Coverage robot navigating
First Claim
Patent Images
1. A method of navigating an autonomous coverage robot on a floor, the method comprising:
- controlling movement of the robot across the floor in a cleaning mode along a stored heading;
receiving a sensor signal indicative of a nearing obstacle;
in response to receiving the sensor signal indicative of the obstacle, reducing a speed of the coverage robot across the floor prior to contact with the obstacle;
subsequent to reducing the speed of the coverage robot, controlling movement of the robot to cause the robot to rotate in a clockwise direction and in a counterclockwise direction;
determining a change in a received sensor signal during at least a portion of rotation of the robot in the clockwise direction and in the counterclockwise direction;
determining a width of the obstacle based at least in part on the determined change in the received sensor signal;
controlling movement of the robot based on the determined width of the sensed obstacle, including;
in response to determining that the width of the sensed obstacle is less than a threshold, navigating the autonomous robot according to a first behavior in which the robot travels to an opposite side of the obstacle and then resumes movement along the stored heading, the first behavior comprising directing the robot to execute an orbiting routine comprising turning toward the sensed obstacle using an orbit radius based on the determined width of the sensed obstacle and increasing the orbit radius in response to a failure to move around the object by the orbiting routine.
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Abstract
A method of navigating an autonomous coverage robot on a floor includes controlling movement of the robot across the floor in a cleaning mode, receiving a sensor signal indicative of an obstacle, rotating the robot away from the sensed obstacle, determining a change in the received sensor signal during at least a portion of the rotation of the robot away from the sensed obstacle, and identifying the sensed obstacle based at least in part on the determined change in the received sensor signal.
136 Citations
32 Claims
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1. A method of navigating an autonomous coverage robot on a floor, the method comprising:
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controlling movement of the robot across the floor in a cleaning mode along a stored heading; receiving a sensor signal indicative of a nearing obstacle; in response to receiving the sensor signal indicative of the obstacle, reducing a speed of the coverage robot across the floor prior to contact with the obstacle; subsequent to reducing the speed of the coverage robot, controlling movement of the robot to cause the robot to rotate in a clockwise direction and in a counterclockwise direction; determining a change in a received sensor signal during at least a portion of rotation of the robot in the clockwise direction and in the counterclockwise direction; determining a width of the obstacle based at least in part on the determined change in the received sensor signal; controlling movement of the robot based on the determined width of the sensed obstacle, including; in response to determining that the width of the sensed obstacle is less than a threshold, navigating the autonomous robot according to a first behavior in which the robot travels to an opposite side of the obstacle and then resumes movement along the stored heading, the first behavior comprising directing the robot to execute an orbiting routine comprising turning toward the sensed obstacle using an orbit radius based on the determined width of the sensed obstacle and increasing the orbit radius in response to a failure to move around the object by the orbiting routine. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method of navigating an autonomous coverage robot on a floor, the method comprising:
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storing a heading of the autonomous coverage robot; moving the autonomous coverage robot in a cleaning mode along the stored heading to an obstacle; receiving a sensor signal indicative of a nearing obstacle along the heading; in response to receiving the sensor signal indicative of the nearing obstacle, moving the autonomous coverage robot away from the obstacle along a heading that is opposite of the stored heading; scanning the obstacle with a sensor carried on the autonomous coverage robot to determine an angular width of the obstacle; classifying the obstacle based at least in part on whether the determined angular width is above or below a threshold; and maneuvering the robot as a function of the classification of the obstacle, according to an algorithm including; in response to classifying the obstacle based on the determined angular width being below the threshold; orbiting the autonomous coverage robot around at least a portion of the classified obstacle based on an orbiting routine while comparing the stored heading to the heading of the autonomous coverage robot during orbiting of the classified obstacle, wherein the orbiting routine comprises turning the autonomous coverage robot toward the sensed obstacle using an orbit radius based on the determined angular width of the sensed obstacle and increasing the orbit radius in response to a failure to move around the object by the orbiting routine; and resuming the stored heading based at least in part on the comparison of the stored heading to the heading of the autonomous coverage robot during orbiting; and in response to classifying the obstacle based on the determined angular width being above the threshold, turning the robot and maneuvering the robot away from the obstacle along a revised heading. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31)
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32. A method of navigating an autonomous coverage robot on a floor, the method comprising:
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controlling movement of the robot across the floor in a cleaning mode; receiving a sensor signal indicative of an obstacle; rotating the robot away from the sensed obstacle; determining a change in the received sensor signal during at least a portion of the rotation of the robot away from the sensed obstacle; determining a width of the obstacle based at least in part on the determined change in the received sensor signal; and controlling movement of the robot based on the determined width of the sensed obstacle including; in response to determining that the width of the sensed obstacle is less than a threshold, navigating the autonomous robot according to a first behavior in which the robot travels to an opposite side of the obstacle and then resumes movement along the stored heading, the first behavior comprising directing the robot to execute an orbiting routine comprising turning toward the sensed obstacle using an orbit radius based on the determined width of the sensed obstacle and increasing the orbit radius in response to a failure to move around the object by the orbiting routine.
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Specification