阅读说明：本技术 自主移动机器人的导航 (Navigation of autonomous mobile robot ) 是由 A·格里琴科 E·斯科姆博 J·R·萨尔瓦蒂 J·王 J·J·道里奇 S·科德尔 T·S 于 2019-08-29 设计创作，主要内容包括：一种自主清洁机器人,包括控制器,所述控制器被配置成执行指令以执行一个或多个操作。所述一个或多个操作包括：操作驱动系统以使所述清洁机器人朝向前驱动方向沿第一障碍物表面移动,同时所述清洁机器人的侧表面面向所述第一障碍物表面,随后操作所述驱动系统以使所述清洁机器人转向,从而使得所述清洁机器人的所述侧表面面向第二障碍物表面,随后操作所述驱动系统以使所述清洁机器人朝向后驱动方向沿所述第二障碍物表面移动,以及随后操作所述驱动系统以使所述清洁机器人朝所述向前驱动方向沿所述第二障碍物表面移动。(An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations comprise: operating a drive system to move the cleaning robot along a first obstacle surface toward a front drive direction while a side surface of the cleaning robot faces the first obstacle surface, then operating the drive system to steer the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot along the second obstacle surface toward a rear drive direction, and then operating the drive system to move the cleaning robot along the second obstacle surface toward the front drive direction.)

1. An autonomous cleaning robot comprising:

a front portion having a front surface extending along a front plane, a first side surface extending along a first side plane, and a second side surface extending along a second side plane, the front plane being perpendicular to the first and second side planes;

a drive system configured to support the cleaning robot on a floor surface;

a cleaning inlet located forward of a center of the cleaning robot and between the first and second side surfaces along the front of the cleaning robot, the cleaning inlet configured to collect debris from the floor surface into the cleaning robot; and

a controller configured to execute instructions to perform one or more operations comprising:

operating the drive system to move the cleaning robot along a first obstacle surface toward a front drive direction while the first side surface of the cleaning robot faces the first obstacle surface,

subsequently operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces a second obstacle surface adjacent to and angled relative to the first obstacle surface,

subsequently operating the drive system to move the cleaning robot along the second obstacle surface in a rear drive direction, an

The drive system is then operated to move the cleaning robot along the second obstacle surface in the forward drive direction.

2. The cleaning robot of claim 1, wherein operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises operating the drive system to move the cleaning robot along a trajectory comprising an arcuate portion.

3. The cleaning robot of claim 1, wherein:

the cleaning robot further includes an obstacle following sensor located at a position along the first side surface of the cleaning robot,

the one or more operations further comprise:

with the obstacle following sensor, it is detected that the position of the obstacle following sensor is in front of the first obstacle surface, and

operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises:

operating the drive system to steer the cleaning robot in response to detecting that the position of the obstacle following sensor is in front of the first obstacle surface.

4. The cleaning robot of claim 3, wherein the obstacle following sensor is positioned to emit a signal in a horizontal direction perpendicular to the first side surface of the cleaning robot.

5. The cleaning robot of claim 3, wherein detecting that the position of the obstacle following sensor is in front of the first obstacle surface comprises:

the position at which the obstacle following sensor is detected is located at a distance of at least 1 to 15 cm in front of the first obstacle surface.

6. The cleaning robot of claim 1, wherein operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises:

operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface.

7. The cleaning robot of claim 6, wherein operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface comprises:

detecting, with a collision sensor of the cleaning robot, the second obstacle surface in response to contact between the cleaning robot and the second obstacle surface.

8. The cleaning robot of claim 6, wherein operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface comprises:

detecting, with an obstacle following sensor of the cleaning robot, the second obstacle surface in response to the first side surface of the cleaning robot being adjacent to the second obstacle surface.

9. The cleaning robot of claim 1, wherein operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises:

operating the drive system to move the cleaning robot along a cleaning path that does not pass through a portion of the floor surface that extends proximally from an interface between the first obstacle surface and the second obstacle surface and along the second obstacle surface.

10. The cleaning robot of claim 9, wherein the portion of the floor surface is at least 1 centimeter in length.

11. The cleaning robot of claim 9, wherein operating the drive system to move the cleaning robot along the second obstacle surface in the rearward-driving direction comprises:

operating the drive system to move the cleaning robot across the portion of the floor surface in the rearward direction.

12. The cleaning robot of claim 1, wherein operating the drive system to move the cleaning robot along the second obstacle surface in the rearward-driving direction comprises:

operating the drive system to move the cleaning robot a distance in the back drive direction.

13. The cleaning robot of claim 12, wherein the distance is 1-60 centimeters.

14. The cleaning robot of claim 12, wherein:

the cleaning robot further includes an obstacle following sensor located at a position along the first side surface of the cleaning robot,

the one or more operations further comprise:

with the obstacle following sensor, it is detected that the position of the obstacle following sensor is behind the second obstacle surface, and

operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction includes:

in response to detecting that the position of the obstacle following sensor is behind the second obstacle surface, operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction.

15. The cleaning robot of claim 1, wherein operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction comprises:

operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface and the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction.

16. The cleaning robot of claim 15, wherein:

the cleaning robot further includes an obstacle following sensor located at a position along the first side surface of the cleaning robot,

the one or more operations further comprise detecting the second obstacle surface with the obstacle following sensor, and

operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface, and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction comprises:

operating the drive system to move the cleaning robot in the forward drive direction until the second obstacle surface is detected.

17. The cleaning robot of claim 15, wherein operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot toward the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface, and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves toward the forward drive direction comprises:

operating the drive system to move the cleaning robot a distance in the forward drive direction.

18. The cleaning robot of claim 17, wherein the distance is 50% to 150% of a length of the cleaning robot.

19. The cleaning robot of claim 15, wherein the one or more operations further comprise:

in response to detecting the second obstacle surface, operating the drive system to steer the cleaning robot toward the second obstacle surface, and

the drive system is then operated to move the cleaning robot along the second obstacle surface.

20. The cleaning robot of claim 1, further comprising a rotatable cleaning member adjacent the cleaning inlet, the rotatable cleaning member extending horizontally on the front of the cleaning robot and rotatable about a horizontal axis to move debris toward the cleaning inlet.

21. The cleaning robot of claim 20, wherein the rotatable cleaning member extends between 75% to 95% of a total width of the cleaning robot.

22. An autonomous cleaning robot comprising:

a front portion having a front surface extending along a front plane, a first side surface extending along a first side plane, and a second side surface extending along a second side plane, the front plane being perpendicular to the first and second side planes;

a drive system configured to support the cleaning robot on a floor surface;

a cleaning inlet located forward of a center of the cleaning robot and between the first and second side surfaces along the front of the cleaning robot, the cleaning inlet configured to collect debris from the floor surface into the cleaning robot; and

a controller configured to execute instructions to perform one or more operations comprising:

operating the drive system to move the cleaning robot along a first obstacle surface toward a front drive direction while the first side surface of the cleaning robot faces the first obstacle surface,

subsequently operating the drive system to repeatedly cause the cleaning robot to perform a series of movements, the series of movements comprising:

moving a distance along the first obstacle surface in a backward driving direction,

then turn away from the first obstacle surface until the cleaning robot detects contact between a second obstacle surface adjacent to and angled relative to the first obstacle surface and the front surface of the cleaning robot, and

then turned back towards the first obstacle surface, an

The drive system is then operated to move the cleaning robot along the second obstacle surface in the forward drive direction while the first side surface of the cleaning robot faces the second obstacle surface.

23. The cleaning robot of claim 22, wherein operating the drive system to move the cleaning robot along the first obstacle surface in the forward drive direction while the first side surface of the cleaning robot faces the first obstacle surface comprises:

operating the drive system to move the cleaning robot in the forward drive direction until the cleaning robot detects the second obstacle surface.

24. The cleaning robot of claim 23, wherein operating the drive system to move the cleaning robot in the forward drive direction until the cleaning robot detects the second obstacle surface comprises:

detecting, with a collision sensor of the cleaning robot, the second obstacle surface in response to contact between the second obstacle surface and the cleaning robot.

25. The cleaning robot of claim 23, wherein the one or more operations further comprise:

operating the drive system to maintain the position of the cleaning robot for at least one to five seconds in response to detecting the second obstacle surface.

26. The cleaning robot of claim 25, further comprising a side brush adjacent the front surface of the cleaning robot and adjacent the first side surface of the cleaning robot,

wherein operating the drive system to maintain the position of the cleaning robot for at least one to five seconds in response to detecting the second obstacle surface comprises:

operating the drive system to maintain a portion of the floor surface adjacent an interface between the first obstacle surface and the second obstacle surface within a cleaning area of the side brush.

27. The cleaning robot of claim 23, wherein operating the drive system to move the cleaning robot in the forward drive direction until the cleaning robot detects the second obstacle surface comprises:

transmitting a signal towards the second obstacle surface, an

Detecting the second obstacle surface by detecting a reflection of the signal with a camera.

28. The cleaning robot of claim 22, wherein the distance is 2 centimeters to 15 centimeters.

29. The cleaning robot of claim 22, wherein operating the drive system to repeatedly cause the cleaning robot to perform a series of movements comprises:

operating the drive system to cause the cleaning robot to perform the series of movements at least two to five times.

30. The cleaning robot of claim 22, wherein operating the drive system to repeatedly cause the cleaning robot to perform the series of movements comprises:

operating the drive system to cause the cleaning robot to perform the series of movements until the forward drive direction of the cleaning robot forms an angle with the first obstacle surface.

31. The cleaning robot of claim 30, wherein the angle is at least 30 to 60 degrees.

32. The cleaning robot of claim 22, further comprising a side brush adjacent the front surface of the cleaning robot and adjacent the first side surface of the cleaning robot,

wherein operating the drive system to repeatedly cause the cleaning robot to perform the series of movements comprises:

causing the side brush to traverse an area of the floor surface extending along the second barrier surface from proximate the interface between the first barrier surface and the second barrier surface.

33. The cleaning robot of claim 32, wherein urging the side brush across the area of the floor surface comprises:

causing a cleaning area of the side brush to traverse a different portion of the area in the floor surface each time the cleaning robot turns away from the first obstacle surface until the cleaning robot detects contact between the second obstacle surface and the cleaning robot.

34. The cleaning robot of claim 22, wherein the series of movements of the cleaning robot further comprises, after turning back toward the first obstacle surface, turning the cleaning robot away from the first obstacle surface.

35. An autonomous cleaning robot comprising:

a front portion having a front surface extending along a front plane, a first side surface extending along a first side plane, and a second side surface extending along a second side plane, the front plane being perpendicular to the first and second side planes;

a drive system configured to support the cleaning robot on a floor surface;

a cleaning inlet located forward of a center of the cleaning robot and between the first and second side surfaces along the front of the cleaning robot, the cleaning inlet configured to collect debris from the floor surface into the cleaning robot; and

a controller configured to execute instructions to perform one or more operations comprising:

operating the drive system to move the cleaning robot along a first obstacle surface toward a front drive direction until the cleaning robot detects contact between a second obstacle surface and the cleaning robot, the first obstacle surface being located at a distance from a third obstacle surface that is no more than 100% to 150% of a total width of the cleaning robot,

subsequently operating the drive system to cause the cleaning robot to move away from the second obstacle surface in a rearward drive direction,

then operating the drive system to turn the cleaning robot toward and then away from the first obstacle surface, an

The drive system is then operated to move the cleaning robot along the first obstacle surface in the rearward drive direction.

36. The cleaning robot of claim 35, further comprising a sensor system configured to generate a map of the floor surface,

wherein the one or more operations further comprise determining, based on the map, that a distance between the first obstacle surface and the third obstacle surface is 100% to 150% of a total width of the cleaning robot, and

wherein operating the drive system to steer the cleaning robot toward the first obstacle and then away from the first obstacle surface comprises:

in response to determining that the distance is 100% to 150% of the total width of the cleaning robot, operating the drive system to turn the cleaning robot toward the first obstacle and then away from the first obstacle surface.

37. The cleaning robot of claim 35, wherein operating the drive system to steer the cleaning robot toward and then away from the first obstacle surface comprises:

operating the drive system to steer the cleaning robot toward the first obstacle surface until a collision sensor of the cleaning robot detects contact between the cleaning robot and the first obstacle surface.

38. The cleaning robot of claim 37, wherein operating the drive system to steer the cleaning robot toward and then away from the first obstacle surface comprises:

operating the drive system to steer the cleaning robot away from the first obstacle surface until a collision sensor of the cleaning robot no longer detects contact between the cleaning robot and the first obstacle surface.

Technical Field

This description relates to navigation of autonomous mobile robots.

Background

Autonomous mobile robots may traverse floor surfaces to perform various operations, such as cleaning, vacuuming, and other operations. As the autonomous mobile robot traverses the floor surface, the robot may encounter obstacles. The robot may be navigated to move along the obstacle. If the robot is a cleaning robot, the robot may clean a portion of the floor surface adjacent to the obstacle as the robot moves along the obstacle.

Disclosure of Invention

Advantages of the features described in this disclosure may include, but are not limited to, those described below and elsewhere herein. The systems, devices, methods, and other features described herein can improve the ability of an autonomous cleaning robot to clean a floor surface.

In some embodiments, an autonomous cleaning robot as described herein may provide cleaning of a portion of a floor surface adjacent to an obstacle in an environment in which the autonomous cleaning robot is operating. For example, an autonomous cleaning robot may navigate along a floor surface in such a way that a cleaning path of the robot covers substantially all of a portion of the floor surface adjacent to an obstacle surface. The robot can be navigated to cover portions of the floor surface adjacent to corner geometries and other interfaces between obstacle surfaces. The robot can thus navigate around complex geometries of a room and be able to clean areas of the floor surface adjacent to these complex geometries.

In some embodiments, the autonomous cleaning robots described herein may provide improved cleaning for portions of a floor surface that have a narrow width due to adjacent obstacles. For example, the autonomous cleaning robot may be navigated to a portion of the floor surface having a narrow width (e.g., a width of 100% to 300% of the total width of the robot) to internally clean the portion of the floor surface. The robot may clean the portion of the floor surface and may be able to be navigated away from the portion of the floor surface back into a portion of the floor surface that does not have a narrow width. In this regard, the robot may easily clean narrow corridors, cracks, or other features of a room without getting stuck in these areas.

In one aspect, an autonomous cleaning robot, comprising: a front portion having a front surface extending along a front plane, a first side surface extending along a first side plane, and a second side surface extending along a second side plane. The front plane is perpendicular to the first side plane and the second side plane. The robot includes a drive system configured to support the cleaning robot on a floor surface and a cleaning inlet located in front of a center of the cleaning robot and between the first side surface and the second side surface along the front of the cleaning robot. The cleaning inlet is configured to collect debris from the floor surface into the cleaning robot. The robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations comprise: operating the drive system to move the cleaning robot along a first obstacle surface toward a front drive direction while the first side surface of the cleaning robot faces the first obstacle surface, then operating the drive system to steer the cleaning robot so that the first side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot along the second obstacle surface toward a rear drive direction, and then operating the drive system to move the cleaning robot along the second obstacle surface toward the forward drive direction.

Drawings

Fig. 1 is a top schematic view of an environment in which an autonomous cleaning robot is moving.

FIG. 2 is a side cross-sectional view of an autonomous cleaning robot that is collecting debris from a floor surface.

Fig. 3A to 3C are a bottom view, a top perspective view, and a top schematic view of the autonomous cleaning robot.

Fig. 4, 6, 8, 10, and 12 are flowcharts of example processes for navigating an autonomous mobile robot.

Fig. 5A-5E, 7A-7F, 9A-9H, 11A-11F, and 13A-13C show sets of schematics illustrating autonomous mobile robots during the processes of fig. 4, 6, 8, 10, and 12, respectively.

Like reference numbers and designations in the various drawings indicate like elements.

Implementations may include the examples described below and elsewhere herein.

In some embodiments, operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises: operating the drive system to move the cleaning robot along a trajectory including an arc-shaped portion.

In some embodiments, the cleaning robot further comprises an obstacle following sensor located at a position along the first side surface of the cleaning robot, the one or more operations further comprising: with the obstacle following sensor, detecting that the position of the obstacle following sensor is in front of the first obstacle surface, and operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises: operating the drive system to steer the cleaning robot in response to detecting that the position of the obstacle following sensor is in front of the first obstacle surface. In some embodiments, the obstacle following sensor is positioned to emit a signal in a horizontal direction perpendicular to the first side surface of the cleaning robot. In some embodiments, detecting that the position of the obstacle following sensor is in front of the first obstacle surface comprises: the position at which the obstacle following sensor is detected is located at a distance of at least 1 to 15 cm in front of the first obstacle surface.

In some embodiments, operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises: operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface. In some embodiments, operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface comprises: detecting, with a collision sensor of the cleaning robot, a second obstacle surface in response to contact between the cleaning robot and the second obstacle surface. In some embodiments, operating the drive system to steer the cleaning robot until the cleaning robot detects the second obstacle surface comprises: detecting, with the obstacle following sensor of the cleaning robot, the second obstacle surface in response to the first side surface of the cleaning robot being adjacent to the second obstacle surface.

In some embodiments, operating the drive system to steer the cleaning robot such that the first side surface of the cleaning robot faces the second obstacle surface comprises: operating the drive system to move the cleaning robot along a cleaning path that does not pass through a portion of the floor surface that extends proximally from an interface between the first obstacle surface and the second obstacle surface and along the second obstacle surface. In some embodiments, the portion of the floor surface is at least 1 centimeter in length. In some embodiments, operating the drive system to move the cleaning robot along the second obstacle surface in the rearward drive direction comprises: operating the drive system to move the cleaning robot across the portion of the floor surface in the rearward direction.

In some embodiments, operating the drive system to move the cleaning robot along the second obstacle surface in the rearward drive direction comprises: operating the drive system to move the cleaning robot a distance in the back drive direction. In some embodiments, the distance is 1 cm to 60 cm. In some embodiments, the cleaning robot further comprises an obstacle following sensor located at a position along the first side surface of the cleaning robot, the one or more operations further comprising: with the obstacle following sensor, detecting that the position of the obstacle following sensor is behind the second obstacle surface, and operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction includes: in response to detecting that the position of the obstacle following sensor is behind the second obstacle surface, operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction.

In some embodiments, operating the drive system to move the cleaning robot along the second obstacle surface in the forward drive direction comprises: operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface and the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction. In some embodiments, the cleaning robot further comprises an obstacle following sensor located at a position along the first side surface of the cleaning robot, the one or more operations further comprising: detecting the second obstacle surface with the obstacle following sensor, and operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface, and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction comprises: operating the drive system to move the cleaning robot in the forward drive direction until the second obstacle surface is detected. In some embodiments, operating the drive system to steer the cleaning robot away from the second obstacle surface and move the cleaning robot toward the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface, and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves toward the forward drive direction comprises: operating the drive system to move the cleaning robot a distance in the forward drive direction. In some embodiments, the distance is 50% to 150% of the length of the cleaning robot. In some embodiments, the one or more operations further comprise: in response to detecting the second obstacle surface, operating the drive system to steer the cleaning robot toward the second obstacle surface, and subsequently operating the drive system to move the cleaning robot along the second obstacle surface.

In some embodiments, the cleaning robot further includes a rotatable cleaning member adjacent the cleaning inlet, the rotatable cleaning member extending horizontally on the front of the cleaning robot and rotatable about a horizontal axis to move debris toward the cleaning inlet. In some embodiments, the rotatable cleaning member extends between 75% to 95% of the total width of the cleaning robot.

In another aspect, an autonomous cleaning robot includes a front portion having a front surface extending along a front plane, a first side surface extending along a first side plane, and a second side surface extending along a second side plane. The front plane is perpendicular to the first side plane and the second side plane. The cleaning robot includes a drive system configured to support the cleaning robot on a floor surface and a cleaning inlet located forward of a center of the cleaning robot and between the first side surface and the second side surface along the front of the cleaning robot. The cleaning inlet is configured to collect debris from the floor surface into the cleaning robot. The cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations comprise: operating the drive system to move the cleaning robot along a first obstacle surface toward a forward drive direction while the first side surface of the cleaning robot faces the first obstacle surface, then operating the drive system to repeatedly cause the cleaning robot to perform a series of movements, and then operating the drive system to move the cleaning robot along a second obstacle surface toward the forward drive direction while the first side surface of the cleaning robot faces the second obstacle surface. The series of movements comprises: move a distance along the first obstacle surface toward a rear drive direction, then turn away from the first obstacle surface until the cleaning robot detects contact between a second obstacle surface and the front surface of the cleaning robot, and then turn back toward the first obstacle surface. The second obstacle surface is adjacent to and angled relative to the first obstacle surface.