# US 10,368,711 B1 · Method for developing navigation plan in a robotic floor-cleaning device

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- Number: US 10,368,711 B1
- Document ID: US10368711B1
- Status: Granted
- Kind: B1
- Application number: 15/449,531
- Filed: 2017-03-03
- Granted: 2019-08-06
- Earliest claimed: 2016-03-03
- Assignees: AI Incorporated
- Applicants: Ali Ebrahimi Afrouzi
- Inventors: Ali Ebrahimi Afrouzi
- Web page: https://patentgrep.com/patent/US10368711B1

## CPC

- A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor}
- A47L 11/4061: {Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated}
- A47L 11/4066: {Propulsion of the whole machine}
- B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 11/0085: {Cleaning}
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/0016: {characterised by the operator's input device (input arrangements for computing systems in general G06F3/00)}
- G05D 1/0219: {ensuring the processing of the whole working surface}
- G05D 1/6484: {by taking into account parameters or characteristics of the working area or space, e.g. size or shape}
- A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A path planning method for a robotic floor-cleaning device in which a user's commands are repeated autonomously by the robotic floor-cleaning device at a later time.

## Claims

### Claim 1

A path planning method for a robotic floor-cleaning device comprising:
in a first step, receiving by a robotic floor-cleaning device a sequence of one or more commands from a user via an input device;
in a second step, executing the sequence of commands;
in a third step, saving the sequence of commands in a memory unit after a predetermined amount of time from receiving a most recent command; and,
in a fourth step, re-executing the sequence of commands.

### Claim 2 (depends on 1)

The path planning method of claim 1, wherein the fourth step is only carried out if a prompt is accepted by a user via the input device.

### Claim 3 (depends on 1)

The path planning method of claim 1 further comprising associating the sequence of commands with a location at which the robotic floor-cleaning device was located when the sequence was received and carrying out the fourth step when the robotic floor-cleaning device is at that location anew.

### Claim 4 (depends on 1)

The path planning method of claim 1 wherein the input device is any of a remote control, a user interface on the robotic floor-cleaning device, a software interface on a computer, a software interface on a smartphone, and a software interface on a tablet.

### Claim 5

A method for navigating a robotic floor-cleaning device comprising:
in a first step, receiving by a robotic floor-cleaning device a sequence of one or more navigation commands from a user via an input device;
in a second step, executing the sequence of navigation commands;
in a third step, saving the sequence of navigation commands in a memory unit after a predetermined amount of time from receiving a most recent command; and,
in a fourth step, re-executing the sequence of navigation commands.

### Claim 6 (depends on 5)

The navigation method of claim 5, wherein the fourth step is only carried out if a prompt is accepted by a user via the input device.

### Claim 7 (depends on 5)

The navigation method of claim 5 further comprising associating the sequence of navigation commands with a location at which the robotic floor-cleaning device was located when the sequence was received and carrying out the fourth step when the robotic floor-cleaning device is at that location anew.

### Claim 8 (depends on 5)

The navigation method of claim 5 wherein the input device is any of a remote control, a user interface on the robotic floor-cleaning device, a software interface on a computer, a software interface on a smartphone, and a software interface on a tablet.