A tidying robotic system comprising:
- a robot including:
- a chassis;
- a robot vacuum system including a vacuum generating assembly and a dirt collector;
- a capture and containment system including:
- a scoop;
- a scoop motor configured to rotate the scoop into different positions at a scoop pivot point;
- a scoop arm;
- a scoop arm motor configured to rotate the scoop arm into different positions around a scoop arm pivot point;
- a scoop arm linear actuator configured to extend the scoop arm;
- pusher pads including a first pusher pad and a second pusher pad;
- a first pusher pad motor configured to rotate the first pusher pad around a first pad pivot point;
- a second pusher pad motor configured to rotate the second pusher pad around a second pad pivot point;
- pusher pad arms including a first pusher pad arm and a second pusher pad arm;
- a first pusher pad arm motor and a second pusher pad arm motor configured to rotate the respective first pusher pad arm and second pusher pad arm around pad arm pivot points;
- a first pusher pad arm linear actuator and a second pusher pad arm linear actuator configured to extend and retract the respective first pusher pad arm and second pusher pad arm;
- a gripper arm;
- a gripper arm motor configured to move the gripper arm around a gripper pivot point;
- and
- a gripper arm linear actuator configured to extend and retract the gripper arm;
- a lifting column configured to raise and lower the capture and containment system through extension and retraction of a lifting column linear actuator;
- a robot charge connector;
- at least one of at least one wheel and at least one track for mobility of the robot;
- a battery;
- a processor;
- and
- a memory storing instructions that, when executed by the processor, allow operation and control of the robot;
- a base station with a base station charge connector configured to couple with the robot charge connector;
- a robotic control system in at least one of the robot and a cloud server;
- and logic, to:
- receive a starting location, a target cleaning area, attributes of the target cleaning area, and obstructions in a path of the robot navigating in the target cleaning area;
- determine a tidying strategy including a vacuuming strategy and an obstruction handling strategy;
- execute the tidying strategy to at least one of vacuum the target cleaning area, move an obstruction, and avoid the obstruction, wherein the obstruction includes at least one of a tidyable object and movable object;
- on condition the obstruction is able to be picked up:
- determine a pickup strategy and execute the pickup strategy;
- capture the obstruction with the pusher pads;
- and
- place the obstruction in the scoop;
- on condition the obstruction is able to be relocated but is not able to be picked up:
- push the obstruction to a different location using at least one of the pusher pads, the scoop, and the chassis;
- and
- on condition the obstruction is not able to be relocated and is not able to be picked up:
- avoid the obstruction by altering the path of the robot around the obstruction;
- and
- determine if the dirt collector is full;
- on condition the dirt collector is full:
- navigate to the base station;
- and
- on condition the dirt collector is not full:
- continue executing the tidying strategy.