Robotic cleaning device

  • US 10,209,080 B2
  • Filed: 12/19/2013
  • Issued: 02/19/2019
  • Est. Priority Date: 12/19/2013
  • Status: Active Grant
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First Claim
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1. A robotic cleaning device comprising:

  • a body,a single obstacle detecting device configured to obtain 3-dimensional (3D) data from a vicinity of the robotic cleaning device;

    a propulsion system configured to drive the robotic cleaning device across a surface to be cleaned;

    a cleaning member; and

    a processing unit arranged to;

    create or update a 3D map of surroundings of the robotic cleaning device by;

    determining, from the 3D data, a 3D shape of an object, and extracting and attaining at least one feature from the 3D shape obtained by the obstacle detection device at a first location of the robotic cleaning device, andstoring, in a database, the at least one feature from the 3D shape with other stored features of the 3D data obtained by the obstacle detection device at other locations of the robotic cleaning device as part of the 3D map,deduce a position of the robotic cleaning device within the 3D map by;

    comparing the at least one attained feature with one or more predetermined features from the database, andwhen the at least one attained feature matches one of the one or more predetermined features, deduce the position of the robotic cleaning device in the 3D map and controlling the robotic cleaning device to navigate using the 3D map based on the deduced position.

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