# US 2016/0354931 A1 · Method and System for Multi-Mode Coverage For An Autonomous Robot

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- Number: US 2016/0354931 A1
- Document ID: US20160354931A1
- Status: Published application
- Kind: A1
- Application number: 15/088,416
- Filed: 2016-04-01
- Published: 2016-12-08
- Earliest claimed: 2001-06-12
- Assignees: iRobot Corporation
- Applicants: iRobot Corporation
- Inventors: Joseph L. Jones; Philip R. Mass
- Web page: https://patentgrep.com/patent/US20160354931A1

## CPC

- B25J 11/0085: {Cleaning}
- A47L 11/00: Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- G05D 1/0219: {ensuring the processing of the whole working surface}
- G05D 1/0227: {using mechanical sensing means, e.g. for sensing treated area}
- G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals}
- G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)}
- 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)}
- Y10S 901/01: Mobile robot
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## 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.

## Claims

### Claim 1

A mobile robot comprising:
(a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) said control system configured to operate the robot in a plurality of operational modes said plurality of operational modes comprising:
a spot-coverage mode, said spot-coverage mode comprising substantially spiral movement,
an obstacle following mode whereby said robot travels adjacent to an obstacle, and
a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle.

### Claim 2

A mobile robot comprising:
(a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising:
an obstacle following mode whereby said robot travels adjacent to an obstacle, and
a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle;
(e) whereby said control system is configured to alternate into said obstacle following mode after a predetermined number of sensor interactions.