IP Library › Granted Patent US 12,235,650
Granted Patent B2
US 12,235,650 · App. 18/231,966 · Granted Feb 25, 2025

Systems and methods for configurable operation of a robot based on area classification

Inventors: Alexander D. Kleiner (Pasadena, CA); Mario E. Munich (La Canada, CA)
Assignee: iRobot Corporation
G05D1/0219A47L9/0488A47L9/2852A47L9/2857A47L9/2894A47L11/4011G05D1/0016G05D1/0044G05D1/0274A47L2201/04Y10S901/01
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Quick Facts
Patent No.
US 12,235,650
App. No.
18/231,966
Granted
Feb 25, 2025
Kind
B2
Abstract

A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.

Claims (44)

1. A method of operating a mobile robot in an environment, the method comprising:

executing, by a processor of a mobile terminal, computer readable instructions stored in a non-transitory computer readable storage medium to perform operations comprising:

displaying, via a user interface of the mobile terminal, a segmentation map of the environment;

receiving cleaning mission information including a plurality of regions demarcated on the segmentation map scheduled to be cleaned by the mobile robot;

identifying cluttered areas and open areas free of clutter in the plurality of regions;

receiving respective cleaning modes for each of the plurality of regions, including distinct cleaning modes for the identified open areas and for the cluttered areas, the cleaning modes for the identified open areas including respective rank directions based on dimensionalities of respective identified open areas to reduce turns when the mobile robot cleans each of the identified open areas; and

controlling the mobile robot to clean the identified open areas in accordance with the respective cleaning modes.

2. The method of claim 1 , wherein the operation of receiving the cleaning mission information includes receiving, via the user interface of the mobile terminal, a user input that identifies the plurality of regions and a user input that specifies the respective cleaning modes.

3. The method of claim 1 , wherein the respective cleaning modes include respective cleaning levels for the mobile robot to make to clean each of the plurality of regions.

4. The method of claim 3 , wherein the respective cleaning levels include respective numbers of cleaning passes for each of the plurality of regions.

5. The method of claim 4 , wherein the respective cleaning levels include a first number of cleaning passes for the mobile robot to make to clean a first region of the plurality of regions, and a second number of cleaning passes for the mobile robot to make to clean a second region of the plurality of regions, the second number of cleaning passes different than the first number of cleaning passes.

6. The method of claim 3 , wherein the respective cleaning levels include respective times spent by the mobile robot to clean each of the plurality of regions.

7. The method of claim 1 , wherein the respective cleaning modes include respective coverage patterns for the mobile robot to make to clean each of the plurality of regions.

8. The method of claim 1 , wherein the received cleaning mission information further includes scheduled times or time intervals for the mobile robot to clean each of the plurality of regions,

wherein the operation of controlling the mobile robot to clean the plurality of regions is further in accordance with the scheduled times or time intervals.

9. The method of claim 1 , wherein the plurality of regions include one or more of a cluttered region or an uncluttered region.

10. The method of claim 1 , wherein the cleaning mission information further includes a keep-out region demarcated on the segmentation map scheduled to be excluded from being cleaned by the mobile robot,

wherein the computer readable instructions are executed to perform operations further comprising receiving a user input identifying the keep-out region via the user interface of the mobile terminal, and navigating the mobile robot to avoid cleaning the keep-out region.

11. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising receiving user-defined boundaries of the plurality of regions via the user interface of the mobile terminal,

wherein displaying the segmentation map includes displaying the user-defined boundaries on the segmentation map.

12. A mobile robot system, comprising:

a mobile robot; and

a mobile terminal operably in communication with the mobile robot, the mobile terminal including a user interface and a controller circuit, the controller circuit configured to:

display, via the user interface, a segmentation map of an environment for navigating the mobile robot;

receive cleaning mission information including a plurality of regions demarcated on the segmentation map scheduled to be cleaned by the mobile robot;

identify cluttered areas and open areas free of clutter in the plurality of regions;

receive respective cleaning modes for each of the plurality of regions, including distinct cleaning modes for the identified open areas and for the cluttered areas, the cleaning modes for the identified open areas including respective rank directions based on dimensionalities of respective identified open areas to reduce turns when the mobile robot cleans each of the identified open areas; and

navigate the mobile robot in the environment to clean the identified open areas in accordance with the respective cleaning modes.

13. The mobile robot system of claim 12 , wherein the controller circuit of the mobile terminal is configured to receive a user input identifying the plurality of regions and a user input specifying the respective cleaning modes.

14. The mobile robot system of claim 12 , wherein the respective cleaning modes include respective cleaning levels for the mobile robot to make to clean each of the plurality of regions.

15. The mobile robot system of claim 14 , wherein the respective cleaning levels include respective numbers of cleaning passes for each of the plurality of regions, including:

a first number of cleaning passes for the mobile robot to make to clean a first region of the plurality of regions; and

a second number of cleaning passes for the mobile robot to make to clean a second region of the plurality of regions, the second number of cleaning passes different than the first number of cleaning passes.

16. The mobile robot system of claim 12 , wherein the plurality of regions include one or more of a cluttered region or an uncluttered region.

17. The mobile robot system of claim 12 , wherein the received cleaning mission information further includes scheduled times or time intervals for the mobile robot to clean each of the plurality of regions,

wherein the controller circuit is configured to navigate the mobile robot in the environment to clean the plurality of regions further in accordance with the scheduled times or time intervals.

18. A method of operating a mobile robot in an environment, the method comprising:

executing, by a processor of a mobile terminal, computer readable instructions stored in a non-transitory computer readable storage medium to perform operations comprising:

displaying, via a user interface of the mobile terminal, a segmentation map of the environment;

receiving cleaning mission information including (i) a plurality of regions demarcated on the segmentation map scheduled to be cleaned by the mobile robot, and (ii) a cleaning order or priority for the mobile robot to sequentially clean the plurality of regions in one cleaning mission at respectively scheduled different times of a day; and

controlling the mobile robot to clean the plurality of regions in accordance with the cleaning order or priority.

19. The method of claim 18 , wherein the computer readable instructions are executed to perform operations further comprising receiving a user input of the cleaning order or priority demarcated on the segmentation map.

20. The method of claim 18 , wherein the received cleaning mission information further includes respective cleaning modes for each of the plurality of regions,

wherein controlling the mobile robot to clean the plurality of regions is further in accordance with the respective cleaning modes.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Apr 23, 2024
From: KLEINER, ALEXANDER D.; MUNICH, MARIO E.
To: IROBOT CORPORATION
Reel/Frame 067197/0370 →
Continuity (6)
Continuation 17718079 · Apr 11, 2022
Continuation 16388286 · Apr 18, 2019
Continuation 15943083 · Apr 2, 2018
Continuation 15704814 · Sep 14, 2017
Provisional Application 62394638 · Sep 14, 2016
Related Publication 20230384791A1 · Nov 30, 2023
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