Automatically generating and maintaining a floor plan

• US 9,544,738 B1
• Filed: 03/31/2016
• Issued: 01/10/2017
• Est. Priority Date: 05/14/2013
• Status: Expired due to Fees

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Bartlett, Scott
• Primary Examiner(s): Brandt, Christopher M
• Application Number:
  US15/086,270
• Time in Patent Office: 285 Days
• Field of Search: 455/414.1, 455/456.1, 455/456.2, 455/456.3, 455/456.5, 455/456.6
• US Class Current: 1/1
• CPC Class Codes: G01S 5/02525 Gathering the radio frequency fingerprints
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

Systems and techniques for automatically obtaining data indicating the locations of wireless devices and physical objects within a region are provided. An autonomous mobile platform may survey a region with a wireless signal strength sensor and/or a physical environment sensor. The signal strength data and the spatial data are used to generate a map that indicates the locations of wireless devices within a region such as a home or office. The map may be automatically generated and/or updated in the course of other operations performed by an autonomous mobile platform.

Claims

1. A method comprising:

receiving, by a computing device from a mobile platform that is remote from the computing device, a first spatial data in a region;

wherein the mobile platform is configured to navigate the region autonomous from human assistance based on spatial data obtained from a physical environment sensor of the mobile platform;

receiving, by the computing device from the mobile platform, a first signal strength data for a wireless device in the region;

determining, by the computing device, a first location of the wireless device in the region based on the first signal strength data; and

generating, by the computing device, a map indicating a location of the wireless device in the region based on the first spatial data and the first location of the wireless device.

2. The method of claim 1, further comprising:

receiving, by the computing device from the mobile platform, a second spatial data collected by the physical environment sensor;

determining, by the computing device, that a physical object is located at a second location in the region based on the second spatial data; and

updating the map, by the computing device, to include an indicator of the physical object at the second location.

3. The method of claim 1, wherein:

the computing device is a component of a central automation system located in a home;

the region is within the home; and

the central automation system receives data from a set of devices in the home comprising the mobile platform.

4. The method of claim 1, further comprising:

receiving, by the computing device from a different mobile platform that is remote from the computing device, a second spatial data in the region and a second signal strength data for the wireless device in the region;

determining, by the computing device, a second location of the wireless device based on the second signal strength data;

updating, by the computing device, the map based on the second spatial data and the second location of the wireless device.

5. The method of claim 1, further comprising:

receiving, by the computing device from a different mobile platform that is remote from the computing device, a second spatial data and a second signal strength data for the wireless device in the region;

determining, by the computing device, a second location of the wireless device based on the second signal strength data;

weighting, by the computing device, the second spatial data and the second location of the wireless device based on a reliability of the different mobile platform;

updating, by the computing device, the map based on the weighted second spatial data and the weighted second location of the wireless device.

6. The method of claim 1, wherein the first signal strength data comprises a signal strength vector indicating a direction of a received signal and strength of the received signal.

7. The method of claim 1, wherein the first signal strength data comprises a wireless device identifier for the wireless device.

8. The method of claim 1, wherein the generation of the map comprises accessing a prior map of the region and updating the prior map.

9. The method of claim 1, wherein the map comprises at least one selected from the group consisting of:

a topographical map, a geographical map, and a floor plan.

10. The method of claim 1, wherein the map comprises a listing of wireless devices organized by regions.

11. The method of claim 1, wherein the map comprises an indication of disconnection of the wireless device from a wireless network, the indication comprising at least one selected from the group consisting of:

an indication of a battery depletion or an indication of a faulty wireless card.

12. The method of claim 1, wherein the map comprises at least one selected from the group consisting of:

an indication of differential spatial data of a physical object in the region and an indication of differential signal data of the wireless device.

13. The method of claim 1, wherein the generation of the map comprises:

converting the first signal strength data into a three-dimensional graphical representation of the wireless device, and

converting the first spatial data into a three-dimensional graphical representation of a physical device in the region.

14. The method of claim 1, wherein the generation of the map comprises:

converting the first signal strength data into a three-dimensional graphical representation of the wireless device, and

converting the first spatial data into a three-dimensional graphical representation of a physical device in the region,

wherein the physical device comprises the wireless device.

15. The method of claim 1, wherein the region comprises an unstructured environment.

16. The method of claim 1, wherein the region comprises at least one selected from the group consisting of:

an office, an office building, a home, and a hospital.

17. The method of claim 1, wherein the region comprises an outdoor environment.

18. The method of claim 1, wherein the mobile platform comprises at least one selected from the group consisting of:

a home cleaning device, a delivery platform, a self-driving vehicle, and an autonomous monitoring device.

19. A system comprising:

a processor; and

a non-transitory, computer-readable medium in communication with the processor and storing instructions that, when executed by the processor, cause the processor to perform operations comprising;

receiving, by a computing device from a mobile platform that is remote from the computing device, a first spatial data in a region,

wherein the mobile platform is configured to navigate the region autonomous from human assistance based on a spatial data obtained from a physical environment sensor of the mobile platform;

receiving, by the computing device from the mobile platform, a first signal strength data for a wireless device in the region;

determining, by the computing device, a first location of the wireless device based on the first signal strength data;

generating, by the computing device, a map indicating a location of the wireless device in the region based on the first spatial data and the first location of the wireless device.

20. A non-transitory, computer-readable medium storing instructions that, when executed by a processor, cause the processor to perform operations comprising:

receiving, by a computing device from a mobile platform that is remote from the computing device, a first spatial data in a region,

wherein the mobile platform is configured to navigate the region autonomous from human assistance based on a spatial data obtained from a physical environment sensor of the mobile platform;

receiving, by the computing device from the mobile platform, a first signal strength data for a wireless device in the region;

determining, by the computing device, a first location of the wireless device based on the first signal strength data;

generating, by the computing device, a map indicating a location of the wireless device in the region based on the first spatial data and the first location of the wireless device.