Robotic virtual boundaries
First Claim
Patent Images
1. A method for operating a robot comprising:
- detecting a physical boundary marker using sensors on the robot;
indicating a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot;
maintaining the virtual boundary when the physical boundary marker is subsequently removed;
avoiding, by the robot, an area beyond the virtual boundary;
detecting a gap between the physical boundary marker or the virtual boundary and an adjacent wall; and
extending the virtual boundary to the adjacent wall.
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Accused Products
Abstract
In one embodiment, a virtual boundary is provided in the global coordinates of the area map and is converted into a plurality of line segments corresponding to a plurality of partial maps. In one embodiment, a physical boundary indicator is used during a training/mapping run, with the location added to the area map and the physical boundary indicator later moved. In one embodiment, the virtual boundary changes over time to change cleaning areas, act as a gate, change associated cleaning mode, etc. In one embodiment, virtual areas with boundaries are selected by a user.
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Citations
12 Claims
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1. A method for operating a robot comprising:
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detecting a physical boundary marker using sensors on the robot; indicating a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot; maintaining the virtual boundary when the physical boundary marker is subsequently removed; avoiding, by the robot, an area beyond the virtual boundary; detecting a gap between the physical boundary marker or the virtual boundary and an adjacent wall; and extending the virtual boundary to the adjacent wall. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for operating a robot comprising:
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detecting a physical boundary marker using sensors on the robot; indicating a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot; maintaining the virtual boundary when the physical boundary marker is subsequently removed; avoiding, by the robot, an area beyond the virtual boundary determining that the robot can move a different distance from an object behind the virtual boundary than the virtual boundary; and adjusting the virtual boundary to be a different distance from the object.
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8. A non-transitory, computer readable medium for mounting on a robot, comprising instructions which, when executed by a computer, cause the computer to:
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detect a physical boundary marker using sensors on the robot; indicate a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot; maintain the virtual boundary when the physical boundary marker is subsequently removed; avoid, by the robot, an area beyond the virtual boundary detecting a gap between the physical boundary marker or the virtual boundary and an adjacent wall; and extending the virtual boundary to the adjacent wall.
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9. A non-transitory, computer readable medium for mounting on a robot, comprising instructions which, when executed by a computer, cause the computer to:
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detect a physical boundary marker using sensors on the robot; indicate a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot; maintain the virtual boundary when the physical boundary marker is subsequently removed; avoid, by the robot, an area beyond the virtual boundary; determining that the robot can move a different distance from an object behind the virtual boundary than the virtual boundary; and adjusting the virtual boundary to be a different distance from the object.
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10. A cleaning robot, comprising:
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a floor-traversing robot; a robot housing of the floor-traversing robot; a motor mounted in a housing for moving the floor-traversing robot; a battery connected to provide electrical power to the motor; a sensor mounted in the robot for detecting surroundings; a processor mounted in the robot; a memory in the robot; a localization module in the robot; non-transitory, computer-readable code in the memory having instructions for; detecting a physical boundary marker using sensors on the robot; indicating a virtual boundary corresponding to a location of the physical boundary marker on an area map for the robot; maintaining the virtual boundary when the physical boundary marker is subsequently removed; avoiding, by the robot, an area beyond the virtual boundary; detecting a gap between the physical boundary marker or the virtual boundary and an adjacent wall; and extending the virtual boundary to the adjacent wall. - View Dependent Claims (11, 12)
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Specification