Methods and systems for complete coverage of a surface by an autonomous robot

• US 9,895,808 B2
• Filed: 10/12/2015
• Issued: 02/20/2018
• Est. Priority Date: 11/06/2009
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Stout, Michael S., Brisson, Gabriel Francis, Di Bernardo, Enrico, Pirjanian, Paolo, Goel, Dhiraj, Case, James Philip, Dooley, Michael
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US14/880,610
• Publication Number:
  US 20160101523A1
• Time in Patent Office: 862 Days
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0263 using magnetic strips
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

Claims

1. A mobile device configured to navigate a surface, the mobile device comprising:

a movement mechanism configured to move the mobile device among poses on the surface, each of the poses comprising a respective location and orientation of the mobile device on the surface;

a mapping module configured to update a map representing data about the surface, the map associating locations of the surface with one or more properties, the properties being indicative of unexplored, explored, and occupied locations, wherein frontiers indicate respective boundaries between the explored locations and the unexplored locations, and edges indicate respective boundaries between the explored locations and the occupied locations;

a region-covering module configured to cause the movement mechanism to move the mobile device so as to cover regions of the surface and to cause the mapping module to update the map responsive thereto;

an edge-following module configured to cause the movement mechanism to move the mobile device along edges, cause the mapping module to extend the edges and add frontiers that are adjacent one or more of the edges and are discovered as the mobile device moves along the edges, and cause the region-covering module to cause the movement mechanism to move the mobile device so as to cover one or more of the frontiers responsive to discovery thereof during moving the mobile device along the edges.

2. The mobile device of claim 1, wherein each of the modules comprises a computerized system, and wherein, when no further frontiers are discovered, the edge following module is configured to cause the movement mechanism to move the mobile device along at least some of the edges that have been previously discovered.

3. The mobile device of claim 1, further comprising an additional region-covering module comprising a computerized system and configured to identify map locations comprising the frontiers and, responsive to identification of one or more of the frontiers, to cause the movement mechanism to stop moving the mobile device along the edges and move the mobile device so as to cover one of the regions of the surface defined at least in part based on the at least one of the frontiers and to cause the mapping module to update the map.

4. The mobile device of claim 1, wherein the movement mechanism comprises one or more wheels.

5. The mobile device of claim 1, wherein the movement mechanism comprises one or more tracks.

6. The mobile device of claim 1, wherein the movement mechanism comprises at least a rudder component and at least a propulsion component.

7. The mobile device of claim 1, wherein the mapping module is configured to associate at least one of the locations with one or more properties based at least in part on information from one or more sensors associated with the mobile device.

8. The mobile device of claim 7, wherein the mapping module is configured to associate the at least one of the locations as an explored location responsive to indication by the sensors that the mobile device is in or has moved through that location.

9. The mobile device of claim 7, wherein the mapping module is configured to associate the at least one of the locations as an occupied location responsive to indication by the sensors that mobile device cannot move into that location.

10. The mobile device of claim 1, wherein the mapping module is configured to associate one of the locations as an unexplored location if the one of the locations is adjacent to an explored location and is not indicated as an occupied location or an explored location.

11. The mobile device of claim 1, wherein a region is covered if at least 90% of what is accessible to the mobile device is associated with an explored location on the map.

12. The mobile device of claim 1, wherein a region is covered if at least 80% of what is accessible to the mobile device is associated with an explored location on the map.

13. The mobile device of claim 1, wherein at least one of the regions has a definition which is independent of properties of the surface.

14. The mobile device of claim 1, wherein each of the regions is a proper subset of the surface.

15. The mobile device of claim 1, wherein at least one of the regions has static dimensions.

16. The mobile device of claim 1, wherein at least one of the regions has at least one dynamic dimension.

17. The mobile device of claim 16, wherein a first region of the regions has at least one dynamic dimension determined at least in part by at least one dimension of a second region of the regions.

18. The mobile device of claim 1, wherein a first region of the regions and a second region of the regions are non-overlapping if less than 10% of the first region is in the second region.

19. A method of operating a mobile robot to navigate a surface, the method comprising:

storing, in a computer readable memory, a map associating locations of the surface with one or more properties, the properties being indicative of unexplored, explored, and occupied locations, wherein frontiers indicate respective boundaries between the explored locations and the unexplored locations, and edges indicate respective boundaries between the explored locations and the occupied locations;

operating a movement mechanism to move the mobile robot among poses on the surface, each of the poses comprising a respective location and orientation of the mobile robot on the surface, so as to cover regions of the surface;

updating the map responsive to operating the movement of the mobile robot to cover the regions of the surface; and

operating the movement mechanism to move the mobile robot along edges;

updating the map to extend the edges and add frontiers that are adjacent one or more of the edges and are discovered as the mobile robot moves along the edges; and

operating the movement mechanism to move the mobile robot so as to cover one or more of the frontiers responsive to discovery thereof during movement of the mobile robot along the edges.

20. The method of claim 19, wherein the frontiers discovered as the mobile robot moves along the edges were missed responsive to erroneous detection of an obstacle during the operating of the movement mechanism to move the mobile robot so as to cover the regions of the surface.

21. The method of claim 19, wherein the frontiers discovered as the mobile robot moves along the edges occur between first and second ranks, at an opposite end from an end where the mobile robot moves from the first rank to the second rank, in the operating of the movement mechanism to move the mobile robot so as to cover the regions of the surface.