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

• US 7,251,548 B2
• Filed: 08/02/2002
• Issued: 07/31/2007
• Est. Priority Date: 08/03/2001
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Herz, Torsten, Fiegert, Michael
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): Behncke, Christine M.
• Application Number:
  US10/485,557
• Publication Number:
  US 20040210359A1
• Time in Patent Office: 1,824 Days
• Field of Search: 701/23, 701/26, 701/25, 701/27, 701/28, 701/202, 701/206, 701/210, 701/211, 701/301, 700/245, 700/253, 700/255, 340/435, 340/436, 340/995.21, 153/19, 318/568.11, 318/568.12
• US Class Current: 701/23
• 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. 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.

2. A method according to claim 1, wherein said determining the first path point employs further criteria.

3. A method according to claim 2, wherein one of the further criteria is a cinematic criterion taking into consideration a cinematic characteristic of the autonomous mobile unit.

4. A method according to claim 2, 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.

5. A method according to claim 4, wherein the extension sub-section includes at least one further sub-section of the predefined path.

6. A method according to claim 5, wherein the extension sub-section is formed primarily of sub-sections of the predefined path.

7. A method according to claim 6, wherein the second path point is identical to the first path point.

8. A method according to claim 6, wherein the second path point is situated on the predefined path after the first path point.

9. A method according to claim 8, 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.

10. A method according to claim 9, wherein the autonomous mobile unit is a cleaning robot.

11. A method according to claim 10 wherein the cleaning robot cleans the predefined path.

12. 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.

13. A system according to claim 12, wherein said path programming unit is a computer processor.

14. A system according to claim 13, wherein said obstacle detection unit includes the computer processor and an obstacle detection device.

15. 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.