WO2002101477A3 - 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
WO2002101477A3
WO2002101477A3 PCT/US2002/018450 US0218450W WO02101477A3 WO 2002101477 A3 WO2002101477 A3 WO 2002101477A3 US 0218450 W US0218450 W US 0218450W WO 02101477 A3 WO02101477 A3 WO 02101477A3
Authority
WO
WIPO (PCT)
Prior art keywords
autonomous robot
modes
control system
coverage
mode coverage
Prior art date
Application number
PCT/US2002/018450
Other languages
French (fr)
Other versions
WO2002101477A2 (en
Inventor
Joseph Jones
Philip R Mass
Original Assignee
Irobot Corp
Joseph Jones
Philip R Mass
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=23147452&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2002101477(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to CA002416621A priority Critical patent/CA2416621C/en
Priority to EP10184046.0A priority patent/EP2386924B1/en
Priority to EP10184290.4A priority patent/EP2330473B2/en
Priority to AU2002306142A priority patent/AU2002306142A1/en
Priority to AT02734767T priority patent/ATE510247T1/en
Application filed by Irobot Corp, Joseph Jones, Philip R Mass filed Critical Irobot Corp
Priority to EP02734767A priority patent/EP1395888B1/en
Priority to EP15190103.0A priority patent/EP2998816B1/en
Priority to JP2003504174A priority patent/JP2004522231A/en
Publication of WO2002101477A2 publication Critical patent/WO2002101477A2/en
Publication of WO2002101477A3 publication Critical patent/WO2002101477A3/en
Priority to HK04103777.9A priority patent/HK1061013A1/en

Links

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 (48). 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.
PCT/US2002/018450 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot WO2002101477A2 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
JP2003504174A JP2004522231A (en) 2001-06-12 2002-06-12 Multi-mode processing method and system for autonomous robot
EP10184046.0A EP2386924B1 (en) 2001-06-12 2002-06-12 Mobile robot
EP10184290.4A EP2330473B2 (en) 2001-06-12 2002-06-12 Mobile robot
AU2002306142A AU2002306142A1 (en) 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot
AT02734767T ATE510247T1 (en) 2001-06-12 2002-06-12 METHOD AND SYSTEM FOR MULTI-MODAL COVERING FOR AN AUTONOMOUS ROBOT
CA002416621A CA2416621C (en) 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot
EP02734767A EP1395888B1 (en) 2001-06-12 2002-06-12 Method and system for multi-mode coverage for an autonomous robot
EP15190103.0A EP2998816B1 (en) 2001-06-12 2002-06-12 Multi-code coverage for an autonomous robot
HK04103777.9A HK1061013A1 (en) 2001-06-12 2004-05-27 Method and system for multi-mode coverage for an autonomous robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US29771801P 2001-06-12 2001-06-12
US60/297,718 2001-06-12

Publications (2)

Publication Number Publication Date
WO2002101477A2 WO2002101477A2 (en) 2002-12-19
WO2002101477A3 true WO2002101477A3 (en) 2003-10-09

Family

ID=23147452

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/018450 WO2002101477A2 (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) ES2600352T3 (en)
HK (1) HK1061013A1 (en)
WO (1) WO2002101477A2 (en)

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