters of encountered obstacles;

wherein said control system is configured to operate the robot in obstacle-following mode such that an average distance that the robot follows the perimeter of an encountered obstacle per obstacle-following mode initiation is equal to about twice a ratio of a working width (w) of the robot

to a probability (p) of entering the obstacle-following mode upon an obstacle encounter.

3. The mobile robot of claim 2 wherein the robot enters the obstacle following mode upon every encounter or an obstacle, and the average distance that the robot travels adjacent to each obstacle is about twice the working width of the robot.

4. The mobile robot of claim 2, wherein p is less than unity, and the average distance that the robot travels adjacent to each followed obstacle is greater than about twice the working width of the robot.

5. The mobile robot of claim 2, wherein the working width of the robot is approximately between 15 cm and 25 cm, p is approximately 0.095, and wherein the robot travels adjacent to each obstacle a distance no less than a minimum travel distance that is a randomly set distance between about 115 cm and about 350 cm, and no greater than a maximum travel distance that is a randomly set distance between about 170 cm and about 520 cm.

6. The mobile robot of claim 2, wherein said control system is further configured to operate the robot to initiate obstacle-following always on a dominant side of the robot.

7. The mobile robot of claim 2, wherein said plurality of operational modes further comprises spiraling inwardly and then, in the absence of an obstacle encounter, spirally outwardly.

8. The mobile robot of claim 2, wherein said plurality of operational modes comprises spiraling outwardly and then, in response to a selected event, spiraling inwardly.

9. A mobile robot comprising:

a controllable drive element operable to move the robot over a surface;

an obstacle detection sensor; and

and a control system operatively connected to said obstacle detection sensor and said controllable drive element;

wherein said control system is configured to operate the robot in a plurality of operational modes including;

a spot-covering mode in which the robot is controlled to move in a substantially spiral movement, an obstacle-following mode in which the robot is controlled to travel adjacent to a detected obstacle for a distance of at least twice a working width of the robot in response to detection of the detected obstacle, and a bounce mode in which the robot is controlled to travel substantially in a direction away from a detected obstacle;

wherein the control system is configured to initiate obstacle-following mode in response to some obstacle detections, and to initiate bounce mode in response to other obstacle detections.