Self-propelled cleaning machine with fuzzy logic control

Details Self-propelled cleaning machine with fuzzy logic control Self-propelled cleaning machine with fuzzy logic control

1994-12-22

1996-10-22

Downs, Robert W.

Robots

Counterbalance

395 61, 901 1, 36442401, 36442402, 364436, 364438, 364444, 364461, 31856812, 15319, 134 21, 134 18, G06G 700, B25J 500, G06F 770, A47L 500

Patent

active

055685897

ABSTRACT:
A self-propelled cleaning machine for cleaning a floor of a room enclosed by a wall perimeter includes a body having first and second sides and a front. A motor drive causes the body to move over the floor. A cleaning unit is carried by the body for cleaning the floor. First, second and third sensors are carried by the body for sensing distances from the first and second sides and the front thereof to the wall perimeter and producing first, second and third sensor signals in response thereto respectively. A fuzzy logic computer receives the first, second and third sensor signals and controls the motor drive to move the body in accordance therewith adjacently parallel to and store data representing the wall perimeter, and subsequently controls the motor drive to move the body in a computed pattern within the wall perimeter as represented by the data such that the cleaning unit cleans the floor. The computer processes the first or second signal from whichever of the first and second sensors is closer to the wall perimeter using a first number of fuzzy steps, and processes the other of the first or second signal and the third signal using a second number of fuzzy steps that is smaller than the first number of fuzzy steps.

REFERENCES:
patent: 4996468 (1991-02-01), Field et al.
patent: 5109566 (1992-05-01), Kobayashi et al.
patent: 5122957 (1992-06-01), Hattori
patent: 5218542 (1993-06-01), Endo et al.
patent: 5251358 (1993-10-01), Moro et al.
patent: 5307419 (1994-04-01), Tsujino et al.
patent: 5339241 (1994-08-01), Fujimori et al.
Kamada, H., "A Compact Navigation System Using Image Processing and Fuzzy Logic," IEEE Southeastcon 1990, pp. 337-342.

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