Robotic cleaning device

• US 10,209,080 B2
• Filed: 12/19/2013
• Issued: 02/19/2019
• Est. Priority Date: 12/19/2013
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Lindhe, Magnus, Haegermarck, Anders, Forsberg, Petter
• Primary Examiner(s): Heinle, Courtney D
• Application Number:
  US15/100,667
• Publication Number:
  US 20160298970A1
• Time in Patent Office: 1,888 Days
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: B60L 53/00 Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robotic cleaning device having a body, and an obstacle detecting device configured to obtain data from a vicinity of the robotic cleaning device. The robotic cleaning device further has a propulsion system configured to drive the robotic cleaning device across a surface to be cleaned, and a cleaning member. The device also has a processing unit arranged to extract at least one feature from data obtained by the obstacle detecting device, compare the attained feature with stored features and when the attained feature matches one of the stored features, deduce a position of the robotic cleaning device.

Claims

1. A robotic cleaning device comprising:

a body,

a single obstacle detecting device configured to obtain 3-dimensional (3D) data from a vicinity of the robotic cleaning device;

a propulsion system configured to drive the robotic cleaning device across a surface to be cleaned;

a cleaning member; and

a processing unit arranged to;

create or update a 3D map of surroundings of the robotic cleaning device by;

determining, from the 3D data, a 3D shape of an object, and extracting and attaining at least one feature from the 3D shape obtained by the obstacle detection device at a first location of the robotic cleaning device, and

storing, in a database, the at least one feature from the 3D shape with other stored features of the 3D data obtained by the obstacle detection device at other locations of the robotic cleaning device as part of the 3D map,

deduce a position of the robotic cleaning device within the 3D map by;

comparing the at least one attained feature with one or more predetermined features from the database, and

when the at least one attained feature matches one of the one or more predetermined features, deduce the position of the robotic cleaning device in the 3D map and controlling the robotic cleaning device to navigate using the 3D map based on the deduced position.

2. The robotic cleaning device according to claim 1, wherein the obstacle detection device comprises a 3D sensor system.

3. The robotic cleaning device according to claim 2, wherein the 3D sensor system comprises:

a camera device configured to record images of a vicinity of the robotic cleaning device; and

first and second vertical line lasers configured to illuminate the vicinity of the robotic cleaning device;

wherein the processing unit is configured to deduce the position of the robotic cleaning device from the recorded images.

4. The robotic cleaning device according to claim 1, wherein the at least one feature is attained from at least two reflective elements having a predetermined vertical offset.

5. The robotic cleaning device according to claim 4 wherein the vertical offset is in the range of 1-10 centimeters.

6. The robotic cleaning device according to claim 1, wherein the at least one feature is attained from a vertically arranged bar code.

7. The robotic cleaning device according to claim 3, wherein the camera device is configured to record images of 3D object markers and derive a position of the 3D object markers and attain at least one feature from at least one of the markers.

8. The robotic cleaning device according to claim 7, wherein the processing unit has a user interface configured to receive input from a user regarding at least one attained feature derived from at least one of the 3D object markers, in order to generate a stored feature.

9. The robotic cleaning device according to claim 4 wherein the vertical offset is in the range of 2-6 centimeters.

10. The robotic cleaning device according to claim 4 wherein the vertical offset is 3 centimeters.

17. A robotic cleaning kit comprising a robotic cleaning device according to claim 1 and a set of 3D object markers.

11. A method of teaching a robotic cleaning device comprising the steps of:

instructing, via an interface, the robotic cleaning device to enter a learning mode;

capturing, by a camera of the robotic cleaning device, during the learning mode, three dimensional (3D) images of artificial markers;

analyzing, by a processor of the robotic cleaning device, the 3D images, determining a 3D shape of each of the artificial markers, and deriving a feature from the 3D shape of each of the artificial markers;

storing, by the processor of the robotic cleaning device, the feature from each of the artificial markers in a database;

assigning, via the interface, the stored feature from each of the artificial markers to a respective area where the robotic cleaning device navigates;

positioning the artificial markers in the respective areas to which they are assigned;

programming, via the interface, the robotic cleaning device with navigation instructions assigned to each of the artificial markers; and

instructing, via the interface, the robotic cleaning device to enter a cleaning mode, where navigation of the robotic cleaning device is performed by recognizing the 3D shape of the artificial markers, comparing the 3D shape of the recognized artificial markers with the features stored in the database, and executing the respective navigation instructions.

12. A method of operating a robotic cleaning device comprising the steps of:

obtaining 3-dimensional data (3D) data from a vicinity of the robotic cleaning device by an obstacle detecting device;

creating or updating, by a processing unit, a 3D map of surroundings of the robotic cleaning device by;

determining, from the 3D data, a 3D shape of an object,

extracting at least one feature from the 3D shape obtained by the obstacle detection device at a first location of the robotic cleaning device, and

storing, in a database, the at least one feature from the 3D shape with other stored features of the 3D data obtained by the obstacle detection device at other locations of the robotic cleaning device as part of the 3D map,

controlling, by the processing unit, the operation of the robotic cleaning device by;

comparing the at least one attained feature with predetermined features from the database; and

when the at least one attained feature matches one of the predetermined features, deducing the position of the robotic cleaning device in the 3D map, and controlling the robotic cleaning device to navigate using the 3D map based on the deduced position.

13. The method according to claim 12, wherein the data is generated by a camera device in the form of an image.

14. The method according to claim 12, further comprising the step of installing different types of markers in proximity to entrances to different rooms, the robotic cleaning device being configured to recognize and attain features and a position from at least one of the installed markers and perform an operation according to instructions assigned to the known feature of the at least one type of marker.

15. The method according to claim 12, further comprising the steps of installing a charging station and a unique charging station marker in proximity to the charging station, and directing the robotic cleaning device to the charging station using the unique charging station marker.

16. The method according to claim 12, further comprising the step of programming a processing unit of the robotic cleaning device via an interface so that only some or one of specific areas or rooms are cleaned at a time.