Navigational control system for a robotic device

• US 8,781,626 B2
• Filed: 02/28/2013
• Issued: 07/15/2014
• Est. Priority Date: 09/13/2002
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W., Cohen, David A., Ozick, Daniel N., Chiappetta, Mark J., Jones, Joseph L.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PATTON, SPENCER D
• Application Number:
  US13/781,314
• Publication Number:
  US 20130211589A1
• Time in Patent Office: 502 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 2201/0215 Vacuum cleaner
• 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 configured to control the drive system to steer movement of the cleaning apparatus;

a cleaning head system disposed on the chassis; and

a sensor system in communication with the controller, wherein the sensor system comprises right and left debris sensors in communication with the controller and disposed proximate a cleaning pathway of the cleaning head system for generating respective debris signals; and

wherein the controller is configured to direct 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.

2. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to implement a spot cleaning mode substantially immediately in response to receiving a debris signal generated by the debris sensor.

3. The autonomous cleaning apparatus of claim 2, wherein the spot cleaning mode comprises maneuvering the autonomous cleaning apparatus according to a self-bounded area algorithm.

4. The autonomous cleaning apparatus of claim 3, wherein the self-bounded area algorithm comprises a spiraling algorithm at a reduced drive speed.

5. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to implement a high power cleaning mode in response to the debris signal, the high power mode comprising elevating power delivery to the cleaning head system.

6. The autonomous cleaning apparatus of claim 1, wherein each debris sensor comprises a piezoelectric sensor located proximate to the cleaning pathway and responsive to a debris impact thereon to generate a debris signal indicative of such impact.

7. The autonomous cleaning apparatus of claim 1, wherein each debris sensor comprises:

a plate;

an elastomer pad supporting the plate; and

a piezoelectric material and an electrode both secured to the plate, the electrode in communication with the controller.

8. The autonomous cleaning apparatus of claim 1, wherein each debris sensor comprises a piezoelectric film.

9. 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.

10. The autonomous cleaning apparatus of claim 1, further comprising a bump sensor that comprises a displaceable bumper attached to the chassis and at least one break-beam sensor disposed on the displaceable bumper, the break-beam sensor activated upon displacement of the bumper toward the chassis.

11. The autonomous cleaning apparatus of claim 1, further comprising an obstacle following sensor that comprises an emitter configured to emit an emission signal laterally and a detector configured to detect the emission reflected off an obstacle adjacent the cleaning apparatus, the emitter and detector configured to establish a focal point.

12. The autonomous cleaning apparatus of claim 1, further comprising an obstacle following sensor disposed on a dominant side of the autonomous cleaning apparatus.

13. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a cliff sensor configured to generate a cliff signal upon detection of a cliff.

14. The autonomous cleaning apparatus of claim 13, wherein the cliff sensor comprises an emitter configured to emit an emission signal downwardly and a detector configured to detect the emission reflected off a surface being traversed by the cleaning apparatus, the emitter and detector configured to establish a focal point below the cleaning apparatus.

15. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a wheel drop sensor.

16. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a stall sensor.