Prioritizing cleaning areas

• US 9,946,263 B2
• Filed: 12/19/2013
• Issued: 04/17/2018
• Est. Priority Date: 12/19/2013
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Lindh, Magnus, Forsberg, Petter
• Primary Examiner(s): Paige, Tyler
• Application Number:
  US15/102,015
• Publication Number:
  US 20160313741A1
• Time in Patent Office: 1,580 Days
• Field of Search: 701 28
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method of controlling operation of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device includes a main body, a propulsion system arranged to move the robotic cleaning device, and an obstacle detection device arranged to detect obstacles. The robotic cleaning device further includes a controller arranged to control the propulsion system to move the robotic cleaning device. The controller is further arranged to identify one or more sections to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles, and to control movement of the robotic cleaning device such that cleaning of the identified one or more sections is prioritized before sections of the surface where the robotic cleaning device is more likely to be hindered by the detected obstacles.

Claims

1. A method of controlling operation of a robotic cleaning device, the method comprising:

detecting obstacles on a surface;

identifying a first section of the surface to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles;

identifying a second section of the surface where the robotic cleaning device is more likely to be hindered by the detected obstacles;

designating the first section as a priority for cleaning; and

based on the designated priority, controlling movement of the robotic cleaning device to clean the first section and then clean the second section after the first section is cleaned.

2. The method according to claim 1, further comprising:

positioning the robotic cleaning device with respect to the detected obstacles;

wherein the controlling of the movement of the robotic cleaning device is performed on the basis of the positioning.

3. The method according to claim 1, wherein the first section includes a fewer number of obstacles than the second section.

4. The method according to claim 1, wherein the first section includes obstacles having a height below a predetermined threshold value.

5. The method according to claim 1, further comprising:

identifying one or more sections that the robotic cleaning device will abstain from cleaning.

6. The method according to claim 1, wherein the first section includes obstacles under which the robotic cleaning device is to move having a clearance height exceeding a predetermined clearance threshold value.

7. Robotic cleaning device comprising:

a main body;

a propulsion system arranged to move the robotic cleaning device;

an obstacle detection device arranged to detect obstacles;

a controller arranged to control the propulsion system to move the robotic cleaning device, the controller further being arranged to;

identify a first section where the robotic cleaning device is likely to move without being hindered by the detected obstacles;

identify a second section where the robotic cleaning device is more likely to be hindered by the detected obstacles;

designate the first section as a priority for cleaning; and

based on the designated priority, control movement of the robotic cleaning device to clean the first section and then clean the second section after the first section is cleaned.

8. The robotic cleaning device according to claim 7, the controller further being arranged to:

position the robotic cleaning device with respect to the detected obstacles from positional data derived from the obstacle detection device, wherein the controlling of the movement of the robotic cleaning device is performed on the basis of the positioning.

9. The robotic cleaning device according to claim 7, wherein the obstacle detection device comprises a 3D sensor system.

10. The robotic cleaning device according to claim 9, wherein the 3D sensor system comprises:

a camera device arranged to record images of a vicinity of the robotic cleaning device; and

a first vertical line laser and a second vertical line laser arranged to illuminate the vicinity of the robotic cleaning device;

the controller further being arranged to derive the positional data from the recorded images.

11. The robotic cleaning device according to claim 7, wherein the first section includes a fewer number of obstacles than the second section.

12. The robotic cleaning device according to claim 7, wherein the first section includes obstacles having a height below a predetermined threshold value.

13. The robotic cleaning device according to claim 7, the controller further being arranged to:

identify one or more sections that the robotic cleaning device will abstain from cleaning.

14. The robotic cleaning device according to claim 7, wherein the first section includes obstacles under which the robotic cleaning device is to move having a clearance height exceeding a predetermined clearance threshold value.