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

  • US 7,388,343 B2
  • Filed: 07/12/2007
  • Issued: 06/17/2008
  • Est. Priority Date: 06/12/2001
  • Status: Expired due to Fees
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First Claim
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1. A surface coverage robot comprising:

  • at least one drive motor and at least one cleaning head motor, each motor having a motor current;

    sensors responsive to an environment about the robot;

    a memory storing;

    instructions configured as a set of coverage behaviors for moving about a surface to be cleaned;

    instructions configured as a set of escape behaviors for escaping a confining situation;

    instructions configured as situation detectors to detect sensor conditions of the robot; and

    instructions configured as an arbiter to enable control of the drive motor and the cleaning head motor according to a behavior priority, the arbiter passing on commands from a highest priority behavior to control the motors when enabling conditions of the highest priority behavior are satisfied; and

    a controller in communication with the drive motor, the cleaning head motor, the sensors, and the memory, the controller executing the arbiter to control the motors according to the highest priority behavior;

    wherein at least one situation detector increases a detector variable each time a motor current exceeds a current threshold and compares the detector variable to a threshold level, the arbitrator resolving one of the escape behaviors as the dominant behavior when the detector variable exceeds the threshold level.

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