Obstacle following sensor scheme for a mobile robot

• US 7,430,455 B2
• Filed: 08/06/2007
• Issued: 09/30/2008
• Est. Priority Date: 01/24/2000
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Cross, Matthew, Jones, Joseph L., Ozick, Daniel, Casey, Christopher
• Primary Examiner(s): Tran; Khoi H.
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/834,553
• Publication Number:
  US 20080016631A1
• Time in Patent Office: 421 Days
• Field of Search: 700/245, 700/258, 318/568.1, 318/568.12, 318/568.16, 318/568.17, 701/23, 701/25, 15/491, 153/19, 250/559.33, 901/47
• US Class Current: 700/245
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• 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 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Claims

1. A robot comprising:

a substantially circular robot housing;

a drive system housed by the robot housing and configured to maneuver the robot with respect to a wall;

at least one sensor component housed in a forward portion of the robot housing and aimed at the wall for detecting the presence of the wall, the sensor component comprising;

an emitter that emits a directed beam having a defined field of emission; and

a detector having a defined field of view that intersects the field of emission of the emitter, the intersection of the field of emission and the field of view defining a volume of intersection space forward of the robot housing; and

a circuit in communication with the detector and the drive system for redirecting the robot when the wall occupies the intersection space.

2. The robot of claim 1 further comprising an emitter collimator about the emitter for directing the emission beam and a detector collimator about the photon detector to define the field of view, the emitter collimator and the detector collimator being angled with respect to the wall to define a finite volume of intersection space.

3. The robot of claim 1, wherein the volume of intersection space substantially defines a cone shape.

4. The robot of claim 1, wherein the circuit provides an output when a wall is not present in the volume of intersection space, the circuit output causing the robot to be directed back towards the wall while the wall does not occupy the intersection space.

5. The robot of claim 1 further comprising at least two edge cleaning heads carried on opposite sides of the housing and driven about a non-horizontal axis, each edge cleaning head extending beyond a lateral extent of the housing to engage the surface while the robot is maneuvered across the surface.