Robotic cleaning device and method for landmark recognition

  • US 10,617,271 B2
  • Filed: 12/19/2013
  • Issued: 04/14/2020
  • Est. Priority Date: 12/19/2013
  • Status: Active Grant
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First Claim
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1. A method of operating a robotic cleaning device comprising the steps of:

  • recording, by a processor of the robotic cleaning device, output data from a sensor of the robot for detecting an object in a vicinity of the robotic cleaning device;

    identifying, by the processor of the robotic cleaning device, the object as a landmark and its position from the output data and deriving information from the landmark;

    generating, by the processor of the robotic cleaning device, a landmark signature by combining a plurality of physical characteristics of the landmark, the landmark signature being different than the landmark,wherein the physical characteristics of the landmark include coordinates and vectors of at least two of;

    a height of a lower portion of the landmark above the ground,a height of an upper portion of the landmark above the ground, anda direction of a surface normal of the landmark;

    storing, by a memory device of the robotic cleaning device, the generated landmark signature;

    comparing, by the processor of the robotic cleaning device, the generated landmark signature with predetermined landmark signatures;

    determining, by the processor of the robotic cleaning device, whether the generated landmark signature matches one of the predetermined landmark signatures or not; and

    operating, by the processor of the robotic cleaning device, the robotic cleaning device on the basis of the determination.

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