Experience-based roadmap for a robotic cleaning device
First Claim
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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.
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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.
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Citations
16 Claims
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1. A method of operating a robotic cleaning device over a surface to be cleaned, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robotic cleaning device comprising:
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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.
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15. A computer program comprising computer-executable instructions stored in a non-transitory medium for causing a robotic cleaning device to:
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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. - View Dependent Claims (16)
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Specification