Methods and systems for automated robotic movement
First Claim
1. A method for automated robotic movement for a robotic device using an electronic computing device, the method comprising:
- in a first step, causing the electronic computing device to establish a portion of a work area as a working zone;
in a second step, measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone;
in a third step, establishing a coverage path that accounts for all detected obstacles, wherein establishing the coverage path that accounts for any detected obstacles further comprises;
calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured size with respect to the detected obstacles, and wherein executing the coverage path proceeds from a longest to a shortest of the plurality of straight lines;
in a fourth step, driving the robotic device along the coverage path such that the robotic device covers substantially all of the working zone at least once; and
,if a new obstacle is detected, in a fifth step, establishing an adapted coverage path that accounts for the new obstacle; and
driving the robotic device along the adapted coverage path.
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Abstract
Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.
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Citations
12 Claims
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1. A method for automated robotic movement for a robotic device using an electronic computing device, the method comprising:
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in a first step, causing the electronic computing device to establish a portion of a work area as a working zone; in a second step, measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; in a third step, establishing a coverage path that accounts for all detected obstacles, wherein establishing the coverage path that accounts for any detected obstacles further comprises;
calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured size with respect to the detected obstacles, and wherein executing the coverage path proceeds from a longest to a shortest of the plurality of straight lines;in a fourth step, driving the robotic device along the coverage path such that the robotic device covers substantially all of the working zone at least once; and
,if a new obstacle is detected, in a fifth step, establishing an adapted coverage path that accounts for the new obstacle; and
driving the robotic device along the adapted coverage path. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A computing device program product for automated robotic movement for a robotic device using an electronic computing device, the computing device program product comprising:
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a non-transitory computer readable medium; first programmatic instructions for causing the electronic computing device to establish a portion of a work area as a working zone; second programmatic instructions for measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; third programmatic instructions for establishing a coverage path that accounts for detected obstacles, wherein establishing the coverage path that accounts for any detected obstacles further comprises;
calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured size with respect to nearest measured obstacle, and wherein executing the coverage path proceeds from a longest to a shortest of the plurality of straight lines;fourth programmatic instructions for driving the robotic device along the coverage path such the robotic device covers substantially all of the working zone at least once; fifth programmatic instructions for detecting any new obstacles that have entered the coverage path and establishing an adapted coverage path that accounts for the new obstacles; and sixth programmatic instructions for driving the robotic device along the adapted coverage path wherein the programmatic instructions are stored on the non-transitory computer readable medium. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification