Autonomous coverage robot

• US 9,408,515 B2
• Filed: 12/31/2014
• Issued: 08/09/2016
• Est. Priority Date: 11/02/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Rosenstein, Michael T., Chiappetta, Mark, Schnittman, Mark, Pastore, Andrew
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US14/587,723
• Publication Number:
  US 20150120128A1
• Time in Patent Office: 587 Days
• Field of Search: 700/250, 700/253, 700/255, 700/258, 700/259
• US Class Current: 1/1
• 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 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• 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: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/00 Image analysis
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: G06T 7/90 Determination of colour characteristics
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.

Claims

1. A mobile floor cleaning robot comprising:

a robot body defining a forward drive direction;

a drive system supporting the robot body and configured to maneuver the robot over a floor surface;

a cleaning system disposed on the robot body;

an imaging sensor disposed on the robot body; and

a controller in communication with the drive system and the imaging sensor, the controller configured to;

receive a sequence of images of the floor surface, each image having an array of pixels;

for at least one image, segmenting the image into color segments by;

color quantizing pixels of the image; and

determining a spatial distribution of at least one color of the image based on corresponding pixel locations; and

tracking a location of at least one color segment with respect to the imaging sensor across the sequence of images for determining a drive command for issuance to the drive system to maneuver the mobile floor cleaning robot.

2. The mobile floor cleaning robot of claim 1, wherein determining the spatial distribution of the at least one color of the image comprises:

determining a background color of the image; and

identifying color segments having a contrasting color with respect to the background color.

3. The mobile floor cleaning robot of claim 1, wherein the controller is configured to, for the at least one color of the image:

determine a shape of the at least one color of the image;

determine whether the shape of the at least one color corresponds to an object shape; and

when the shape of the at least one color corresponds to the object shape, track a location of the at least one color in the image.

4. The mobile floor cleaning robot of claim 1, wherein tracking the location of the at least one color segment comprises:

determining a velocity vector of the at least one color segment with respect to the imaging sensor; and

recording the velocity vector of the at least one color segment for at least some images of the image sequence.

5. The mobile floor cleaning robot of claim 1, wherein the controller is configured to:

determine a size of each color segment;

determine a velocity vector of each color segment with respect to the imaging sensor; and

issue a drive command to maneuver the robot based on the size and the velocity vector of one or more color segments.

6. The mobile floor cleaning robot of claim 5, wherein the controller is configured to issue the drive command to maneuver the robot toward a color segment having a largest size and a velocity vector pointing toward the mobile floor cleaning robot.

7. The mobile floor cleaning robot of claim 1, wherein the controller is configured to issue a drive command to maneuver the robot based on the location of one or more color segments.

8. The mobile floor cleaning robot of claim 7, wherein the controller is configured to issue the drive command to maneuver the robot toward a nearest color segment.

9. The mobile floor cleaning robot of claim 8, wherein the controller is configured to identify the nearest color segment in a threshold number of images of the image sequence.

10. The mobile floor cleaning robot of claim 8, wherein the controller is configured to execute a heuristic related to color segment size and color segment speed to filter out color segments non-indicative of debris on the floor surface.

11. The mobile floor cleaning robot of claim 1, wherein segmenting the image into color segments further comprises only color quantizing pixels in a lower portion of the image oriented vertically.

12. The mobile floor cleaning robot of claim 1, wherein segmenting the image into color segments further comprises only color quantizing pixels outside of a center portion of the image.

13. The mobile floor cleaning robot of claim 1, wherein segmenting the image into color segments further comprises dividing the image into regions and separately color quantizing the pixels of each region.

14. The mobile floor cleaning robot of claim 1, wherein segmenting the image into color segments further comprises executing a bit shifting operation to convert each pixel from a first color set to second color set smaller than the first color set.

15. The mobile floor cleaning robot of claim 14, wherein the bit shifting operation retains three most significant bits of each of a red, green and blue channel.

16. The mobile floor cleaning robot of claim 1, wherein the controller is configured to assign a numerical representation for the color of each pixel in a color space.

17. The mobile floor cleaning robot of claim 16, wherein the controller is configured to color quantize the image pixels in a red-green-blue color space, reducing the image to a 9-bit red-green-blue image.

18. The mobile floor cleaning robot of claim 16, wherein the controller is configured to color quantize the image pixels in a LAB color space.

19. The mobile floor cleaning robot of claim 1, wherein the imaging sensor comprises a camera arranged to have a field of view along the forward drive direction of the robot.

20. The mobile floor cleaning robot of claim 19, wherein the camera is configured to scan side-to-side or up-and-down with respect to the forward drive direction of the robot.