Passive Mapping Using a Floor Cleaning Machine
First Claim
1. A portable floor cleaning machine performing a method for map generation to facilitate object localization within an environment comprising:
- providing a plurality of tags having fixed positions within the environment, with each of said plurality of tags including a defined identification structure;
providing a reader upon a portable floor cleaning machine, said reader for detecting the tags and reading at least some information of the defined identification structures;
while performing a floor cleaning process with the portable floor cleaning machine, determining position information of the plurality of tags; and
defining a map of the environment based on said determining.
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Accused Products
Abstract
A floor cleaning machine having a passive mapping system for determining position information associated with a plurality of RFID tags dispersed within a floor field during a floor cleaning process. The passive mapping system defines a floor map based on position information collected from the plurality of RFID tags. The floor map may be communicated to a remote map server and be utilized by a second floor cleaning machine during a different floor cleaning process. The mapping system can periodically update the floor map based on information collected during subsequent floor cleaning processes. The information may include RFID tag movement or replacement. In one embodiment, a remote mapping system communicates with a floor cleaning machine via wireless communication.
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Citations
20 Claims
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1. A portable floor cleaning machine performing a method for map generation to facilitate object localization within an environment comprising:
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providing a plurality of tags having fixed positions within the environment, with each of said plurality of tags including a defined identification structure; providing a reader upon a portable floor cleaning machine, said reader for detecting the tags and reading at least some information of the defined identification structures; while performing a floor cleaning process with the portable floor cleaning machine, determining position information of the plurality of tags; and defining a map of the environment based on said determining. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A portable floor cleaning machine comprising:
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a portable chassis carrying a floor-engaging tool to perform a cleaning process upon a floor surface; an RFID reader attached to said portable chassis for interrogating a plurality of RFID tags dispersed upon the floor surface; and a mapping engine utilizing position information derived from said RFID reader to create a map of a facility as the portable chassis traverses the floor surface during the cleaning process. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method of mapping a floor field containing RFID tags comprising:
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providing a floor cleaning machine adapted to perform a cleaning process as the floor cleaning machine traverses the floor field; simultaneously with said cleaning process, acquiring position data or identification data or both associated with a plurality of RFID tags on the floor field as each of said plurality of RFID tags comes into view of an RFID reader on said floor cleaning machine; and utilizing said position data or identification data or both to define a map of said floor field, said map permitting localization of a machine traversing the floor field. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification