Autonomous coverage robot sensing

Abstract

An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.

Description

CLAIM OF PRIORITY[0001]This U.S. patent application claims priority under 35 U.S.C. §119(e) to U.S. Provisional Application 60 / 938,699, filed on May 17, 2007 and U.S. Provisional Application 60 / 917,065, filed on May 9, 2007. The disclosures of the prior applications are considered part of the disclosure of this application and are hereby incorporated by reference in their entireties.[0002]The contents of U.S. Pre-grant Publications 2008 / 00652565, 2007 / 0244610, and 2007 / 0016328, 2006 / 0200281, and 2003 / 0192144, and also U.S. Pat. Nos. 6,748,297 and 6,883,201 are hereby incorporated herein by reference in their entireties.TECHNICAL FIELD[0003]The disclosure relates to surface cleaning robots, such as robots configured to perform autonomous cleaning tasks.BACKGROUND[0004]Wet cleaning of household surfaces has long been done manually using a wet mop or sponge. The mop or sponge is dipped into a container filled with a cleaning fluid to allow the mop or sponge to absorb an amount of the c...

AI Technical Summary

Benefits of technology

[0009]Presently disclosed is an autonomous robot for treating surfaces, such as floors and countertops, which has a form factor that facilitates cleaning in tightly dimensioned spaces, such as those found in many households. In one example, the robot may include a weight distribution that remains substantially constant throughout the cleaning process, the weight distributed between a cleaning element, a squeegee, and drive wheels. The weight distribution can provide sufficient pressure to the wetting element and the squeegee while allowing sufficient thrust for to be applied at drive wheels. As an advantage, the robot can have a small volume required to navigate in tightly dimensioned spaces while having a weight distribution configured for wet-cleaning a surface.

[0034]In another aspect, a robot wall detection system includes a body configured to move over a surface and a sensor carried by the body for detecting the presence of a wall. The sensor includes an emitter which emits a directed beam having a defined field of emission toward a wall in a substantially forward direction of the body. The sensor includes a detector having a defined field of view extending toward the wall in a substantially forward direction of the robot. The defined field of view is near-parallel to the defined field of emission and intersects the defined field of emission at a finite region substantially forward of the sensor. A circuit in communication with the detector controls the distance between the body and the wall.

Problems solved by technology

The cleaning fluid interacts with contaminants on the surface and may dissolve or otherwise emulsify contaminants into the cleaning fluid.

The rinsing step contaminates the cleaning fluid with waste liquid and the cleaning fluid becomes more contaminated each time the mop or sponge is rinsed.

As a result, the effectiveness of the cleaning fluid deteriorates as more of the floor surface area is cleaned.

Manual methods of cleaning floors can be labor intensive and time consuming.

To implement wet cleaning techniques required in large industrial areas, these robots are typically large, costly, and complex.

However, because these industrial-sized wet cleaning devices weigh hundreds of pounds, these devices are usually attended by an operator.

Images