Robotic virtual boundaries

• US 10,583,561 B2
• Filed: 06/01/2018
• Issued: 03/10/2020
• Est. Priority Date: 08/31/2017
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Neato Robotics, Inc. (Vorwerk & Company KG)
• Inventors: Suvarna, Sarath Kumar, Pong, Bryant
• Primary Examiner(s): Nguyen, Kira
• Application Number:
  US15/996,290
• Publication Number:
  US 20190061157A1
• Time in Patent Office: 648 Days
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40478 Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0263 using magnetic strips
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/47 Optical

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.

Claims

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.

2. The method of claim 1 further comprising:

receiving an indication of the virtual boundary on the area map from a user.

3. The method of claim 2 further comprising:

developing the area map during a training run of the robot and providing the area map to a user before receiving the indication of the virtual boundary.

4. The method of claim 3 further comprising:

traveling, during the training run, a distance and pattern sufficient for generating the area map, without traveling a full distance and pattern required to clean the areas indicated on the area map.

5. The method of claim 1 further comprising:

providing the virtual boundary to a remote server in the global coordinates of the area map;

downloading the virtual boundary to the robot;

converting, by the robot, the virtual boundary in global coordinates into segments by segmenting the virtual boundary into a plurality of line segments corresponding to a plurality of partial maps; and

comparing, by the robot, the line segment to a current partial map to determine the virtual boundary for the current partial map.

6. The method of claim 1 wherein the physical boundary marker is one of a magnetic strip, an IR beam, a bar code, a QR code, a color strip, an IR detectable label, or a visual pattern.

7. 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

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.

8. A non-transitory, computer readable medium for mounting on a robot, comprising instructions which, when executed by a computer, cause the computer to:

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.

9. A non-transitory, computer readable medium for mounting on a robot, comprising instructions which, when executed by a computer, cause the computer to:

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.

10. A cleaning robot, comprising:

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.

11. The cleaning robot of claim 10 wherein the non-transitory, computer-readable code in the memory has further instructions for:

providing the virtual boundary to a remote server in global coordinates of the area map;

downloading the virtual boundary to the robot;

converting, by the robot, the virtual boundary in global coordinates into segments by segmenting the virtual boundary into a plurality of line segments corresponding to a plurality of partial maps; and

comparing, by the robot, the line segment to a current partial map to determine the virtual boundary for the current partial map.

12. The cleaning robot of claim 10 wherein the non-transitory, computer-readable code in the memory has further instructions for:

developing the area map during a training run of the robot and providing the area map to a user; and

receiving an indication of a virtual boundary on the area map from the user.