# US 12,007,785 B2 · Cleaning robot capable of obtaining map of indoor space and operating method thereof

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,007,785 B2
- Document ID: US12007785B2
- Status: Granted
- Kind: B2
- Application number: 17/570,855
- Filed: 2022-01-07
- Published: 2023-03-02
- Granted: 2024-06-11
- Earliest claimed: 2021-08-31
- Assignees: Samsung Electronics Co., Ltd.
- Applicants: Samsung Electronics Co., Ltd.
- Inventors: Junu Hong; Injoo Kim; Sukhoon Song; Kyongsu Kim; Hankyeol Kim; Dongmin Shin
- Web page: https://patentgrep.com/patent/US12007785B2

## CPC

- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- A47L 9/28: Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- G05D 1/02: Control of position or course in two dimensions
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0248: {in combination with a laser (lasers per se H01S)}
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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)

## Abstract

Provided are a cleaning robot for obtaining a map of an indoor space, and an operating method thereof. The cleaning robot may: search the indoor space at a first location of the cleaning robot by using at least one sensor; obtain a grid map including a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location; determine, as a travel destination, a first unsearched area among the at least one unsearched area based at least in part on a distance from the first location; obtain area information including at least one of geometry information, structure information, or obstacle information about the first unsearched area while moving the cleaning robot to the determined first unsearched area; and update the grid map by using the obtained area information.

## Claims

### Claim 1

A method, performed by a cleaning robot, of obtaining a map of an indoor space, the method comprising:
searching the indoor space at a first location of the cleaning robot by using at least one sensor of the cleaning robot;
obtaining a grid map comprising a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location;
detecting a first unsearched area from among the at least one unsearched area at a shortest distance from the first location;
detecting, by using an obstacle detection sensor, a plurality of obstacles around the first unsearched area;
determining, as a travel destination, based on a result of comparing a distance between the plurality of obstacles and a width of the cleaning robot, the first unsearched area among the at least one unsearched area;
obtaining area information comprising at least one of geometry information, structure information, or obstacle information about the first unsearched area while moving the cleaning robot from the first location to the first unsearched area;
updating the grid map by using the obtained area information; and
storing, in a memory of the cleaning robot, the updated grid map when the cleaning robot approaches a charging station within a preset threshold distance.

### Claim 2 (depends on 1)

The method of claim 1, wherein the determining of the first unsearched area as the travel destination comprises:
comparing a distance between a plurality of obstacles around a location of the first unsearched area with a width of the cleaning robot; and
determining the first unsearched area as the travel destination, when the distance between the obstacles is greater than the width of the cleaning robot based on a result of the comparing.

### Claim 3 (depends on 1)

The method of claim 1, further comprising determining a moving path for moving the cleaning robot from the first location to a location of the first unsearched area.

### Claim 4 (depends on 3)

The method of claim 3, further comprising:
obtaining information about at least one via point, which is passed through in moving the cleaning robot along the moving path; and
optimizing the moving path by merging or deleting the at least one via point based on a shortest distance between the first location and the location of the first unsearched area and location information of an obstacle adjacent to a line indicating the shortest distance.

### Claim 5 (depends on 1)

The method of claim 1, further comprising, after moving the cleaning robot to the first unsearched area, detecting, as a second travel destination, a second unsearched area among the at least one unsearched area included in the updated grid map by analyzing a surrounding area based on a location of the first unsearched area on the updated grid map.

### Claim 6 (depends on 1)

The method of claim 1, wherein the updating of the grid map comprises:
moving the cleaning robot to a second location, which is at one via point among a plurality of via points included in a moving path for moving the cleaning robot to a location of the first unsearched area;
updating the grid map based on information obtained while moving the cleaning robot to the second location; and
determining a second unsearched area as a second travel destination by analyzing a surrounding area based on the second location on the updated grid map.

### Claim 7 (depends on 1)

The method of claim 1, wherein the preset threshold distance comprises a distance at which the cleaning robot detects a docking signal of the charging station that initiates attempted docking of the cleaning robot.

### Claim 8

A cleaning robot for obtaining a map of an indoor space, the cleaning robot comprising:
a sensor module comprising at least one of a light detection and ranging sensor or an obstacle detection sensor;
a moving assembly configured to move the cleaning robot;
a memory which stores at least one instruction; and
at least one processor configured to execute the at least one instruction to
search the indoor space at a first location of the cleaning robot by using the sensor module,
obtain a grid map comprising a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location,
detect a first unsearched area from among the at least one unsearched area at a shortest distance from the first location,
detect, by using the obstacle detection sensor, a plurality of obstacles around the at least one unsearched area,
determine, as a travel destination, the first unsearched area among the at least one unsearched area based on a result of comparing a distance between the plurality of obstacles and a width of the cleaning robot,
control the moving assembly to move the cleaning robot toward the first unsearched area,
obtain area information comprising at least one of location information, structure information, or obstacle information about the first unsearched area,
update the grid map by using the obtained area information, and
store, in the memory of the cleaning robot, the updated grid map when the cleaning robot approaches a charging station within a preset threshold distance.

### Claim 9 (depends on 8)

The cleaning robot of claim 8, wherein the at least one processor is further configured to execute the at least one instruction to
compare a distance between a plurality of obstacles around a location of the first unsearched area with a width of the cleaning robot,
determine the first unsearched area as the travel destination, when the distance between the obstacles is greater than the width of the cleaning robot based on a result of the comparing, and
control the moving assembly to move the cleaning robot to the determined first travel destination.

### Claim 10 (depends on 8)

The cleaning robot of claim 8, wherein the at least one processor is further configured to execute the at least one instruction to determine a moving path for moving the cleaning robot from the first location to a location of the first unsearched area.

### Claim 11 (depends on 10)

The cleaning robot of claim 10, wherein the at least one processor is further configured to execute the at least one instruction to
obtain information about at least one via point, which is passed through in moving the cleaning robot along the moving path, and
optimize the moving path by merging or deleting the at least one via point based on a shortest distance between the first location and the location of the first unsearched area and location information of an obstacle adjacent to a line indicating the shortest distance.

### Claim 12 (depends on 8)

The cleaning robot of claim 8, wherein the at least one processor is further configured to execute the at least one instruction to, after moving the cleaning robot to the first unsearched area, detect a second unsearched area among the at least one unsearched area included in the updated grid map by analyzing a surrounding area based on a location of the first unsearched area on the updated grid map.

### Claim 13 (depends on 8)

The cleaning robot of claim 8, wherein the at least one processor is further configured to execute the at least one instruction to
control the moving assembly to move the cleaning robot to a second location, which is at one via point among a plurality of via points included in a moving path for moving the cleaning robot to a location of the first unsearched area,
update the grid map based on information obtained while moving the cleaning robot to the second location, and detect a second unsearched area by searching a surrounding area based on the second location on the updated grid map by using the sensor module.

### Claim 14 (depends on 8)

The cleaning robot of claim 8, wherein the preset threshold distance comprises a distance at which the cleaning robot detects a docking signal of the charging station that initiates attempted docking of the cleaning robot.

### Claim 15

A non-transitory computer program product comprising a computer-readable recording medium, the computer-readable recording medium comprising instructions which are readable by at least one processor of a cleaning robot to cause the cleaning robot to:
search an indoor space at a first location of the cleaning robot by using at least one sensor of the cleaning robot;
obtain a grid map comprising a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location;
detect a first unsearched area from among the at least one unsearched area at a shortest distance from the first location;
detect, by using an obstacle detection sensor, a plurality of obstacles around the at least one unsearched area;
determine, as a travel destination, based on a result of comparing a distance between the plurality of obstacles and a width of the cleaning robot, the first unsearched area among the at least one unsearched area;
obtain area information comprising at least one of geometry information, structure information, or obstacle information about the first unsearched area while moving the cleaning robot from the first location to the first unsearched area; and
update the grid map by using the obtained area information; and
store, in a memory of the cleaning robot, the updated grid map when the cleaning robot approaches a charging station within a preset threshold distance.

### Claim 16 (depends on 1)

The method of claim 1, wherein the detecting of the first unsearched area comprises detecting the first unsearched area by performing an analysis using a breadth-first search scheme in four directions or eight directions based on the first location on the grid map.

### Claim 17 (depends on 15)

The computer program product of claim 15, wherein the preset threshold distance comprises a distance at which the cleaning robot detects a docking signal of the charging station that initiates attempted docking of the cleaning robot.

### Claim 18 (depends on 1)

The method of claim 1, further comprising:
dividing the updated grid map into a plurality of areas; and
assigning identification information about the plurality of areas based on at least one of a type of an object recognized in the plurality of areas or dimensions of the plurality of areas.

### Claim 19 (depends on 8)

The cleaning robot of claim 8, wherein the at least one processor is further configured to execute the at least one instruction to
control the sensor module to perform an analysis using a breadth-first search scheme in four directions or eight directions based on the first location, and
detect the first unsearched area which has not been searched by the sensor module.