Method for processing a surface by means of a robotic vehicle

• US 9,258,942 B2
• Filed: 12/23/2011
• Issued: 02/16/2016
• Est. Priority Date: 12/29/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Biber, Peter, Albert, Amos
• Primary Examiner(s): Do, Truc M
• Application Number:
  US13/997,820
• Publication Number:
  US 20130345922A1
• Time in Patent Office: 1,516 Days
• Field of Search: 700/245
• US Class Current: 1/1
• 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 an outline of a 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 defined by a planar shape of the individual segments; 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, the dividing of the surface area that is to be processed into individual segments further comprising:

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

4. The method as claimed in claim 3, wherein:

the basic planar geometric shapes are defined as at least one of generally rectangular shapes and convex geometric shapes.

5. The method as claimed in claim 4, wherein classifying each individual segment in a characteristic classification defined by a planar shape of the individual segments includes:

classifying each individual segment in a characteristic classification defined by basic planar geometric shapes.

8. The method as claimed in claim 1, wherein the processing strategy for processing the individual segments includes:

(i) processing individual segments classified in a first characteristic classification by driving over a pre-defined movement path; and

(ii) processing individual segments classified in a second characteristic classification by 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.

6. A method for processing a surface area by means of a robotic vehicle having (i) a control unit in which data relating to an outline of a 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, each of the individual segments being basic planar shapes that are defined as at least one of generally rectangular shapes and convex geometric shapes;

classifying each individual segment in a characteristic classification defined by a basic planar shape of the individual segments; 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,

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

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 at least one of a total number and a total surface area of individual segments classified in a first preferred characteristic classification is maximized and at least one of a respective total number and a respective total surface area of individual segments classified in a second preferred characteristic classification is minimized.

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.

11. A method for processing a surface area by means of a robotic vehicle having (i) a control unit in which data relating to an outline of a 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, each of the individual segments being basic planar shapes that are defined as at least one of generally rectangular shapes and convex geometric shapes;

classifying each individual segment in a characteristic classification defined by a basic planar shape of the individual segments; 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,

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

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 at least one of a total number or surface area of individual segments classified in a preferred characteristic classification is maximized.