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

  • US 7,429,843 B2
  • Filed: 06/29/2007
  • Issued: 09/30/2008
  • Est. Priority Date: 06/12/2001
  • Status: Active Grant
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First Claim
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1. A mobile robot comprising:

  • a drive mechanism that both drives the robot forward in a drive direction over a support surface and turns the robot to change the drive direction;

    a forward obstacle sensor responsive to objects encountered by the robot while moving in the drive direction;

    a side sensor positioned to detect proximity of objects on a dominant side of the robot, transverse to the direction of travel;

    a side brush effective on the dominant side of the robot, the side brush extending from the dominant side of the robot and operating to sweep debris from beyond a robot perimeter for collection by the robot; and

    a drive controller controlling the drive mechanism such that when the forward sensor detects an object in the direction of travel of the robot, the drive controller turns the robot to locate the detected object on the dominant side of the robot and drives the robot to keep the detected object on the dominant side of the robot, while the side brush processes a portion of the support surface adjacent the object on the dominant side;

    wherein the drive controller turns the robot in response to the forward obstacle sensor detecting a wall, so as to position the detected wall on the dominant side of the robot as the side brush sweeps debris from between the robot perimeter and the wall.

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