Navigational control system for a robotic device

• US 8,428,778 B2
• Filed: 11/02/2009
• Issued: 04/23/2013
• Est. Priority Date: 09/13/2002
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W., Ozick, Daniel N., Chiappetta, Mark J., Jones, Joseph L., Cohen, David A.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PATTON, SPENCER D
• Application Number:
  US12/610,792
• Publication Number:
  US 20100063628A1
• Time in Patent Office: 1,268 Days
• Field of Search: 700/245, 700/250, 700/253, 700/258, 318/568.11, 318/568.12, 318/568.16, 901/1
• US Class Current: 700/253
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• 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 1/0272 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: G05D 3/12 using feedback

Abstract

An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Claims

1. An autonomous cleaning apparatus comprising:

a chassis;

a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus;

a controller in communication with the drive system, the controller including a processor operable to control the drive system to steer movement of the cleaning apparatus; and

a cleaning head system disposed on the chassis having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush that throws debris into the debris bin;

a debris sensor in communication with the controller and proximate to the cleaning pathway, the debris sensor responsive to debris passing through the cleaning pathway to generate a signal indicative of such passing, wherein the debris sensor comprises right and left debris sensors in communication with the controller and disposed along a wall of the cleaning pathway in a location to receive debris thrown by the agitating brush of the cleaning head system for generating respective debris signals; and

wherein the processor directs the drive system to turn right in response to the debris signal generated by the right debris sensor and to turn left in response to the debris signal generated by the left debris sensor;

wherein the processor directs the drive system to steer the cleaning apparatus in a localized pattern of movement substantially immediately in response to receiving a debris signal generated by the debris sensor; and

wherein the debris bin is removable from the cleaning apparatus for dispensing of collected debris.

2. The autonomous cleaning apparatus of claim 1, wherein the processor steers the cleaning apparatus in a forward direction, turning to cover the location of the debris, in response to the debris signal generated by the debris sensor.

3. The autonomous cleaning apparatus of claim 1, wherein the processor controls the drive system to execute a pattern of movements to steer the cleaning apparatus toward a debris area corresponding to the debris signal generated by the debris sensor.

4. The autonomous cleaning apparatus of claim 1, wherein the processor implements a spot cleaning mode in an area in which the cleaning apparatus was operating, substantially immediately in response to receiving a debris signal generated by the debris sensor.

5. The autonomous cleaning apparatus of claim 4, wherein the spot cleaning mode comprises maneuvering the autonomous cleaning apparatus according to a self-bounded area algorithm.

6. The autonomous cleaning apparatus of claim 5, wherein the self-bounded area algorithm comprises a spiraling algorithm at a reduced drive speed.

7. The autonomous cleaning apparatus of claim 1, wherein the processor implements a high power cleaning mode in response to the debris signal, the high power mode comprising elevating power delivery to the cleaning head system.

8. The autonomous cleaning apparatus of claim 1, wherein the processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon a received debris signal.

9. The autonomous cleaning apparatus of claim 1, wherein the processor controls one or more operational conditions of the autonomous cleaning apparatus based upon the debris signal.

10. The autonomous cleaning apparatus of claim 1, wherein the debris sensor is disposed along a wall of the cleaning pathway in a location to receive debris thrown by the agitating brush of the cleaning head system for generating respective debris signals.

11. The autonomous cleaning apparatus of claim 1, wherein the right and left debris sensors are disposed opposite each other and equidistantly from a center axis defined by the cleaning pathway.