US 11,537,141 B2Granted

Robotic cleaning device with dynamic area coverage

AssigneeDiversey, Inc.

InventorsDavid M. Knuth, Jr., Aurle Y. Gagne, Erick Frack, Daniel M. Daly

Life of this patent

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Abstract

A system dynamically generates a cleaning coverage pattern of an area using waypoints and sensor data from one or more sensor modalities. To do this, a robotic cleaning device moves through an area to be cleaned, identifies consecutive waypoints through the area, and stores the waypoints in a memory. At least one sensor of the robotic cleaning device collects sensor data about a portion of the area as the device moves between the consecutive waypoints. A temporary map of the portion of the area between the consecutive waypoints is generated based on the collected sensor data, and a cleaning coverage pattern is generated using the temporary map. The area is then cleaned by moving the robotic cleaning device according to the cleaning coverage pattern. In certain embodiments, upon completing the cleaning, the consecutive waypoints are retained in the memory, while the temporary map may not be retained.

Claims14

Dependent claims

A method of dynamically generating a coverage pattern in an area to be cleaned by a robotic cleaning device, the method comprising:

moving a robotic cleaning device through the area to be cleaned;
by a processor, identifying a plurality of consecutive waypoints through the area to be cleaned;
by the processor, storing the consecutive waypoints in a memory;
by at least one sensor that is integral with the robotic cleaning device, collecting sensor data about a portion of the area as the robotic cleaning device moves between the consecutive waypoints;
by the processor, generating a temporary map of the portion of the area between the consecutive waypoints based on the collected sensor data;
by the processor, using the temporary map of the portion of the area between the consecutive waypoints to generate a cleaning coverage pattern;
cleaning the area by moving the robotic cleaning device throughout the portion of the area according to the cleaning coverage pattern;
and upon completing the cleaning, retaining the consecutive waypoints in the memory while not retaining the temporary map;
and
wherein identifying the consecutive waypoints comprises, by the processor:
identifying a plurality of locations in the area in which a direction of travel of the robotic cleaning device has changed by at least an angular threshold when the robotic cleaning device is moved through the area;
and
recording each of the identified locations as one of the consecutive waypoints.

10 more elements

A method of causing a robotic cleaning device to clean an area, the method comprising:

moving a robotic cleaning device through the area to be cleaned;
by a processor, identifying a first waypoint and a second waypoint in the area;
by the processor, storing the first waypoint and the second waypoint in a memory;
by the processor, causing the robotic cleaning device to move from the first waypoint to the second waypoint;
by at least one sensor that is integral with the robotic cleaning device, collecting sensor data about a first portion of the area as the robotic cleaning device moves from the first waypoint to the second waypoint;
by the processor, generating a temporary map of the first portion of the area based on the collected sensor data;
by the processor, using the temporary map to generate a cleaning coverage pattern for the first portion of the area;
by the processor, cleaning the first portion of the area by moving the robotic cleaning device according to the cleaning coverage pattern;
and
upon completing the cleaning of the first portion of the area, retaining the first waypoint and the second waypoint in the memory while not retaining the temporary map;
and
by the processor, identifying a third waypoint in the area to be cleaned;
by the processor, storing the third waypoint in the memory;
by the processor, determining whether a cleaning operation in the first portion of the area has been completed;
when the cleaning operation of the first portion of the area has been completed, by the processor, causing the robotic cleaning device to move from the second waypoint to the third waypoint;
by the at least one sensor that is integral with the robotic cleaning device, collecting additional sensor data about an additional portion of the area as the robotic cleaning device moves from the second waypoint and the third waypoint;
by the processor, generating an additional temporary map of the additional portion of the area based on the collected additional sensor data;
by the processor, using the additional temporary map of the additional portion of the area to generate an additional cleaning coverage pattern for the additional portion of the area;
by the processor, cleaning the additional portion of the area according to the additional cleaning coverage pattern;
and
upon completing the cleaning of the additional portion of the area, retaining the first waypoint, the second waypoint, and the third waypoint in the memory while not retaining the additional temporary map;
and
wherein identifying at least one of the first waypoint, the second waypoint, or the third waypoint comprises, by the processor:
recording a location in which a direction of travel of the robotic cleaning device has changed by more than an angular threshold when the robotic cleaning device is moved through the area.

21 more elements

A method of dynamically generating a coverage pattern in an area to be cleaned by a robotic cleaning device, the method comprising:

moving a robotic cleaning device through the area to be cleaned;
by a processor, identifying a plurality of consecutive waypoints through the area to be cleaned;
by the processor, storing the consecutive waypoints in a memory;
by at least one sensor that is integral with the robotic cleaning device, collecting sensor data about a portion of the area as the robotic cleaning device moves between the consecutive waypoints;
by the processor, generating a map of the portion of the area between the consecutive waypoints based on the collected sensor data;
by the processor, storing the map in the memory;
by the processor, using the map of the portion of the area between the consecutive waypoints to generate a cleaning coverage pattern;
and
storing the cleaning coverage pattern in the memory;
and
wherein identifying the consecutive waypoints comprises, by the processor:
identifying a plurality of locations in the area in which a direction of travel of the robotic cleaning device has changed by more than an angular threshold when the robotic cleaning device is moved through the area;
and recording each of the identified locations as one of the consecutive waypoints.

10 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/720,457Filed 19 Dec 2019
Published: US 2021/0191422 A124 Jun 2021
Granted: 27 Dec 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

G05D 1/0274
Using internal positioning means: using mapping information stored in a memory device
G05D 1/0219
With means for defining a desired trajectory: ensuring the processing of the whole working surface
G05D 1/0221
With means for defining a desired trajectory: involving a learning process
G05D 1/0234
Using optical position detecting means: using optical markers or beacons