Programming of an extended path for an autonomous mobile unit for the subsequent traversing of path sections that are temporarily blocked

• US 20040210359A1
• Filed: 02/03/2004
• Published: 10/21/2004
• Est. Priority Date: 08/03/2001
• Status: Active Grant

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Fiegert, Michael, Herz, Torsten
• Granted Patent: US 7,251,548 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

When a sub-section of a predefined path temporarily cannot be traversed by an autonomous mobile unit, an extended path is found for subsequently traversing the temporarily blocked sub-section. A first path point of the predefined path is determined using at least one predefinable distance criterion, which takes into consideration the distance of the temporarily blocked sub-section from the first path point. An extension sub-section is determined which begins at the first path point, terminates at a second path point of the predefined path and encompasses at least the temporarily blocked sub-section. The extended path is programmed with the extension sub-section being integrated into the predefined path at the first path point.

Claims

1-15. -15. (cancelled)

16. A method for programming an extended path for an autonomous mobile unit, comprising:

determining an untraversible sub-section of a predefined path that cannot be traversed by the autonomous mobile unit;

determining a first path point of the predefined path using at least one predefinable distance criterion which takes into consideration a distance from the untraversible sub-section to the first path point;

determining an extension sub-section that begins at the first path point, terminates at a second path point of the predefined path, and encompasses at least the untraversible sub-section; and

programming the extended path by integrating the extension sub-section into the predefined path at the first path point.

17. A method according to claim 16, wherein said determining the first path point employs further criteria.

18. A method according to claim 17, wherein one of the further criteria is a cinematic criterion taking into consideration a cinematic characteristic of the autonomous mobile unit.

19. A method according to claim 17, wherein the further criteria includes at least one of a time criterion and a processing criterion taking into consideration at least one of a travel time and a travel route of the autonomous mobile unit.

20. A method according to claim 19, wherein the extension sub-section includes at least one further sub-section of the predefined path.

21. A method according to claim 20, wherein the extension sub-section is formed primarily of sub-sections of the predefined path.

22. A method according to claim 21, wherein the second path point is identical to the first path point.

23. A method according to claim 21, wherein the second path point is situated on the predefined path after the first path point.

24. A method according to claim 23, further comprising employing recursive path programming where the extended path, determined in a preceding iteration, is treated as the predefined path of a subsequent iteration.

25. A method according to claim 24, wherein the autonomous mobile unit is a cleaning robot.

26. A method according to claim 25 wherein the cleaning robot cleans the predefined path.

27. A system for programming an extended path for an autonomous mobile unit, comprising:

a blocked path unit determining an untraversible sub-section of a predefined path; and

a path programming unit, coupled to said blocked path unit, determining a first path point of the predefined path using at least one predefinable distance criterion which takes into consideration a distance from the untraversible sub-section to the first path point, an extension sub-section that begins at the first path point, terminates at a second path point of the predefined path, and encompasses at least the untraversible sub-section, said path programming unit programming the extended path by integrating the extension sub-section into the predefined path at the first path point.

28. A system according to claim 27, wherein said path programming unit is a computer processor.

29. A system according to claim 28, wherein said obstacle detection unit includes the computer processor and an obstacle detection device.

30. A computer-readable storage medium storing instructions to control a processor to execute a method for programming an extended path for an autonomous mobile unit:

, said method comprising;

determining an untraversible sub-section of a predefined path that cannot be traversed by the autonomous mobile unit;

determining a first path point of the predefined path using at least one predefinable distance criterion which takes into consideration a distance from the untraversible sub-section to the first path point;

determining an extension sub-section that begins at the first path point, terminates at a second path point of the predefined path, and encompasses at least the untraversible sub-section; and

programming the extended path by integrating the extension sub-section into the predefined path at the first path point.