NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE
4 Assignments
0 Petitions
Accused Products
Abstract
An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
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Citations
33 Claims
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1-12. -12. (canceled)
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13. An autonomous cleaning apparatus comprising:
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a cleaning head; a drive system operable to move the cleaning apparatus along a surface of a working environment while the cleaning head cleans the surface; and a receiving system configured to store a map of at least a portion of the working environment based on previously determined positions of the cleaning apparatus, determine a position of the cleaning apparatus in the working environment, and cause the cleaning apparatus to initiate a spot coverage cleaning behavior of the cleaning apparatus in response to the determined position of the cleaning apparatus corresponding to a hot spot in the stored map.
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14. An autonomous cleaning apparatus comprising:
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a cleaning head; a drive system operable to move the cleaning apparatus along a surface of a working environment while the cleaning head cleans the surface; and a receiving system configured to store a map of at least a portion of the working environment based on previously determined positions of the cleaning apparatus, determine a position of the cleaning apparatus in the working environment, and cause the cleaning apparatus to initiate a prescribed conduct to alter a movement activity of the cleaning apparatus in response to the determined position of the cleaning apparatus being within a predefined zone in the working environment and indicated on the stored map. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A navigational control system comprising:
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a transmitting system configured to emit one or more signals into a working environment; and a receiving system integrated with a cleaning apparatus configured to move along a surface of the working environment while cleaning the surface, wherein the receiving system is configured to store a map of at least a portion of the working environment based on previously determined positions of the cleaning apparatus, determine a position of the cleaning apparatus in the working environment by detecting the one or more signals emitted in the working environment, and cause the cleaning apparatus to initiate a prescribed conduct in response to the determined position of the cleaning apparatus being within a predefined zone in the working environment and indicated on the stored map. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33)
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Specification