Cleaning prioritization for mobile cleaning robot

Patent metadata

Field	Value
Publication number	US-12461528-B2
Application number	US-202318237117-A
Country	US
Kind code	B2
Filing date	Aug 23, 2023
Priority date	Aug 23, 2023
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

A method of prioritizing cleaning of rooms of an environment for a mobile cleaning robot can include generating a cleanliness score for each room of the environment using a controller. Each of the cleanliness scores can be indicative of an amount of debris expected in each respective room by the mobile cleaning robot. The method can also include generating a room cleaning priority based at least partially on the cleanliness score of each of the rooms. The method can also include scheduling operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment.

First claim

The invention claimed is:

1 . A method of prioritizing cleaning of rooms of an environment for a mobile cleaning robot, the method comprising:
generating, using a controller, a cleanliness score for each room of the environment, each of the cleanliness scores indicative of an amount of debris expected in each respective room by the mobile cleaning robot; generating a room cleaning priority based at least partially on the cleanliness score of each of the rooms; scheduling operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment; updating a cleaning report including the cleanliness score for each room cleaned by the mobile cleaning robot; and updating the cleanliness score for each room based on historical degradation of each respective room of the environment, the historical degradation of each respective room based on historical cleaning data and an amount of time since the mobile cleaning robot cleaned the respective room.

2 . The method of claim 1 , wherein the cleaning report comprises location data of the mobile cleaning robot during one or more cleaning operations within each respective room, and wherein the method comprises:
determining portions of rooms that were not cleaned by the mobile cleaning robot based on the location data of the mobile cleaning robot from the cleaning report; and updating the cleanliness score for each room based on the portions of rooms not cleaned by the mobile cleaning robot.

3 . The method of claim 2 , wherein generating a room cleaning ranking comprises:
updating the room cleaning ranking based on one or more of the updated cleanliness score, a room type of each room of the environment, a room size of each room of the environment, a floor type of each room of the environment, and a mission type of each room of the environment.

4 . The method of claim 3 , wherein the room cleaning priority comprises the cleanliness score and a mission command for each respective room, wherein the mission command includes one or more operating parameters for the mobile cleaning robot, and wherein the one or more operating parameters comprises one or more of:
a mission type of a planned mission by the mobile cleaning robot; cleaning parameters for the mission type; and an estimated runtime for the mission.

5 . The method of claim 4 , wherein the mission type includes a vacuum mission, a mopping mission, or a vacuum and mopping mission.

6 . The method of claim 4 , wherein the one or more cleaning parameters include one or more of suction power of a vacuum, rotational speed of a cleaning roller, rotational speed of side brushes, liquid dispense amount, liquid dispense rate, scrubbing, mission type, or pattern of cleaning suggested for the mobile cleaning robot.

7 . A mobile cleaning robot comprising:
a drive system configured to move the mobile cleaning robot about an environment; a cleaning system; a memory device including instructions; and one or more processors coupled to the memory device, the one or more processors including processing circuitry that, when in operation, is configured by the instructions to:
generate a cleanliness score for each room of the environment, each of the cleanliness scores indicative of an amount of debris expected in each respective room by the mobile cleaning robot;
generate a room cleaning priority based at least partially on the cleanliness score of each of the rooms;
schedule operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment;
update a cleaning report including the cleanliness score for each room cleaned by the mobile cleaning robot; and
update the cleanliness score for each room based on historical degradation of each respective room of the environment, the historical degradation of each respective room based on historical cleaning data and an amount of time since the mobile cleaning robot cleaned the respective room.

8 . The mobile cleaning robot of claim 7 , wherein the cleaning report comprises location data of the mobile cleaning robot during one or more cleaning operations within each respective room, and wherein the instructions configure the processing circuitry to:
determine portions of rooms that were not cleaned by the mobile cleaning robot based on the location data of the mobile cleaning robot from the cleaning report; and update the cleanliness score for each room based on the portions of rooms not cleaned by the mobile cleaning robot.

9 . The mobile cleaning robot of claim 8 , wherein generating a room cleaning ranking comprises the instructions configuring the processing circuitry to:
update the room cleaning ranking based on one or more of the updated cleanliness score, a room type of each room of the environment, a room size of each room of the environment, a floor type of each room of the environment, and a mission type of each room of the environment.

10 . The mobile cleaning robot of claim 9 , wherein the room cleaning priority comprises the cleanliness score and a mission command for each respective room, wherein the mission command includes one or more operating parameters for the mobile cleaning robot, and wherein the one or more operating parameters comprises one or more of:
a mission type of a planned mission by the mobile cleaning robot; cleaning parameters for the mission type; and an estimated runtime for the mission.

11 . A mobile robot system for prioritizing cleaning of rooms of an environment comprising:
a mobile cleaning robot including:
a drive system configured to move the mobile cleaning robot about an environment; and
a cleaning system;
a mobile device operably in communication with the mobile cleaning robot; a memory device including instructions; and one or more processors coupled to the memory device, the one or more processors including processing circuitry that, when in operation, is configured by the instructions to:
generate a cleanliness score for each room of the environment, each of the cleanliness scores indicative of an amount of debris expected in each respective room by the mobile cleaning robot;
generate a room cleaning priority based at least partially on the cleanliness score of each of the rooms;
schedule operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment;
update a cleaning report including the cleanliness score for each room cleaned by the mobile cleaning robot; and
update the cleanliness score for each room based on historical degradation of each respective room of the environment, the historical degradation of each respective room based on historical cleaning data and an amount of time since the mobile cleaning robot cleaned the respective room.

12 . The mobile robot system of claim 11 , wherein the cleaning report comprises location data of the mobile cleaning robot during one or more cleaning operations within each respective room, and wherein the instructions configure the processing circuitry to:
determine portions of rooms that were not cleaned by the mobile cleaning robot based on the location data of the mobile cleaning robot from the cleaning report; and update the cleanliness score for each room based on the portions of rooms not cleaned by the mobile cleaning robot.

13 . The mobile robot system of claim 12 , wherein generating a room cleaning ranking comprises the instructions configuring the processing circuitry to:
update the room cleaning ranking based on one or more of the updated cleanliness score,

Assignees

• Irobot Corp

Inventors

• Baron Steven J
• Weyant Matthew
• Schneider Ryan
• Foster Michael
• Smith Clifton Eric
• Changulani Ajay
• Prather Collin
• Tramontozzi Laura
• Withers Jonathan Sanjeev

Classifications

• G05D1/6484

  by taking into account parameters or characteristics of the working area or space, e.g. size or shape · CPC title

• A47L2201/06

  Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title

• A47L11/4011 Primary

  Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor · CPC title

• A47L9/2852

  Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles · CPC title