Experience-based roadmap for a robotic cleaning device

• US 10,534,367 B2
• Filed: 12/16/2014
• Issued: 01/14/2020
• Est. Priority Date: 12/16/2014
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Haegermarck, Anders, Lindhe, Magnus
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US15/535,244
• Publication Number:
  US 20190004537A1
• Time in Patent Office: 1,855 Days
• Field of Search: 701 25
• CPC Class Codes: G01C 21/343 Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method of operating a robotic cleaning device over a surface to be cleaned. The method includes: registering roadmap nodes at intervals on the surface during cleaning, the roadmap nodes including positional information; and linking the roadmap nodes to form roadmap links in a roadmap graph, if the robotic cleaning device is driving directly from a previously registered roadmap node to a currently registered roadmap node. The roadmap links in the roadmap graph facilitate navigation of the robotic cleaning device.

Claims

1. A method of operating a robotic cleaning device over a surface to be cleaned, the method comprising:

autonomously driving over the surface and cleaning the surface, by the robotic cleaning device;

during the autonomous driving, autonomously registering, by the robotic cleaning device, a plurality of roadmap nodes at intervals on the surface, each of the plurality of roadmap nodes comprising respective positional information;

in response to autonomously driving directly from a previously registered roadmap node of the plurality of roadmap nodes to a currently registered roadmap node of the plurality of roadmap nodes, autonomously generating a roadmap link between the previously registered roadmap node and the currently registered roadmap node;

compiling the plurality of roadmap nodes and a plurality of roadmap links into a roadmap graph; and

using the roadmap graph to navigate the robotic cleaning device during a subsequent cleaning.

2. The method according to claim 1, further comprising adding a shortcut link between a registered roadmap node of a first sequence section of registered roadmap nodes and a currently registered roadmap node of a second sequence section of registered roadmap nodes, if no obstacle is detected in between the registered roadmap node of the first sequence section and the currently registered roadmap node of the second sequence section, the second sequence section being arranged at an offset from the first sequence section.

3. The method according to claim 2, wherein the offset is smaller than a dimensional size of the robotic cleaning device, the dimensional size being a length or a width of the robotic cleaning device.

4. The method according to claim 2, wherein the first sequence section and the second sequence section each comprises at least two roadmap nodes linked by a respective roadmap link.

5. The method according to claim 1, further comprising determining a shortest distance between a first position and a second position by identifying a first registered roadmap node in proximity to the first position and a second registered roadmap node in proximity to the second position and calculating a transportation sequence comprising a smallest number of linked registered roadmap nodes that lead from the first position to the second position.

6. The method according to claim 1, further comprising determining a shortest distance between a first position and a second position by identifying a first registered roadmap node in proximity to the first position and a second registered roadmap node in proximity to the second position and calculating a transportation sequence comprising a shortest total distance from the first position to the second position, as measured by the sum of the geometrical length of all roadmap links and shortcut links involved in the transportation sequence.

7. The method according to claim 1, wherein the intervals comprise time intervals.

8. The method according to claim 1, wherein the intervals comprise distance intervals.

9. The method according to claim 1, further comprising increasing a frequency of the intervals when the robotic cleaning device changes its direction of movement more frequently than a predefined upper threshold frequency value.

10. The method according to claim 1, further comprising reducing a frequency of the intervals when the robotic cleaning device changes its direction of movement less frequently than a predefined lower threshold frequency value.

11. The method according to claim 1, further comprising adding straight shortcut links between a plurality of linked roadmap nodes forming a straight sequence segment by connecting a first one of the plurality of linked roadmap nodes and a last one of the plurality of roadmap nodes.

12. The method according to claim 1, wherein the roadmap nodes comprise additional information about the status of the robotic cleaning device at the time of registering the roadmap node.

13. The method according to claim 11, wherein the additional information is used to select among multiple possible sequences of roadmap nodes between the registering or roadmap nodes, an arbitrary sequence of roadmap nodes that reduce the risk for collision with an obstacle.

14. A robotic cleaning device comprising:

a main body;

a propulsion system arranged to move the robotic cleaning device;

a contact detecting portion connected to the main body and arranged to detect if the robotic cleaning device is in contact with an object;

a dead reckoning sensor operatively connected to the propulsion system;

a processing unit arranged to control the propulsion system;

wherein the processing unit is connected to the dead reckoning sensor and configured to;

autonomously drive the robotic cleaning device over a surface and clean the surface;

during the autonomous driving, autonomously register a plurality of roadmap nodes at intervals on the surface during cleaning, each of the plurality of roadmap nodes comprising respective positional information;

in response to autonomously driving directly from a previously registered roadmap node of the plurality of roadmap nodes to a currently registered roadmap node of the plurality of roadmap nodes, autonomously generate a roadmap link between the previously registered roadmap node and the currently registered roadmap node;

compile the plurality of roadmap nodes and a plurality of roadmap links into a roadmap graph; and

use the roadmap graph to navigate the robotic cleaning device during a subsequent cleaning.

15. A computer program comprising computer-executable instructions stored in a non-transitory medium for causing a robotic cleaning device to:

autonomously drive the robotic cleaning device over a surface and clean the surface;

during the autonomous driving, autonomously register a plurality of roadmap nodes at intervals on a surface as the robotic cleaning device traverses the surface, each of the plurality of roadmap nodes comprising respective positional information;

in response to autonomously driving directly from a previously registered roadmap node of the plurality of roadmap nodes to a currently registered roadmap node of the plurality of roadmap nodes, autonomously generate a roadmap link between the previously registered roadmap node and the currently registered roadmap node;

compile the plurality of roadmap nodes and a plurality of roadmap links into a roadmap graph; and

use the roadmap graph to navigate the robotic cleaning device during a subsequent cleaning.

16. The computer program of claim 15, wherein the computer executable instructions are executed on a processing unit in the robotic cleaning device.