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Patent application title:

Method for developing navigation plan in a robotic floor-cleaning device

Publication number:

-

Publication date:
Application number:

15/449,531

Filed date:

2017-03-03

✅ Patent granted

Patent number:

US 10,368,711 B1

Grant date:

2019-08-06

PCT filing:

-

PCT publication:

-

Examiner:

Jaime Figueroa

Adjusted expiration:

2037-09-01

Smart Summary: A new method helps robotic floor-cleaning devices follow paths chosen by users. Users can give commands about where the robot should clean, like avoiding areas with cords or fragile items. The robot saves these commands and can repeat them later on its own. This way, the robot can navigate more efficiently, mimicking how a person would decide the best cleaning route. Overall, it makes cleaning easier and more effective for users. 🚀 TL;DR

Abstract:

A path planning method for a robotic floor-cleaning device in which a user's commands are repeated autonomously by the robotic floor-cleaning device at a later time.

Inventors:

Assignee:

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Classification:

  1. Human necessities
  2. Furniture ; domestic articles or appliances; coffee mills; spice mills; suction cleaners in general

A47L11/4011 »  CPC main

Machines for cleaning floors, carpets, furniture, walls, or wall coverings; Parts or details of machines not groups  - , , e.g. handles, arrangements of switches, skirts, buffers, levers Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor

A47L11/4061 »  CPC further

Machines for cleaning floors, carpets, furniture, walls, or wall coverings; Parts or details of machines not groups  - , , e.g. handles, arrangements of switches, skirts, buffers, levers Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated

A47L11/4066 »  CPC further

Machines for cleaning floors, carpets, furniture, walls, or wall coverings; Parts or details of machines not groups  - , , e.g. handles, arrangements of switches, skirts, buffers, levers; Driving means; Transmission means therefor Propulsion of the whole machine

B25J9/161 »  CPC further

Programme-controlled manipulators; Programme controls characterised by the control system, structure, architecture Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

B25J9/1664 »  CPC further

Programme-controlled manipulators; Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

B25J11/0085 »  CPC further

Manipulators not otherwise provided for; Manipulators for service tasks Cleaning

G05D1/0016 »  CPC further

Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device

G05D1/0219 »  CPC further

Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot; Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface

A47L2201/04 »  CPC further

Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation Automatic control of the travelling movement; Automatic obstacle detection

A47L11/40 IPC

Machines for cleaning floors, carpets, furniture, walls, or wall coverings Parts or details of machines not groups  - , , e.g. handles, arrangements of switches, skirts, buffers, levers

G05D1/02 IPC

Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot Control of position or course in two dimensions

B25J9/16 IPC

Programme-controlled manipulators Programme controls

G05D1/00 IPC

Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot

B25J11/00 IPC

Manipulators not otherwise provided for

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of provisional patent application Ser. No. 62/303,225 filed Mar. 3, 2016 by the present inventor.

FIELD OF INVENTION

The present invention relates to navigation methods of robotic floor-cleaning devices.

BACKGROUND

Various methods have been devised for navigating robotic floor-cleaning device automatically. However, paths derived automatically are often not as efficient or desirable as paths selected by a user. A user may more quickly and easily identify areas where a robotic floor-cleaning device should not drive, for example, in an area with a lot of cords and cables or near a fragile piece of furniture. A need exists for a method to replicate a human's ability to identify an ideal path for a robotic floor-cleaning device.

SUMMARY

It is a goal of the present invention to provide a path planning method for a robotic floor-cleaning that emulates the decision-making of a user. The aforementioned goal is achieved by receiving a sequence of navigation commands from a user, saving that particular sequence, then re-executing it autonomously, without the need for the user to reinput the sequence of navigation commands.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates the process of saving a user-input navigation plan embodying features of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The present invention proposes a method for developing a navigation plan in a robotic floor-cleaning device. For the purposes of this invention, a robotic floor-cleaning device shall be assumed to comprise, at minimum, a shell, a chassis, a set of wheels, at least one motor connected for powering the wheels, a control unit to control movement of the robotic floor cleaning device, an input/output means electrically coupled to the control unit, a memory unit to store data, and a means for cleaning a work surface.

Referring to FIG. 1, the process of saving a user-input navigation plan is illustrated. In a first step 100, a robotic floor-cleaning device receives input from a user commanding navigational movement via an input device. In a next step 101, the robotic floor-cleaning device executes the commands. In a next step 102, the robotic floor-cleaning device saves the user commands in a memory unit. If, in a next step 103, the robotic floor-cleaning device continues to receive inputs, the method repeats steps 100, 101, and 102 until such a time as no further user input is received for a predetermined length of time. When no further user input is received during the predetermined length of time, the method proceeds to a next step 104 in which the navigational plan is marked as complete. Any number of navigational plans may be saved in the memory unit, subject only to the limits of the memory unit.

The robotic floor-cleaning device may access saved navigational plans at any time and re-execute the pattern commanded by the user. In some embodiments, a robotic floor-cleaning device that further comprises a clock is configured to re-execute a pattern commanded by a user at the same time of day as when the original commands were input. In some embodiments, the robotic floor-cleaning device is configured to re-execute a pattern commanded by a user on the same day of the week as when the original commands were input.

In the preferred embodiment, a robotic floor-cleaning device with a means for creating a map of its environment incorporates the location of user commands into its map of the environment.

In some embodiments, the method further comprises suggesting a navigational plan to a user via an input/output means before executing it.

One skilled in the art will appreciate that various mapping techniques, such as SLAM technology, or receiving a map of the environment from an external source, may be used without departing from the scope of the invention.

In some embodiments the input/output device is wireless and can send and receive signals to and from remote devices, such as remote controls and smartphones.

In some embodiments, inputs from a user and outputs from the robotic floor cleaning device may be provided through a software application installed on an internet-connected device, such as a smartphone, a computer, or a tablet.

Claims

The invention claimed is:

1. A path planning method for a robotic floor-cleaning device comprising:

in a first step, receiving by a robotic floor-cleaning device a sequence of one or more commands from a user via an input device;

in a second step, executing the sequence of commands;

in a third step, saving the sequence of commands in a memory unit after a predetermined amount of time from receiving a most recent command; and,

in a fourth step, re-executing the sequence of commands.

2. The path planning method of claim 1, wherein the fourth step is only carried out if a prompt is accepted by a user via the input device.

3. The path planning method of claim 1 further comprising associating the sequence of commands with a location at which the robotic floor-cleaning device was located when the sequence was received and carrying out the fourth step when the robotic floor-cleaning device is at that location anew.

4. The path planning method of claim 1 wherein the input device is any of a remote control, a user interface on the robotic floor-cleaning device, a software interface on a computer, a software interface on a smartphone, and a software interface on a tablet.

5. A method for navigating a robotic floor-cleaning device comprising:

in a first step, receiving by a robotic floor-cleaning device a sequence of one or more navigation commands from a user via an input device;

in a second step, executing the sequence of navigation commands;

in a third step, saving the sequence of navigation commands in a memory unit after a predetermined amount of time from receiving a most recent command; and,

in a fourth step, re-executing the sequence of navigation commands.

6. The navigation method of claim 5, wherein the fourth step is only carried out if a prompt is accepted by a user via the input device.

7. The navigation method of claim 5 further comprising associating the sequence of navigation commands with a location at which the robotic floor-cleaning device was located when the sequence was received and carrying out the fourth step when the robotic floor-cleaning device is at that location anew.

8. The navigation method of claim 5 wherein the input device is any of a remote control, a user interface on the robotic floor-cleaning device, a software interface on a computer, a software interface on a smartphone, and a software interface on a tablet.

Resources

Images & Drawings included:

Fig. 01 - Method for developing navigation plan in a robotic floor-cleaning device
Fig. 01
Fig. 02 - Method for developing navigation plan in a robotic floor-cleaning device
Fig. 02

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