Methods and systems for automated robotic movement
AssigneeBobsweep USA
InventorAli Ebrahimi Afrouzi
Life of this patent
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Abstract
Provided is a method for determining a coverage path of a robotic device, including: capturing, with a sensor, spatial data of the environment; detecting, with a processor, at least one obstacle within the environment based on the spatial data; determining, with the processor, a first working zone within the environment; determining, with the processor, a coverage path within the first working zone that accounts for at least one of the obstacles detected within the first working zone; actuating, with the processor, a robotic device to drive along the coverage path within the first working zone; and wherein the processor determines an adapted coverage path when a new obstacle is detected and wherein the processor actuates the robotic device to drive along the adapted coverage path.
Claims20
A method for a robotic device to cover a work surface comprising:
- performing cleaning as the robot covers the work surface;
- capturing, with a sensor disposed on the robotic device, data of an environment of the robotic device;
- detecting, with a processor of the robotic device, at least one obstacle present on the work surface based on the data;
- accounting for at least one of the obstacles detected in a path to cover the work surface, wherein:
- the direction in which the robotic device drives alternates upon rotating when reaching a terminal end of a first line of the path, arriving at an obstacle or a wall, and beginning to drive along an adjacent second line of the path after rotation, wherein the drive direction along the second line is opposite to the drive direction along the first line;
- and
- the adjacent lines of the path are at a maximum distance of a width of a brush of the robotic device and a minimum distance determined based on at least a desired amount of overlap in coverage by the robotic device;
- and
- actuating, with the processor, the robotic device to drive along in the workspace to complete coverage, wherein:
- the processor instructs the robot to take an adapted path when a new obstacle is detected;
- and
- the processor actuates the robotic device to drive along the adapted path to cover the remainder of the work surface.
A robotic device, comprising:
- a chassis;
- a set of wheels coupled to the chassis;
- at least one electric motor for rotating the set of wheels;
- at least one tool for performing work coupled to the chassis;
- a processor electronically coupled to a plurality of sensors;
- and
- a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
- performing cleaning as the robot covers the work surface;
- capturing, with a sensor disposed on the robotic device, data of an environment of the robotic device;
- detecting, with a processor of the robotic device, at least one obstacle present on the work surface based on the data;
- accounting for at least one of the obstacles detected in a path to cover the work surface, wherein:
- the direction in which the robotic device drives alternates upon rotating when reaching a terminal end of a first line of the path, arriving at an obstacle or a wall, and beginning to drive along an adjacent second line of the path after rotation, wherein the drive direction along the second line is opposite to the drive direction along the first line;
- and
- the adjacent lines of the path are at a maximum distance of a width of a brush of the robotic device and a minimum distance determined based on at least a desired amount of overlap in coverage by the robotic device;
- and
- actuating, with the processor, the robotic device to drive along in the workspace to complete coverage, wherein:
- the processor instructs the robot to take an adapted path when a new obstacle is detected;
- and
- the processor actuates the robotic device to drive along the adapted path to cover the remainder of the work surface.
A tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robotic device effectuates operations comprising:
- performing cleaning as the robot covers the work surface;
- capturing, with a sensor disposed on the robotic device, data of an environment of the robotic device;
- detecting, with a processor of the robotic device, at least one obstacle present on the work surface based on the data;
- accounting for at least one of the obstacles detected in a path to cover the work surface, wherein:
- the direction in which the robotic device drives alternates upon rotating when reaching a terminal end of a first line of the path, arriving at an obstacle or a wall, and beginning to drive along an adjacent second line of the path after rotation, wherein the drive direction along the second line is opposite to the drive direction along the first line;
- and
- the adjacent lines of the path are at a maximum distance of a width of a brush of the robotic device and a minimum distance determined based on at least a desired amount of overlap in coverage by the robotic device;
- and
- actuating, with the processor, the robotic device to drive along in the workspace to complete coverage, wherein:
- the processor instructs the robot to take an adapted path when a new obstacle is detected;
- and
- the processor actuates the robotic device to drive along the adapted path to cover the remainder of the work surface.
Dependencies are inferred from the claim text.