Autonomous coverage robot
First Claim
Patent Images
1. A mobile floor cleaning robot comprising:
- a robot body defining a forward drive direction;
a drive system supporting the robot body and configured to maneuver the robot over a floor surface;
a cleaning system disposed on the robot body;
an imaging sensor disposed on the robot body; and
a controller in communication with the drive system and the imaging sensor, the controller configured to;
receive a sequence of images of the floor surface, each image having an array of pixels;
for at least one image, segmenting the image into color segments by;
color quantizing pixels of the image; and
determining a spatial distribution of at least one color of the image based on corresponding pixel locations; and
tracking a location of at least one color segment with respect to the imaging sensor across the sequence of images for determining a drive command for issuance to the drive system to maneuver the mobile floor cleaning robot.
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Abstract
A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
107 Citations
20 Claims
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1. A mobile floor cleaning robot comprising:
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a robot body defining a forward drive direction; a drive system supporting the robot body and configured to maneuver the robot over a floor surface; a cleaning system disposed on the robot body; an imaging sensor disposed on the robot body; and a controller in communication with the drive system and the imaging sensor, the controller configured to; receive a sequence of images of the floor surface, each image having an array of pixels; for at least one image, segmenting the image into color segments by; color quantizing pixels of the image; and determining a spatial distribution of at least one color of the image based on corresponding pixel locations; and tracking a location of at least one color segment with respect to the imaging sensor across the sequence of images for determining a drive command for issuance to the drive system to maneuver the mobile floor cleaning robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification