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

Patent metadata

Field	Value
Publication number	US-11740634-B2
Application number	US-202217718079-A
Country	US
Kind code	B2
Filing date	Apr 11, 2022
Priority date	Sep 14, 2016
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

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.

First claim

That which is claimed:

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 comprising demarcated regions on the segmentation map including one or more regions to be cleaned and at least one keep-out region to be excluded from being cleaned by the mobile robot;
receiving information about a boundary of an obstacle detected by the mobile robot in the environment;
receiving a user input to modify the at least one keep-out region on the segmentation map based on a discrepancy between a user-defined boundary of the at least one keep-out region and the detected boundary of the obstacle; and
controlling the mobile robot to navigate the environment and to perform a cleaning operation in accordance with the cleaning mission information.

2. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising: receiving, via the user interface of the mobile terminal, a user input identifying the one or more regions to be cleaned and the at least one keep-out region to be excluded from being cleaned.

3. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising: receiving, via the user interface of the mobile terminal, a user-defined boundary of the at least one keep-out region,
wherein displaying the segmentation map includes displaying the user-defined boundary of the at least one keep-out region on the segmentation map.

4. The method of claim 3 , wherein receiving the user-defined boundary of the at least one keep-out region is responsive to a gesture on a touch-screen of the user interface.

5. The method of claim 3 , wherein the at least one keep-out region is defined with respect to an obstacle in the environment.

6. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising:
displaying, via the user interface of the mobile terminal, the boundary of an obstacle in the environment detected by the mobile robot using a sensor associated therewith; and
receiving the user input to modify the user-defined boundary including shifting, re-sizing, or re-aligning the user-defined boundary of the at least one keep-out region to correspond to the detected boundary of the obstacle.

7. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising: receiving, via the user interface of the mobile terminal, respective labels for the one or more regions to be cleaned and the at least one keep-out region,
wherein displaying the segmentation map includes displaying the respective labels on the segmentation map.

8. The method of claim 1 , wherein:
the cleaning mission information includes cleaning the one or more regions to be cleaned according to a user-specified order; and
the segmentation map displayed via the user interface includes an indication of the user-specified order.

9. The method of claim 1 , wherein the computer readable instructions are executed to perform operations further comprising: determining a coverage pattern for the mobile robot indicating a sequence of navigating the demarcated regions,
wherein controlling the mobile robot to navigate the environment is in accordance with the sequence indicated by the coverage pattern.

10. The method of claim 9 , wherein the coverage pattern includes a rank direction indicating a direction of the mobile robot traveling in one or more regions to be cleaned while avoiding entering the at least one keep-out region,
wherein displaying the segmentation map via the user interface includes displaying the rank direction on the segmentation map.

11. The method of claim 1 , wherein the cleaning mission information includes one or more cleaning schedules for cleaning respective subsets of the demarcated regions at respective times or during respective time intervals.

12. The method of claim 1 , wherein the segmentation map further includes information about respective flooring types of the one or more regions to be cleaned.

13. The method of claim 12 , wherein the segmentation map further includes information about respective types of cleaning operations for cleaning the one or more regions to be cleaned, the respective types of cleaning operations based on the respective flooring types of the one or more regions to be cleaned.

14. 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 comprising demarcated regions on the segmentation map including one or more regions to be cleaned and at least one keep-out region to be excluded from being cleaned by the mobile robot;
receive information about a boundary of an obstacle detected by the mobile robot in the environment;
receive a user input to modify the at least one keep-out region on the segmentation map based on a discrepancy between a user-defined boundary of the at least one keep-out region and the detected boundary of the obstacle; and
generate a control signal to control the mobile robot to navigate the environment and to perform a cleaning operation in accordance with the cleaning mission information.

15. The mobile robot system of claim 14 , wherein the controller circuit of the mobile terminal is configured to receive a user input identifying the one or more regions to be cleaned and the at least one keep-out region to be excluded from being cleaned.

16. The mobile robot system of claim 14 , wherein the controller circuit of the mobile terminal is configured to receive a user-defined boundary of the at least one keep-out region, and to display the user-defined boundary of the at least one keep-out region on the segmentation map.

17. The mobile robot system of claim 14 , wherein:
the mobile robot is configured to detect the boundary of an obstacle in the environment using a sensor associated with the mobile robot; and
the controller circuit of the mobile terminal is configured to display, via the user interface of the mobile terminal, the detected boundary of the obstacle, and to receive a user input to modify the user-defined boundary including to shift, re-size, or re-align the user-defined boundary of the at least one keep-out region to correspond to the detected boundary of the obstacle.

18. The mobile robot system of claim 14 , wherein the controller circuit of the mobile terminal is configured to:
receive, via the user interface of the mobile terminal, respective labels for the one or more regions to be cleaned and the at least one keep-out region; and
display, via the user interface, the respective labels on the segmentation map.

19. The mobile robot system of claim 14 , wherein:
the cleaning mission information includes cleaning the one or more regions to be cleaned according to a user-specified order; and
the segmentation map displayed via the user interface includes an indication of the user-specified order.

20. The mobi

Assignees

• Irobot Corp

Inventors

• Kleiner Alexander D
• Munich Mario E

Classifications

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D1/0219 Primary

  ensuring the processing of the whole working surface · CPC title

• A47L9/0488 Primary

  Combinations or arrangements of several tools, e.g. edge cleaning tools · CPC title

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title

• G05D2107/40

  Indoor domestic environment · CPC title