CA2416621A1 - Method and system for multi-mode coverage for an autonomous robot - Google Patents

Method and system for multi-mode coverage for an autonomous robot Download PDF

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Publication number
CA2416621A1
CA2416621A1 CA002416621A CA2416621A CA2416621A1 CA 2416621 A1 CA2416621 A1 CA 2416621A1 CA 002416621 A CA002416621 A CA 002416621A CA 2416621 A CA2416621 A CA 2416621A CA 2416621 A1 CA2416621 A1 CA 2416621A1
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Canada
Prior art keywords
autonomous robot
modes
control system
coverage
mode coverage
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CA002416621A
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French (fr)
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CA2416621C (en
Inventor
Joseph Jones
Philip R. Mass
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iRobot Corp
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Publication of CA2416621A1 publication Critical patent/CA2416621A1/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals

Abstract

A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
CA002416621A 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot Expired - Fee Related CA2416621C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US29771801P 2001-06-12 2001-06-12
US60/297,718 2001-06-12
PCT/US2002/018450 WO2002101477A2 (en) 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot

Publications (2)

Publication Number Publication Date
CA2416621A1 true CA2416621A1 (en) 2002-12-19
CA2416621C CA2416621C (en) 2006-09-12

Family

ID=23147452

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002416621A Expired - Fee Related CA2416621C (en) 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot

Country Status (9)

Country Link
US (2) US6809490B2 (en)
EP (8) EP2287696B1 (en)
JP (13) JP2004522231A (en)
AT (1) ATE510247T1 (en)
AU (1) AU2002306142A1 (en)
CA (1) CA2416621C (en)
ES (6) ES2712859T3 (en)
HK (1) HK1061013A1 (en)
WO (1) WO2002101477A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393140A (en) * 2015-07-30 2017-02-15 燕成祥 Robot capable of automatically adjusting acting path and method thereof

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