Area coverage with an autonomous robot
There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker ( 48 ) located along the outer edge of the area to be covered, a robot ( 40 ) with a navigation system ( 41 ) and a sensor unit ( 43 ). The navigation system ( 41 ) navigates the robot ( 40 ) in generally straight, parallel lines from an initial location and turns the robot ( 40 ) when the robot ( 40 ) encounters one of the boundary markers ( 48 ), thereby to systematically move about the area to be covered. The sensor unit ( 43 ) senses proximity to one of the at least one boundary marker ( 48 ).
1. A method for operating a robot comprising:
moving the robot over a surface initially in accordance with a first scanning mode;
detecting an obstacle;
moving the robot so as to follow the obstacle in accordance with a second scanning mode; and,
returning to the first scanning mode when the robot is beyond the obstacle.
2. The method of claim 1 , wherein the second scanning mode includes detecting the obstacle and turning the robot in response to the obstacle being detected.
3. The method of claim 2 , wherein the second scanning mode additionally includes moving the robot away from the obstacle after the robot has turned.
4. The method of claim 2 , wherein turning the robot includes turning the robot approximately 180 degrees.
5. The method of claim 1 , wherein the first scanning mode includes moving the robot in substantially straight lines, substantially parallel to each other.
6. The method of claim 1 , additionally comprising:
operating the robot for lawn mowing.
7. The method of claim 1 , additionally comprising:
operating the robot for vacuum cleaning.
8. A robot for moving about an area to be covered, the robot comprising:
a navigation system;
a boundary sensor for sensing proximity to a boundary marker;
an obstacle sensor for indicating proximity to an obstacle within said area to be covered; and
said navigation system programmed to navigate said robot in a pattern of generally straight,
parallel lines turning said robot when said robot senses a boundary marker or an obstacle.
9. The robot of claim 8 , wherein said navigation system is additionally configured to count the number of laps needed to cover the area between an obstacle and a boundary marker.
10. The robot of claim 8 , wherein said navigation system is additionally configured to note a position of said robot prior to covering an area behind an obstacle, to enable said robot to return to the position after covering said area behind said obstacle.