Robot vacuum with internal mapping system
First Claim
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1. A method of operating a robot cleaner comprising:
- (a) generating an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells;
(b) generating a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map;
(c) causing the robot cleaner to travel on a surface along a travel path from one subgrid to another subgrid in a spiral;
(d) during the traveling in each subgrid;
(i) gathering data corresponding to each traveled cell and each non-traveled cell of the subgrid;
(ii) at least partially cleaning the traveled cells of the subgrid; and
(iii) storing status data for each cell in the subgrid map;
(e) determining which part of the subgrid map has a highest density of uncleaned cells;
(f) using the subgrid map to calculate a travel path to the part of the subgrid that has a highest density of uncleaned cells;
(g) using the subgrid map to determine if the travel path is free from obstructions; and
(h) if path is obstructed, rotating the travel path by a predetermined number of degrees and repeating steps (f)-(g); and
(i) if path is not obstructed, repeating steps (c)-(h).
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Abstract
A robot cleaner is described that cleans a room using a serpentine room clean and a serpentine localized clean. Sensors can include an object following sensor, a stairway detector and bumper sensors.
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Citations
20 Claims
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1. A method of operating a robot cleaner comprising:
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(a) generating an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells; (b) generating a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map; (c) causing the robot cleaner to travel on a surface along a travel path from one subgrid to another subgrid in a spiral; (d) during the traveling in each subgrid; (i) gathering data corresponding to each traveled cell and each non-traveled cell of the subgrid; (ii) at least partially cleaning the traveled cells of the subgrid; and (iii) storing status data for each cell in the subgrid map; (e) determining which part of the subgrid map has a highest density of uncleaned cells; (f) using the subgrid map to calculate a travel path to the part of the subgrid that has a highest density of uncleaned cells; (g) using the subgrid map to determine if the travel path is free from obstructions; and (h) if path is obstructed, rotating the travel path by a predetermined number of degrees and repeating steps (f)-(g); and (i) if path is not obstructed, repeating steps (c)-(h). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot cleaner comprising:
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a body including a cleaning unit; at least one wheel coupled to the body; at least one motor operatively coupled to the at least one wheel; at least one processor operatively coupled to the at least one motor; at least one input device operatively coupled to the at least one processor; at least one sensor operatively coupled to the at least one processor; and at least one memory device storing a plurality of instructions which are executable by the at least one processor to; (a) generate an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells; (b) generate a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map;
,(c) cause the at least one wheel to move thereby causing the body to travel on a surface along a travel path from one subgrid to another subgrid in a spiral; (d) during the traveling in each subgrid; (i) gather data corresponding to each traveled cell and each non-traveled cell of the subgrid; (ii) at least partially clean the traveled cells of the subgrid; and (iii) store status data for each cell in the subgrid map; (e) determine which part of the subgrid map has a highest density of uncleaned cells; (f) use the subgrid map to calculate a travel path to the part of the subgrid map that has a highest density of uncleaned cells; (g) use the subgrid map to determine if the travel path is free from obstructions; and (h) if a path is obstructed, rotate the travel path by a predetermined number of degrees and repeating steps (f)-(g); and (i) if a path is not obstructed, repeat steps (c)-(h). - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification