Granted Patent B2

US 12,697,006 · App. 16/763,851 · Granted Aug 4, 2026

Inventors: Harold Artes (Linz, AT); David Conti (Linz, AT); Christoph Freudenthaler (Linz, AT); Dominik Seethaler (Linz, AT); Reinhard Vogel (Linz, AT)

Assignee: Papst Licensing GmbH & Co. KG

A47L9/281A47L9/2826G05D1/0219G05D1/0223G05D1/0238G05D1/0274A47L2201/06

Abstract

Claims (35)

1 . A method for controlling an autonomous mobile robot, comprising the following:

controlling the robot in a treatment mode for treating a floor surface with a floor treatment module of the robot;

detecting a dirt sensor signal representing the level of soiling of the floor surface by means of a dirt sensor arranged on the robot; and

modifying a speed of the robot during the treatment of the floor surface based on the dirt sensor signal,

wherein the robot, in the treatment mode, moves over the floor surface at a speed which is less than or equal to a maximum speed associated with the treatment mode, and

wherein modifying the speed of the robot is achieved by reducing the maximum speed and a current speed of the robot is only reduced if the current speed of the robot is greater than the reduced maximum speed.

2 . The method according to claim 1 , wherein the dirt sensor signal can assume a first state and a second state depending on the level of soiling of the floor surface.

3 . The method according to claim 2 , wherein the first state of the dirt sensor signal indicates a normal level of soiling and the second state of the dirt sensor signal indicates a high level of soiling.

4 . The method according to claim 2 , wherein the treatment mode is associated with a maximum speed of the robot, and

wherein the maximum speed depends on the state of the dirt sensor signal.

5 . The method according to claim 2 , wherein the speed of the robot is reduced from a first value to a second value in response to the second state of the dirt sensor signal.

6 . The method according to claim 5 , wherein the speed, after it has been reduced, is reset again to the first value according to at least one pre-definable criterion.

7 . The method according to claim 6 , wherein the at least one pre-definable criterion comprises at least one of the following: the dirt sensor signal resumes the first state; the dirt sensor signal resumes the first state and a pre-definable time has passed since then; the dirt sensor signal resumes the first state and the robot has moved a defined distance since then; a pre-definable time has passed since the reduction of the speed; the robot has moved a pre-definable distance since the reduction of the speed.

8 . The method according to claim 2 , wherein the robot stops in response to a change of the dirt sensor signal from the first to the second state.

9 . The method according to claim 8 , wherein the treatment mode is resumed in a normal direction of travel at reduced speed after a stop or reverse movement.

10 . The method according to claim 2 , wherein the robot moves in reverse in response to the change of the dirt sensor signal from the first to the second state.

11 . The method according to claim 10 , wherein the reverse movement is achieved by the fact that the robot moves backward in a straight line or along the most recently taken trajectory for a pre-definable distance and/or duration.

12 . The method according to claim 10 , wherein obstacles are taken into account during the reverse movement in such a manner that a collision is avoided.

13 . The method according to claim 10 , wherein the robot stores information regarding the location of obstacles in a map, and uses the information stored in the map to avoid collisions during reverse movements without using current sensor information regarding obstacles.

14 . The method according to claim 1 , wherein controlling the robot in a treatment mode comprises:

executing a path planning based on map information and the robot position according to a movement pattern associated with the treatment mode, an obstacle avoidance strategy associated with the treatment mode, and a strategy for re-treating previously untreated areas associated with the treatment mode; and

converting the planned path into drive commands.

15 . The method according to claim 1 , further comprising:

planning, by a navigation module of the robot, a path of the robot based on a stored map data.

16 . The method according to claim 15 , further comprising:

updating, by a control unit of the robot, a map of an application area of the robot during the operation of the robot by means of the navigation module.

17 . The method according to claim 15 , wherein the robot further comprises a control unit providing functions for navigating the robot in an application area, wherein the functions are provided by the navigation module.

18 . The method according to claim 1 , further comprising:

changing a direction of travel of the robot based on the dirt sensor signal.

19 . The method according to claim 18 , further comprising:

modifying a planned trajectory based on the dirt sensor signal.

20 . The method according to claim 18 , further comprising:

covering a floor area recognized as heavily soiled several times.

21 . The method according to claim 1 , wherein the speed, after it has been reduced, is reset again to its original value based on a pre-definable time or a pre-definable distance.

22 . The method according to claim 1 , wherein, when the dirt sensor indicates a high level of soiling, the robot backs up until the detected signal for the level of soiling is low or normal.

Assignments (3)

Priority Claims (1)

Continuity (1)

References Cited (389)