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

• US 8,396,592 B2
• Filed: 02/05/2007
• Issued: 03/12/2013
• Est. Priority Date: 06/12/2001
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): BEHNCKE, CHRISTINE M
• Application Number:
  US11/671,305
• Publication Number:
  US 20070213892A1
• Time in Patent Office: 2,227 Days
• Field of Search: 180/274, 700/245, 700/253, 700/255, 700/258, 318/590, 318/587, 318/568.12, 318/568.16, 901/1, 901/46, 446/237
• US Class Current: 700/253
• CPC Class Codes: A47L 11/00 Machines for cleaning floors, carpets, furniture, walls, or wall coverings
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• 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 1/0242 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: 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
• CPC Class Codes: Y10S 901/01 Mobile robot

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

a floor cleaner disposed on a lateral side of the robot;

a sensor responsive to proximity of objects near the lateral side of the robot; and

a drive controller that controls the drive mechanism to drive the robot according to a behavior having first and second modes, the controller determining detection of an object proximate the lateral side of the robot upon the sensor transitioning between a reflection state and a non-reflection state;

wherein the drive controller is configured to

drive the robot according to the first mode of the behavior to follow a sensed object proximate the lateral side of the robot by executing a first detection cycle of the sensor and upon detecting the reflection state, initiating a turn away from the followed object,

execute a second detection cycle and, upon detecting the non-reflection state, initiate a turn toward the lateral side while driving the robot forward, and

execute a third detection cycle and upon detecting the non-reflection state, execute the second mode;

wherein the drive controller drives the robot according to the second mode of the behavior by initiating a turn of the robot toward the lateral side in accordance with a turning radius and progressively decreasing the turning radius of the robot over time while driving the robot forward, thereby causing the robot to turn more sharply until the robot encounters a change in sensory input; and

wherein the drive controller ceases the behavior upon turning toward the lateral side through an angle of more than 270 degrees before encountering a change in sensory input.

2. The mobile robot of claim 1, wherein the controller is configured to steadily decrease the turning radius at least until the robot bumps an object.

3. The mobile robot of claim 1, wherein the sensor is a reflection detector, and wherein the controller detects that the followed object is no longer proximate the lateral side upon a transition from a reflection state to a non-reflection state of the sensor.

4. The mobile robot of claim 1, wherein the controller is configured to decrease the turning radius of the robot until the sensor detects an object on the lateral side.

5. The mobile robot of claim 1, wherein the floor cleaner includes a side brush extending beyond a lateral extent of a housing of the robot, the side brush driven to sweep debris from a floor surface beyond the lateral extent of the housing, for collection by the robot.

6. The mobile robot of claim 1, wherein

the sensor is responsive to proximity of a room wall;

and

the controller is configured to

drive the robot to follow a proximate wall on the lateral side of the robot by changing a turning radius to maintain a continuous detection of the wall by the sensor,

monitor the sensor to detect when the wall is no longer proximate the lateral side of the robot, and

in response to detecting that the wall is no longer proximate the lateral side, turning the robot toward the lateral side while decreasing the turning radius of the robot.

7. The mobile robot of claim 6, wherein the controller is configured to, in response to the robot bumping into an object while following a wall,

turn the robot through a first angle, then monitor the sensor for wall detection while continuing to turn the robot, and then,

in response to wall detection and a subsequent cessation of wall detection, stop turning the robot.

8. The mobile robot of claim 7, wherein the controller is configured to stop turning the robot if the robot reaches a predetermined maximum turn angle while monitoring the sensor for wall detection, and to then move the robot forward along the drive direction.

9. The mobile robot according to claim 7 further comprising a bump sensor, and wherein the first angle is determined according to an angle at which the bump sensor indicates a bump.

10. A mobile robot, comprising:

a robot housing;

a drive mechanism that both drives the robot housing forward in a drive direction and turns the robot housing to change the drive direction;

a bump sensor responsive to the robot bumping into an object in the drive direction;

a proximity sensor responsive to proximity of a wall to be followed on a lateral side of the robot housing;

a side brush extending beyond a lateral extent of the housing, the side brush driven to sweep debris from a floor surface beyond the lateral extent of the housing, for collection by the robot; and

a drive controller that controls the drive mechanism to drive the robot according to a behavior having first and second modes, the controller determining detection of an object proximate the lateral side of the robot upon the sensor transitioning between a reflection state and a non-reflection state;

wherein the drive controller is configured to

drive the robot according to the first mode of the behavior to follow a sensed object proximate the lateral side of the robot by executing a first detection cycle of the sensor and upon detecting the reflection state, initiating a turn away from the followed object,

execute a second detection cycle and, upon detecting the non-reflection state, initiate a turn toward the lateral side while driving the robot forward, and

execute a third detection cycle and upon detecting the non-reflection state, execute the second mode;

wherein the drive controller drives the robot according to the second mode of the behavior by initiating a turn of the robot toward the lateral side in accordance with a turning radius and progressively decreasing the turning radius of the robot over time while driving the robot forward, thereby causing the robot to turn more sharply until one of the sensors detects a wall on the lateral side; and

wherein the drive controller ceases the behavior upon turning toward the lateral side through an angle of more than 270 degrees before one of the sensors detects a wall on the lateral side.