Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus

• US 8,855,914 B1
• Filed: 08/31/2012
• Issued: 10/07/2014
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Neato Robotics, Inc. (Vorwerk & Company KG)
• Inventors: Alexander, Steven Mathew, Hexsel, Bruno Augusto
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/601,655
• Time in Patent Office: 767 Days
• Field of Search: 701/23, 701/400, 700/23, 700/250, 700/258, 153/19, 15/491
• US Class Current: 701/400
• 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 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

Abstract

A robotic surface treatment apparatus treats corners of rooms more effectively through intricate guidance of the apparatus through inside and outside corners. In one aspect, contact and/or non-contact sensors provide information to one or more on-board processors on the apparatus to enable selective overriding of obstacle avoidance program code and allow the apparatus to get closer to walls to facilitate treatment. In another aspect, the sensors provide information to the on-board processors to control backup motion of the apparatus to cover previously-missed areas when turning corners. In yet another aspect, the apparatus is shaped to have its treatment mechanism positioned more closely to the front of the apparatus to enable treatment more closely to walls near corners. In one embodiment, the robotic surface treatment apparatus is a robotic vacuum. The vacuum may have its cleaning brush positioned near a flat front portion of the apparatus.

Claims

1. A robotic surface treatment apparatus comprising:

a chassis; and

one or more processors that detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to contact the second wall, the one or more processors;

control the robotic surface treatment apparatus to contact the second wall;

control the robotic surface treatment apparatus to back up by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

cause the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

2. A robotic surface treatment apparatus as claimed in claim 1, wherein the one or more processors further detect whether the robotic surface treatment apparatus is no longer traveling along the first wall;

wherein, if the robotic surface treatment apparatus is no longer traveling along the first wall, the one or more processors;

cause the robotic surface treatment apparatus to pivot and continue moving forward;

detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors cause the robotic surface treatment apparatus to move forward to follow the further wall.

3. A robotic surface treatment apparatus as claimed in claim 2, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

4. A robotic surface treatment apparatus as claimed in claim 1, wherein the chassis comprises a substantially flat forward end.

5. A robotic surface treatment apparatus as claimed in claim 4, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.

6. A processor-implemented method of controlling a robotic surface treatment apparatus, the method comprising:

using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to encounter the second wall, the method further comprises;

using one or more processors to control the robotic surface treatment apparatus to contact the second wall;

backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

7. A processor-implemented method of controlling a robotic surface treatment apparatus as claimed in claim 6, wherein the detecting further comprises detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall;

wherein, if the robotic surface treatment apparatus is no longer traveling along the first wall, the method further comprises;

causing the robotic surface treatment apparatus to pivot and continue moving forward;

detecting whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along the further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall.

8. A processor-implemented method as claimed in claim 7, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the method further comprises using one or more processors to control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

9. A processor-implemented method as claimed in claim 6, wherein the robotic surface treatment apparatus has a substantially flat forward end.

10. A processor-implemented method as claimed in claim 9, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.

11. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus, the method comprising:

using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to encounter the second wall, the method further comprises;

using one or more processors to control the robotic surface treatment apparatus to contact the second wall;

backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

12. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 11, wherein the detecting further comprises detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall;

wherein, if the robotic surface treatment apparatus is no longer traveling along the first wall, the method further comprises;

causing the robotic surface treatment apparatus to pivot and continue moving forward;

detecting whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along the further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall.

13. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 12, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the method further comprises using one or more processors to control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

14. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 11, wherein the robotic surface treatment apparatus has a substantially flat forward end.

15. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 14, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.

16. A robotic surface treatment apparatus comprising:

a chassis; and

one or more processors that detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall;

wherein, if the robotic surface treatment apparatus is no longer traveling along the first wall, the one or more processors;

cause the robotic surface treatment apparatus to pivot and continue moving forward;

detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors cause the robotic surface treatment apparatus to move forward to follow the further wall.

17. A robotic surface treatment apparatus as claimed in claim 16, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

18. A robotic surface treatment apparatus as claimed in claim 16, the detecting further comprising detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to contact the second wall, the one or more processors;

control the robotic surface treatment apparatus to contact the second wall;

control the robotic surface treatment apparatus to back up by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

cause the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

19. A robotic surface treatment apparatus as claimed in claim 16, wherein the chassis comprises a substantially flat forward end.

20. A robotic surface treatment apparatus as claimed in claim 19, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.

21. A processor-implemented method of controlling a robotic surface treatment apparatus, the method comprising:

using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall; and

;

if the robotic surface treatment apparatus is no longer traveling along the first wall;

causing the robotic surface treatment apparatus to pivot and continue moving forward;

using one or more processors to detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along the further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall.

22. A processor-implemented method of controlling a robotic surface treatment apparatus as claimed in claim 21, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the method further comprises using the one or more processors to control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

23. A processor-implemented method of controlling a robotic surface treatment apparatus as claimed in claim 21, wherein further comprising detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to contact the second wall, the method further comprises;

controlling the robotic surface treatment apparatus to contact the second wall;

backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

24. A processor-implemented method of controlling a robotic surface treatment apparatus as claimed in claim 21, wherein the robotic surface treatment apparatus has a substantially flat forward end.

25. A processor-implemented method of controlling a robotic surface treatment apparatus as claimed in claim 24, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.

26. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus, the method comprising:

using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall; and

;

if the robotic surface treatment apparatus is no longer traveling along the first wall;

causing the robotic surface treatment apparatus to pivot and continue moving forward;

using the one or more processors to detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and

if the robotic surface treatment apparatus is traveling along a further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall.

27. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 26, wherein:

if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors control the robotic surface treatment apparatus to back up by a predetermined amount before causing the robotic surface treatment apparatus to move forward to follow the further wall.

28. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 26, wherein further comprising detecting whether the robotic surface treatment apparatus is about to contact a second wall;

wherein, if the robotic surface treatment apparatus is about to contact the second wall, the method further comprises;

using the one or more processors to cause the robotic surface treatment apparatus to contact the second wall;

backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and

causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.

29. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 26, wherein the robotic surface treatment apparatus has a substantially flat forward end.

30. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus as claimed in claim 29, wherein the apparatus comprises a robotic vacuum having a brush extending along a substantial portion of the forward end, toward the forwardmost part of the forward end.