Mobile robot area cleaning

• US 9,798,328 B2
• Filed: 10/10/2014
• Issued: 10/24/2017
• Est. Priority Date: 10/10/2014
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vicenti, Jasper
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US14/511,947
• Publication Number:
  US 20160103451A1
• Time in Patent Office: 1,110 Days
• Field of Search: 700245, 700253
• 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 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals

Abstract

A cleaning robot includes a chassis, a drive system connected to the chassis and configured to drive the robot, a signal generator and sensor carried by the chassis, and a controller in communication with the drive system and the sensor. The signal generator directs a signal toward the floor surface. The sensor is responsive to reflected signals from the floor surface. The controller controls the drive system to alter direction of the robot responsive to a reflected signal indicating an edge of the floor surface.

Claims

1. A cleaning robot comprising:

a chassis;

a drive system connected to the chassis and configured to drive the robot across a floor surface;

a plurality of associated pairs of signal generators and sensors disposed at different locations about a peripheral edge of the cleaning robot, a respective signal generator of each of the associated pairs arranged to direct a signal toward the floor surface, a respective sensor of each of the associated pairs configured to produce a sensor signal responsive to a reflection from the floor surface of the directed signal from the respective signal generator; and

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

receive information indicative of an area to be cleaned, the area having a first surface type,

implement an area cleaning routine to clean the area by controlling the drive system to alter a drive direction of the robot in response to an evaluation of which sensor of the plurality of associated pairs receives the sensor signal indicating that the reflection of the directed signal indicates that an edge of the area having the first surface type has been reached, so as to keep at least a portion of the robot from entering a second area having a second surface type that differs from the first surface type,

control the drive system to drive the robot across the edge of the first area of the floor surface in response to a completion of the area cleaning routine, and

redirect the robot away from a cliff edge sensed from the sensor signal indicating at least one of an absence of the reflection and a radiation level of the reflection being below a predetermined threshold.

2. The cleaning robot of claim 1, wherein the first area is an area rug and the second area is a surface adjacent the area rug.

3. The cleaning robot of claim 1, wherein the sensors are responsive to a characteristic of a reflected signal indicating an elevation of the floor surface.

4. The cleaning robot of claim 1, wherein the sensors are responsive to a characteristic of a reflected signal indicating a reflectivity of the floor surface.

5. The cleaning robot of claim 1, wherein the sensors are responsive to a characteristic of a reflected signal indicating floor surface roughness.

6. The cleaning robot of claim 1, wherein the signal generators are configured to emit an infrared signal and wherein the sensors are responsive to the reflection of the infrared signal from the floor surface.

7. The cleaning robot of claim 1, further comprising a user interface communicably coupled to the controller and configured for selecting the area cleaning routine.

8. The cleaning robot of claim 1, wherein the plurality of associated pairs of signal generators and the sensors are carried by the chassis.

9. A method of maneuvering an autonomous robot across a floor, the method comprising:

receiving information indicative of a first area to be cleaned, the area having a first surface type;

driving the robot across the floor in the first area having the first surface type while receiving a sensor signal from a respective sensor of a plurality of associated pairs of signal generators and sensors disposed at different locations about a peripheral edge of the cleaning robot, the sensor signal received by a controller in communication with a drive system of the robot, the sensor signal being responsive to a signal reflected by the floor;

while continuing to drive the robot, evaluating a characteristic of the sensor signal to determine whether the robot is adjacent a second area having a second surface type that differs from the first surface type;

implementing an area cleaning routine to clean the first area by altering, in response to determining from evaluating the characteristic of the sensor signal that the robot is adjacent the second area, a direction of robot motion such that at least a portion of the robot avoids the second area;

determining from evaluating the characteristic of the sensor signal that the robot is adjacent a cliff edge based on at least one of an absence of the reflected signal and a radiation level of the reflected signal being below a predetermined threshold;

controlling the drive system to drive the robot across the edge of the first area of the floor surface in response to a completion of the area cleaning routine; and

in response to determining the robot is adjacent the cliff edge, redirecting the robot away from the cliff edge.

10. The method of claim 9, wherein evaluating the sensor signal comprises evaluating the sensor signal against a baseline signal characteristic to sense a change in floor surface roughness.

11. The method of claim 9, wherein the first area includes a rug having a perimeter edge adjacent a surrounding floor surface, and wherein the direction of robot motion is altered in response to the respective sensor receiving a reflected signal indicating reflection from a surface of the surrounding floor.

12. The method of claim 9, wherein the first area is a carpeted area, wherein the second area is adjacent an uncarpeted floor surface, and wherein the direction of robot motion is altered in response to the respective sensor receiving a reflected signal indicating reflection from the uncarpeted floor surface.

13. The method of claim 9, wherein evaluating the sensor signal comprises comparing the reflected signal to a stored baseline signal.

14. The method of claim 13, wherein sensor signal data is evaluated separately for each sensor of the plurality of associated pairs of signal generators and sensors.

15. The method of claim 14, wherein the direction of robot motion is altered as a function of which of multiple reflected signals differs greatest from the stored baseline signal.

16. The method of claim 14, wherein the direction of robot motion is altered to navigate a corner of the first area in response to changes in reflected signal at sensors located on opposite sides of the robot.

17. The method of claim 13, wherein the sensors are responsive to a characteristic of the reflected signal indicating a reflectivity of a surface of the floor.

18. The method of claim 9, wherein the robot further comprises a signal emitter configured to emit an infrared signal, and wherein the sensors are responsive to a reflection of the infrared signal from the floor.

19. The method of claim 9, further comprising, upon determining from the sensor signal that the robot is adjacent the second area having the second surface type and following a triggering event, driving the robot onto the second area.