Robot vacuum with internal mapping system

  • US 7,805,220 B2
  • Filed: 03/11/2004
  • Issued: 09/28/2010
  • Est. Priority Date: 03/14/2003
  • Status: Expired due to Fees
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First Claim
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1. A method of operating a robot cleaner comprising:

  • (a) generating an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells;

    (b) generating a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map;

    (c) causing the robot cleaner to travel on a surface along a travel path from one subgrid to another subgrid in a spiral;

    (d) during the traveling in each subgrid;

    (i) gathering data corresponding to each traveled cell and each non-traveled cell of the subgrid;

    (ii) at least partially cleaning the traveled cells of the subgrid; and

    (iii) storing status data for each cell in the subgrid map;

    (e) determining which part of the subgrid map has a highest density of uncleaned cells;

    (f) using the subgrid map to calculate a travel path to the part of the subgrid that has a highest density of uncleaned cells;

    (g) using the subgrid map to determine if the travel path is free from obstructions; and

    (h) if path is obstructed, rotating the travel path by a predetermined number of degrees and repeating steps (f)-(g); and

    (i) if path is not obstructed, repeating steps (c)-(h).

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