Method for Processing a Surface by Means of a Robotic Vehicle

• US 20130345922A1
• Filed: 12/23/2011
• Published: 12/26/2013
• Est. Priority Date: 12/29/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Biber, Peter, Albert, Amos
• Granted Patent: US 9,258,942 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The disclosure relates to a method for processing a surface by means of a robotic vehicle, wherein the robotic vehicle has a control system in which data concerning the outline of the surface to be processed are stored, wherein locating means are present, which determine the position of the robotic vehicle, in particular in relation to the surface to be processed, and wherein the method comprises the following steps: dividing the surface to be processed into individual segments; classifying each individual segment into a property class; and moving to and processing each individual segment in succession, each individual segment being processed with a processing strategy corresponding to its property class.

Claims

1. A method for processing a surface area by means of a robotic vehicle having (i) a control unit in which data relating to the outline of the surface area that is to be processed are stored, and (ii) a position-determining device configured to determine a position of the robotic vehicle in relation to the surface area that is to be processed, the method comprising:

dividing the surface area that is to be processed into individual segments;

classifying each individual segment in a characteristic classification; and

driving over and processing each individual segment one after the other, wherein each individual segment is processed using a processing strategy corresponding to the characteristic classification of said individual segment.

2. The method as claimed in claim 1, further comprising:

driving the robotic vehicle along an outer boundary of the surface area that is to be processed to obtain the data relating to the surface area that is to be processed.

3. The method as claimed in claim 1, dividing of the surface area (100) that is to be processed into individual segments further comprising:

dividing the surface area that is to be processed into basic geometric shapes, each of which defines one of the individual segments.

4. The method as claimed in claim 3, wherein the basic geometric shapes are defined by preferred geometric characteristics.

5. The method as claimed in claim 4, further comprising:

classifying each individual segment in the characteristic classification on the basis of achieving the preferred geometric characteristics of the individual segments.

6. The method as claimed in claim 5, further comprising:

initially randomly dividing the surface area that is to be processed into a multiplicity of temporary individual segments; and

generating a number, size and outline of the individual segments from the temporary individual segments such that a total or surface area of the preferred characteristic classifications is as large as possible and/or as small as possible.

7. The method as claimed in claim 6, further comprising:

using results from previous processing operations or results obtained during a current processing operation to divide the surface area into individual segments.

8. The method as claimed in claim 1, wherein the processing strategy for processing the individual segments includes one of (i) driving over a pre-defined movement path and (ii) driving over at least one of a random movement path and a heuristically motivated movement path.

9. The method as claimed in claim 8, wherein:

the pre-defined movement path is defined by path portions that are in parallel with each other, and

the random movement path is defined by straight line path portions connected by turning maneuvers generated at boundaries of the individual segment by turning at a random angle.

10. The method as claimed in claim 1, wherein the robotic vehicle is an autonomously operating lawn mower.

11. The method as claimed in claim 4, wherein the basic geometric shapes are defined as at least one of rectangular shapes and convex geometric shapes.