Experience-based roadmap for a robotic cleaning device

  • US 10,534,367 B2
  • Filed: 12/16/2014
  • Issued: 01/14/2020
  • Est. Priority Date: 12/16/2014
  • Status: Active Grant
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First Claim
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1. A method of operating a robotic cleaning device over a surface to be cleaned, the method comprising:

  • autonomously driving over the surface and cleaning the surface, by the robotic cleaning device;

    during the autonomous driving, autonomously registering, by the robotic cleaning device, a plurality of roadmap nodes at intervals on the surface, each of the plurality of roadmap nodes comprising respective positional information;

    in response to autonomously driving directly from a previously registered roadmap node of the plurality of roadmap nodes to a currently registered roadmap node of the plurality of roadmap nodes, autonomously generating a roadmap link between the previously registered roadmap node and the currently registered roadmap node;

    compiling the plurality of roadmap nodes and a plurality of roadmap links into a roadmap graph; and

    using the roadmap graph to navigate the robotic cleaning device during a subsequent cleaning.

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