Granted Patent B2

US 12,625,500 · App. 18/215,064 · Granted May 12, 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

G05D1/2246G05D1/246G05D1/622G05D1/6484

Abstract

Claims (17)

1 . A method for controlling an autonomous mobile robot that autonomously navigates in an area of robot deployment using sensors and an electronic map, wherein the robot regularly determines its position on the map and wherein the map may contain at least one virtual exclusion region that the robot does not enter during navigation; the method comprising:

recognizing, while navigating over at least one portion of the area of robot deployment during a first deployment of the robot, a risk area in which the functioning of the robot is endangered or impaired;

automatically defining an exclusion region that encompasses the recognized risk area, the exclusion region comprising a border area and a core area;

saving the exclusion region in the map; and

navigating, in a subsequent deployment, outside a perimeter of the defined exclusion region to maintain a predetermined distance to the recognized risk area, whereby if the robot determines at least one portion of its position is within the border area of the exclusion region, the robot automatically exits the perimeter of the defined exclusion region.

2 . The method in accordance with claim 1 ,

wherein recognizing risk areas takes place during an exploratory run and/or a deployment when the robot compiles a map of the area of robot deployment that is also used for subsequent deployments of the robot.

3 . The method in accordance with claim 2 ,

wherein, during an exploratory run and/or a deployment, risk areas are detected by contact between the robot and the risk area.

4 . The method in accordance with claim 1 ,

wherein a risk area includes a ledge, an obstacle that the robot cannot contactlessly detect, a region in which a movement of the robot exhibits high wheel spin, or a combination thereof.

5 . The method in accordance with claim 1 ,

wherein recognizing risk areas comprises detecting risk areas using a floor detecting sensor, an optical sensor, a tactile sensor, or a combination thereof.

6 . The method in accordance with claim 1 ,

further comprising displaying the exclusion area on a human machine interface and receiving, by the human-machine interface, a user input, wherein, based on the user input, the exclusion region is saved in the map or not.

7 . The method in accordance with claim 1 ,

wherein saving the exclusion region in the map comprises saving the position of the exclusion area relative to a position of a known landmark of the area of robot deployment.

Assignments (3)

Priority Claims (2)

Continuity (2)

References Cited (366)