Method and system for robotic surface coverage
First Claim
1. A method for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station, the method comprisingcreating a polar map of the workspace defined by a plurality of cells;
- causing the base station to create a policy by dividing the workspace into a plurality of zones, the plurality of zones each defined by a portion of the plurality of cells and byordering the plurality of zones for surface coverage by the robotic device;
selecting a zone of the plurality of zones for surface coverage by the robotic device;
creating a cell matrix of the portion of plurality of cells representing the selected zone;
assigning the selected zone to the robotic device;
covering the selected zone by the robotic device;
reporting an actual zone coverage to the base station;
updating a coverage matrix corresponding to the cell matrix of the selected zone to indicate surface coverage by the robotic device; and
calculating a penalty based, at least in part, on a computed difference between the selected zone surface coverage and the actual zone coverage.
0 Assignments
0 Petitions
Accused Products
Abstract
Methods for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station are presented, the methods including: creating a polar map of the workspace defined by a number of cells; creating a policy by dividing the workspace into a number of zones each defined by a portion of the number of cells and by ordering the number of zones for surface coverage; selecting a zone of the number of zones for surface coverage by the robotic device; creating a cell matrix of the portion of number of cells representing the selected zone; assigning the selected zone to the robotic device; covering the selected zone by the robotic device; reporting an actual zone coverage to the base station; updating a coverage matrix corresponding with the cell matrix of the selected zone to indicate coverage; and calculating a penalty.
-
Citations
20 Claims
-
1. A method for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station, the method comprising
creating a polar map of the workspace defined by a plurality of cells; -
causing the base station to create a policy by dividing the workspace into a plurality of zones, the plurality of zones each defined by a portion of the plurality of cells and by ordering the plurality of zones for surface coverage by the robotic device; selecting a zone of the plurality of zones for surface coverage by the robotic device; creating a cell matrix of the portion of plurality of cells representing the selected zone; assigning the selected zone to the robotic device; covering the selected zone by the robotic device; reporting an actual zone coverage to the base station; updating a coverage matrix corresponding to the cell matrix of the selected zone to indicate surface coverage by the robotic device; and calculating a penalty based, at least in part, on a computed difference between the selected zone surface coverage and the actual zone coverage. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A system for minimizing redundancy of surface coverage of a workspace comprising:
-
a robotic device; and a base station, wherein the base station is configured to; create a polar map of the workspace defined by a plurality of cells, create a policy by dividing the workspace into a plurality of zones, the plurality of zones each defined by a portion of the plurality of cells and by ordering the plurality of zones for surface coverage by the robotic device, select a zone of the plurality of zones for surface coverage by the robotic device, create a cell matrix of the portion of plurality of cells representing the selected zone, assign the selected zone to the robotic device, update a coverage matrix corresponding to the cell matrix of the selected zone to indicate surface coverage by the robotic device, and calculate a penalty based, at least in part, on a computed difference between the selected zone surface coverage and an actual zone coverage, and wherein the robotic device is configured to; cover the selected zone by the robotic device, and report the actual zone coverage to the base station. - View Dependent Claims (15, 16, 17, 18)
-
-
19. A computing device program product for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station, the computing device program product comprising:
-
a non-transitory computer readable medium; first programmatic instructions for creating a polar map of the workspace defined by a plurality of cells; second programmatic instructions for causing the base station to create a policy by dividing the workspace into a plurality of zones, the plurality of zones each defined by a portion of the plurality of cells and by ordering the plurality of zones for surface coverage by the robotic device; third programmatic instructions for selecting a zone of the plurality of zones for surface coverage by the robotic device; fourth programmatic instructions for creating a cell matrix of the portion of plurality of cells representing the selected zone; fifth programmatic instructions for assigning the selected zone to the robotic device;
sixth programmatic instructions for covering the selected zone by the robotic device;
seventh programmatic instructions for reporting an actual zone coverage to the base station;eighth programmatic instructions for updating a coverage matrix corresponding to the cell matrix of the selected zone to indicate surface coverage by the robotic device; and ninth programmatic instructions for calculating a penalty based, at least in part, on a computed difference between the selected zone surface coverage and the actual zone coverage. - View Dependent Claims (20)
-
Specification