Method for detecting a measurement error in a robotic cleaning device

  • US 10,518,416 B2
  • Filed: 12/17/2014
  • Issued: 12/31/2019
  • Est. Priority Date: 07/10/2014
  • Status: Active Grant
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First Claim
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1. A method for detecting measurement errors in an obstacle detecting device of a robotic cleaning device, the method comprising:

  • estimating an estimated distance to a landmark by illuminating the landmark with structured light and extracting information from reflections of the structured light;

    moving into contact with the landmark while dead reckoning an actual distance to the landmark;

    comparing the actual distance with the estimated distance to determine a measurement error in the obstacle detecting device; and

    determining whether a vibration sensor detects a vibration above a vibration threshold and/or temperature sensor detects a temperature above or below a temperature threshold, and performing one or more of the estimating, moving and comparing steps if the vibration is above the vibration threshold and/or if the temperature is above or below the temperature threshold.

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