Self-propelled cleaning machine with fuzzy logic control

A method for controlling a self-propelled cleaning machine within a wall perimeter, said machine having a first and second side, a front side and a motor drive, comprising the steps of:

• sensing a first distance signal from the first side of the cleaning machine to the wall perimeter;
• ascertaining a second distance signal from the second side of the cleaning machine to the wall perimeter;
• detecting a third distance signal from the front side of the cleaning machine to the wall perimeter;
• determining the smaller of said first and second distance signals;
• controlling the motor drive to move the cleaning machine in a computed pattern based on data received from said sensing, ascertaining, detecting and determining steps by processing the smaller of said first or second distance signals using a first number of fuzzy steps and processing the other of said first or second distance signals using a second number of fuzzy steps.

A control system for use in a self-propelled cleaning machine within a wall perimeter, said machine having a first and second side, a front side and a motor drive, comprising:

• first, second, and third sensors for sensing distances from said first and second sides and said front thereof to said wall perimeter, thereby producing first, second, and third signals in response thereto, respectively;
• and
• a fuzzy logic computer for receiving said first, second and third sensor signals and controlling the motor drive to move the machine in accordance therewith adjacently parallel to said wall perimeter;
• and subsequently controlling the motor drive to move the machine in a computed pattern within said wall perimeter;
• the computer processing said first or second signal from whichever of the first and second sensors is closer to said wall perimeter using a first number of fuzzy steps, and processing the other of said first or second signal and said third signal using a second number of fuzzy steps.