Robot vacuum with internal mapping system

1. A method of operating a robot cleaner comprising:

(a) generating an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells;

(b) generating a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map;

(c) causing the robot cleaner to travel on a surface along a travel path from one subgrid to another subgrid in a spiral;

(d) during the traveling in each subgrid:

(i) gathering data corresponding to each traveled cell and each non-traveled cell of the subgrid;

(ii) at least partially cleaning the traveled cells of the subgrid; and

(iii) storing status data for each cell in the subgrid map;

(e) determining which part of the subgrid map has a highest density of uncleaned cells;

(f) using the subgrid map to calculate a travel path to the part of the subgrid that has a highest density of uncleaned cells;

(g) using the subgrid map to determine if the travel path is free from obstructions; and

(h) if path is obstructed, rotating the travel path by a predetermined number of degrees and repeating steps (f)-(g); and

(i) if path is not obstructed, repeating steps (c)-(h).

2. The method of claim 1 , wherein each subgrid is cleaned in a serpentine clean.

3. The method of claim 1 , wherein generating an internal map comprises generating the internal map using dead reckoning.

4. The method of claim 1 ,wherein wherein status data includes at least cleaned, uncleaned or obstruction.

5. The method of claim 1 , wherein a width of a cell corresponds to portion of effective cleaning unit width of the robot cleaner.

6. The method of claim 1 , wherein a cell can be set cleaned with a single straight line path segment of robot cleaner.

7. The method of claim 1 , wherein the internal map is a room map.

8. The method of claim 1 , wherein generating an internal map comprises selecting subgrid sizes and generating a subgrid map comprises selecting cell sizes.

9. The method of claim 1 , wherein information in the subgrid map is cleared after the subgrid is cleaned.

10. The method of claim 1 , wherein a new subgrid map is prepared for a next subgrid being cleaned.

11. A robot cleaner comprising:

a body including a cleaning unit;

at least one wheel coupled to the body;

at least one motor operatively coupled to the at least one wheel;

at least one processor operatively coupled to the at least one motor;

at least one input device operatively coupled to the at least one processor;

at least one sensor operatively coupled to the at least one processor; and

at least one memory device storing a plurality of instructions which are executable by the at least one processor to:

(a) generate an internal map of an area comprising a plurality of subgrids, each subgrid comprising a plurality of cells;

(b) generate a subgrid map for each subgrid of the internal map, wherein the subgrid map has a higher resolution than resolution of the internal map:,

(c) cause the at least one wheel to move thereby causing the body to travel on a surface along a travel path from one subgrid to another subgrid in a spiral;

(d) during the traveling in each subgrid:

(i) gather data corresponding to each traveled cell and each non-traveled cell of the subgrid;

(ii) at least partially clean the traveled cells of the subgrid; and

(iii) store status data for each cell in the subgrid map;

(e) determine which part of the subgrid map has a highest density of uncleaned cells;

(f) use the subgrid map to calculate a travel path to the part of the subgrid map that has a highest density of uncleaned cells;

(g) use the subgrid map to determine if the travel path is free from obstructions; and

(h) if a path is obstructed, rotate the travel path by a predetermined number of degrees and repeating steps (f)-(g); and

(i) if a path is not obstructed, repeat steps (c)-(h).

12. The robot cleaner of claim 11 , wherein each subgrid is cleaned in a serpentine clean.

13. The robot cleaner of claim 11 , wherein generating an internal map comprises generating the internal map using dead reckoning.

14. The robot cleaner of claim 11 , wherein status data includes at least cleaned, uncleaned or obstruction.

15. The robot cleaner of claim 11 , wherein a width of a cell corresponds to a portion of effective cleaning unit width of the robot cleaner.

16. The robot cleaner of claim 11 , wherein a cell can be set cleaned with a single straight line path segment of the robot cleaner.

17. The robot cleaner of claim 11 , wherein the internal map is a room map.

18. The robot cleaner of claim 11 , wherein generating an internal map comprises selecting subgrid sizes and generating a subgrid map comprises selecting cell sizes.

19. The robot cleaner of claim 11 , wherein information in the subgrid map is cleared after the subgrid is cleaned.

20. The robot cleaner of claim 11 , wherein a new subgrid map is prepared for a next subgrid being cleaned.