Navigational control system for a robotic device

• US 9,949,608 B2
• Filed: 05/30/2014
• Issued: 04/24/2018
• Est. Priority Date: 09/13/2002
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W, Cohen, David A., Ozick, Daniel N., Chiappetta, Mark J., Jones, Joseph L.
• Primary Examiner(s): Patton, Spencer D
• Application Number:
  US14/291,682
• Publication Number:
  US 20140289991A1
• Time in Patent Office: 1,425 Days
• 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 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• 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: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 3/12 using feedback

Abstract

An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Claims

1. An autonomous cleaning apparatus comprising:

a chassis;

a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus;

a controller in communication with the drive system, the controller including a processor operable to control the drive system to steer movement of the cleaning apparatus;

a cleaning head system disposed on the chassis having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush configured to throw debris into the debris bin;

an indicator light; and

a debris sensor in communication with the controller, the debris sensor responsive to the debris to generate a signal indicative of passing of the debris;

wherein the controller is configured to

change an operational condition of the cleaning apparatus in response to receiving the signal generated by the debris sensor, the operational condition selected from the group consisting of a speed of the movement of the cleaning apparatus and an amount of power drawn by the cleaning apparatus, and to

illuminate the indicator light in response to the signal generated by the debris sensor.

2. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to change the operational condition by changing a speed of the movement of the cleaning apparatus in response to the signal generated by the debris sensor.

3. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to change the operational condition by changing an amount of power drawn by the cleaning apparatus in response to the signal generated by the debris sensor.

4. The autonomous cleaning apparatus of claim 1, wherein in addition to the controller being configured to change the operational condition, the processor is configured to implement a spot cleaning mode in an area in which the cleaning apparatus was operating, substantially immediately in response to receiving the signal generated by the debris sensor.

5. The autonomous cleaning apparatus of claim 4, wherein the processor is configured to, in the spot cleaning mode, maneuver the autonomous cleaning apparatus according to a self-bounded area algorithm.

6. The autonomous cleaning apparatus of claim 5, wherein the self-bounded area algorithm comprises a spiraling algorithm at a reduced drive speed.

7. The autonomous cleaning apparatus of claim 1, wherein the processor is configured to implement a high power cleaning mode in response to the debris signal, the high power mode comprising elevating power delivery to the cleaning head system.

8. The autonomous cleaning apparatus of claim 1, wherein the processor is configured to execute a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon the signal.

9. The autonomous cleaning apparatus of claim 1, wherein the processor is configured to control one or more operational conditions of the autonomous cleaning apparatus based upon the signal.

10. The autonomous cleaning apparatus of claim 1, wherein the debris sensor is disposed along a wall of the cleaning pathway in a location to receive debris thrown by the agitating brush of the cleaning head system for generating the signal.

11. The autonomous cleaning apparatus of claim 1, wherein the debris sensor comprises right and left debris sensors in communication with the controller and disposed along a wall of the cleaning pathway in a location to receive debris thrown by the agitating brush of the cleaning head system for generating respective debris signals;

and

wherein the processor is configured to direct the drive system to turn the cleaning apparatus to the right in response to the debris signal generated by the right debris sensor and to turn the cleaning apparatus to the left in response to the debris signal generated by the left debris sensor.

12. The autonomous cleaning apparatus of claim 11, wherein the right and left debris sensors are disposed opposite each other and equidistantly from a center axis defined by the cleaning pathway.

13. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to determine a debris gradient using the signal, the debris gradient being representative of changes in debris strikes counted as the cleaning apparatus moves over a surface.

14. The autonomous cleaning apparatus of claim 13, wherein the controller is configured to examine the debris gradient and continuously adjust a path or a pattern of movement of the cleaning apparatus to clean the surface.

15. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to illuminate the indicator light in response to the signal generated by the debris sensor and, at the same time, to increase an amount of power drawn by the cleaning apparatus for cleaning.

16. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to select a behavioral mode in response to the signal generated by the debris sensor.

17. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to steer the cleaning apparatus in a forward direction, turning to cover a location of the debris, in response to the debris signal generated by the debris sensor.

18. The autonomous cleaning apparatus of claim 1, wherein the controller is configured to control the drive system to execute a pattern of movements to steer the cleaning apparatus toward a debris area corresponding to the signal generated by the debris sensor.

19. An autonomous cleaning apparatus comprising:

a chassis;

a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus;

a controller in communication with the drive system, the controller including a processor operable to control the drive system to steer movement of the cleaning apparatus;

a cleaning head system disposed on the chassis having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush configured to throw debris into the debris bin;

an indicator light; and

a debris sensor in communication with the controller, the debris sensor responsive to the debris to generate a signal indicative of passing of the debris;

wherein the controller is configured to

change an amount of power drawn by the cleaning apparatus in response to receiving the signal generated by the debris sensor to implement a high power cleaning mode in response to the signal, and to

illuminate the indicator light in response to the high power cleaning mode.

20. The autonomous cleaning apparatus of claim 19, wherein the controller is configured to illuminate the indicator light in response to changing the operational condition.

21. The autonomous cleaning apparatus of claim 19, wherein the controller is configured to illuminate the indicator light in response to the signal.