Robotic cleaning device and method for landmark recognition
First Claim
1. A method of operating a robotic cleaning device comprising the steps of:
- recording, by a processor of the robotic cleaning device, output data from a sensor of the robot for detecting an object in a vicinity of the robotic cleaning device;
identifying, by the processor of the robotic cleaning device, the object as a landmark and its position from the output data and deriving information from the landmark;
generating, by the processor of the robotic cleaning device, a landmark signature by combining a plurality of physical characteristics of the landmark, the landmark signature being different than the landmark,wherein the physical characteristics of the landmark include coordinates and vectors of at least two of;
a height of a lower portion of the landmark above the ground,a height of an upper portion of the landmark above the ground, anda direction of a surface normal of the landmark;
storing, by a memory device of the robotic cleaning device, the generated landmark signature;
comparing, by the processor of the robotic cleaning device, the generated landmark signature with predetermined landmark signatures;
determining, by the processor of the robotic cleaning device, whether the generated landmark signature matches one of the predetermined landmark signatures or not; and
operating, by the processor of the robotic cleaning device, the robotic cleaning device on the basis of the determination.
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Accused Products
Abstract
A robotic cleaning device having a main body, a propulsion system configured to move the device across a surface and an obstacle detecting device configured to detect obstacles. The device further includes a processing unit configured to position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data, and further to control the propulsion system to move the robotic cleaning device across the surface. The processing unit is configured to identify a landmark and its position from the obstacle detecting device output data, to derive at least one characteristic from the landmark to create and store a generated landmark signature. The processing unit is also configured to compare the generated landmark signature with predetermined landmark signatures and to determine whether the generated landmark signature matches one of the predetermined landmark signatures or not and operate the robotic cleaning device based on the determination.
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Citations
14 Claims
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1. A method of operating a robotic cleaning device comprising the steps of:
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recording, by a processor of the robotic cleaning device, output data from a sensor of the robot for detecting an object in a vicinity of the robotic cleaning device; identifying, by the processor of the robotic cleaning device, the object as a landmark and its position from the output data and deriving information from the landmark; generating, by the processor of the robotic cleaning device, a landmark signature by combining a plurality of physical characteristics of the landmark, the landmark signature being different than the landmark, wherein the physical characteristics of the landmark include coordinates and vectors of at least two of; a height of a lower portion of the landmark above the ground, a height of an upper portion of the landmark above the ground, and a direction of a surface normal of the landmark; storing, by a memory device of the robotic cleaning device, the generated landmark signature; comparing, by the processor of the robotic cleaning device, the generated landmark signature with predetermined landmark signatures; determining, by the processor of the robotic cleaning device, whether the generated landmark signature matches one of the predetermined landmark signatures or not; and operating, by the processor of the robotic cleaning device, the robotic cleaning device on the basis of the determination. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robotic cleaning device comprising:
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a main body; a propulsion system configured to move the robotic cleaning device across a surface of interest; an obstacle detecting device configured to detect objects; a processing unit configured to; position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data and further to control the propulsion system to move the robotic cleaning device across the surface of interest, identify an object as a landmark and its position from the obstacle detecting device output data, to derive a plurality of physical characteristics from the landmark, wherein the physical characteristics of the landmark include coordinates and vectors of at least two of; a height of a lower portion of the landmark above the ground, a height of an upper portion of the landmark above the ground, and a direction of a surface normal of the landmark, create and store a generated landmark signature by combining at least two of the physical characteristics of the landmark, the landmark signature being different than the landmark, compare the generated landmark signature with predetermined landmark signatures, determine, whether the generated landmark signature matches one of the predetermined landmark signatures or not, and operate the robotic cleaning device on the basis of the determination. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification