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

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Lindhe, Magnus, Haegermarck, Anders, Forsberg, Petter
• Primary Examiner(s): Tissot, Adam D
• Assistant Examiner(s): Pipala, Edward J
• Application Number:
  US15/101,235
• Publication Number:
  US 20160302639A1
• Time in Patent Office: 2,308 Days
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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 robotic cleaning device having a main body, a propulsion system configured to move the device across a surface and an obstacle detecting device configured to detect obstacles. The device further includes a processing unit configured to position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data, and further to control the propulsion system to move the robotic cleaning device across the surface. The processing unit is configured to identify a landmark and its position from the obstacle detecting device output data, to derive at least one characteristic from the landmark to create and store a generated landmark signature. The processing unit is also configured to compare the generated landmark signature with predetermined landmark signatures and to determine whether the generated landmark signature matches one of the predetermined landmark signatures or not and operate the robotic cleaning device based on the determination.

Claims

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, and

a 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.

2. The method according to claim 1, wherein the obstacle detecting device output data is in the form of an image recorded by a camera device.

3. The method according to claim 1, wherein the landmark signature is based on a three dimensional (3D) characteristic of the landmark.

4. The method according to claim 1, wherein the operating step includes navigating the robotic cleaning device on the basis of the determination.

5. The method according to claim 1, further comprising the step of positioning and storing the generated landmark signature in a map, based on the current position of the robotic cleaning device.

6. The method according to claim 1, further comprising the step of deriving information relating to a 3D surface shape of the landmark.

7. The method according to claim 1, wherein the physical characteristics include at least one of a height of the landmark, a width of the landmark, a length of the landmark, a depth of the landmark, a midpoint of the landmark, or an orientation of a surface of the landmark.

8. The method according to claim 1, wherein the physical characteristics are determined based on a plurality of recordings by the obstacle detecting device, the plurality of recordings recorded at different angles with respect to the landmark as the robotic cleaning device is operated.

9. A robotic cleaning device comprising:

a main body;

a propulsion system configured to move the robotic cleaning device across a surface of interest;

an obstacle detecting device configured to detect objects;

a processing unit configured to;

position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data and further to control the propulsion system to move the robotic cleaning device across the surface of interest, identify an object as a landmark and its position from the obstacle detecting device output data, to derive a plurality of physical characteristics from 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, and

a direction of a surface normal of the landmark,

create and store a generated landmark signature by combining at least two of the physical characteristics of the landmark, the landmark signature being different than the landmark,

compare the generated landmark signature with predetermined landmark signatures,

determine, whether the generated landmark signature matches one of the predetermined landmark signatures or not, and

operate the robotic cleaning device on the basis of the determination.

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

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

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

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

the processing unit further being configured to derive positional data from the recorded images.

12. The robotic cleaning device according to claim 11, wherein the processing unit is configured to derive information from the recorded image relating to a 3D surface shape of the landmark.

13. The robotic cleaning device according to claim 9, wherein the predetermined and generated landmark signatures comprise a three dimensional (3D) characteristic of the respective landmark.

14. The robotic cleaning device according to claim 9, wherein the operation includes navigation of the robotic cleaning device by the processing unit.