Control of autonomous mobile robots

Patent metadata

Field	Value
Publication number	US-11266287-B2
Application number	US-201916425658-A
Country	US
Kind code	B2
Filing date	May 29, 2019
Priority date	May 29, 2019
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.

First claim

What is claimed is:

1. An autonomous mobile robot comprising:
a drive system to support the robot above a surface, the drive system operable to navigate the robot about the surface;
a sensor system configured to generate a signal indicative of a location of the robot on the surface; and
a controller operably connected to the drive system and the sensor system, the controller configured to execute instructions to perform operations comprising:
receiving a user command to define a location of a behavior control zone on the surface;
controlling the drive system, in response to receiving the user command to define the location of the behavior control zone, to maneuver the robot to the defined location of the behavior control zone on the surface to confirm the defined location of the behavior control zone;
after controlling the drive system to maneuver the robot to the defined location of the behavior control zone, establishing the behavior control zone on the surface; and
after establishing the behavior control zone, in a cleaning mission, maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate to the behavior control zone.

2. The robot of claim 1 , further comprising a light indicator system, wherein the controller is operably connected to the light indicator system, and the operations comprise activating the light indicator system in response to controlling the drive system to maneuver the robot to the defined location of the behavior control zone.

3. The robot of claim 2 , wherein activating the light indicator system in response to controlling the drive system to maneuver the robot to the defined location of the behavior control zone comprise operating the light indicator system to indicate a direction of the behavior control zone relative to the location of the robot.

4. The robot of claim 2 , wherein the operations comprise activating the light indicator system in response to the robot being maneuvered to the defined location of the behavior control zone.

5. The robot of claim 1 , wherein controlling the drive system to maneuver the robot to the defined location of the behavior control zone comprises controlling the drive system to navigate the robot through at least a portion of the behavior control zone.

6. The robot of claim 5 , wherein controlling the drive system to navigate the robot through at least the portion of the behavior control zone comprises controlling, in response to wirelessly receiving user instructions, the drive system to navigate the robot through at least the portion of the behavior control zone.

7. The robot of claim 5 , wherein the portion of the behavior control zone comprises a perimeter of the behavior control zone.

8. The robot of claim 5 , wherein the portion of the behavior control zone comprises a path through an interior of the behavior control zone.

9. The robot of claim 1 , wherein the operations further comprise:
transmitting mapping data to cause a mobile device to present a map of the surface, and
receiving from the mobile device a user instruction to establish the behavior control zone.

10. The robot of claim 1 , wherein controlling the drive system to maneuver the robot to the defined location of the behavior control zone comprises controlling the drive system to navigate the robot along a perimeter of the behavior control zone.

11. The robot of claim 1 , wherein:
the surface comprises a first portion having a first surface type and a second portion having a second surface type,
the behavior control zone covers the second portion having the second surface type, and
initiating the behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate to the behavior control zone comprises initiating the behavior in response to determining that the robot is proximate to the second portion of the surface as the robot maneuvers about the first portion of the surface.

12. The robot of claim 1 , wherein the robot comprises a vacuum system to clean the surface, and the behavior comprises adjusting a vacuum power delivered to the vacuum system.

13. The robot of claim 1 , wherein the behavior comprises adjusting a movement speed of the robot.

14. The robot of claim 1 , wherein the behavior comprises adjusting a movement direction of the robot.

15. The robot of claim 14 , wherein adjusting the movement direction of the robot comprises orienting the robot to enter the behavior control zone at an angle.

16. The robot of claim 1 , wherein the behavior control zone is a keep-out zone, and the behavior comprises avoiding the keep-out zone.

17. The robot of claim 1 , wherein the operations comprise:
controlling the drive system to maneuver the robot along a path in a first direction into the behavior control zone, and
in response to detecting that the robot is within the behavior control zone, controlling the drive system to maneuver the robot along the path in a second direction out of the behavior control zone.

18. The robot of claim 1 , wherein the operations comprise:
detecting that the robot is within the behavior control zone, and
preventing initiation of an operation of the robot in response to detecting that the robot is within the behavior control zone.

19. The robot of claim 18 , wherein preventing the initiation of the operation of the robot in response to detecting that the robot is within the behavior control zone comprises preventing initiation of a movement operation of the robot in response to detecting that the robot is within the behavior control zone.

20. The robot of claim 1 , wherein initiating the behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate to the behavior control zone comprises initiating the behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is within a buffer zone around the behavior control zone.

21. The robot of claim 20 , wherein:
the sensor system is configured to generate data indicative of locations of the robot on the surface, and
the operations comprise estimating an uncertainty associated with the data indicative of the locations of the robot, wherein a size of the buffer zone is based on the estimated uncertainty.

22. The robot of claim 21 , wherein the size of the buffer zone is proportional to the estimated uncertainty.

23. The robot of claim 20 , wherein a size of the buffer zone is user-selected, the size being provided by a mobile device.

24. The robot of claim 1 , wherein the behavior control zone covers a first portion of the surface containing an object, and the operations comprise:
updating the behavior control zone to cover a second portion of the surface in response to the object being moved to the second portion of the surface.

25. The autonomous mobile robot of claim 1 , wherein the operations further comprise:
after controlling the drive system to maneuver the robot to the defined location of the behavior control zone and before establishing the behavior control zone, transmitting a signal, in response to the robot being proximate to the defined location of the behavior control zone, to a mobile device to request user confirmation of the defined location of the behavior contro

Assignees

• Irobot Corp

Inventors

• Munich Mario
• Fong Philip
• Karapetyan Vazgen
• Kolling Andreas

Classifications

• G05D1/2295

  defining restricted zones, e.g. no-flight zones or geofences · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title

• A47L11/4061 Primary

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• A47L2201/06

  Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning · CPC title

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title