US Patent No. 10,168,709

SYSTEMS AND METHODS FOR CONFIGURABLE OPERATION OF A ROBOT BASED ON AREA CLASSIFICATION


Patent No. 10,168,709
Issue Date January 01, 2019
Title Systems And Methods For Configurable Operation Of A Robot Based On Area Classification
Inventorship Alexander D. Kleiner, Pasadena, CA (US)
Mario E. Munich, La Canada, CA (US)
Assignee iRobot Corporation, Bedford, MA (US)

Claim of US Patent No. 10,168,709

1. A computing device, comprising:a processor; and
a memory coupled to the processor, the memory comprising a non-transitory computer-readable storage medium storing computer-readable program code therein that is executable by the processor to perform operations comprising:
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, wherein the segmentation map comprises simplified boundaries relative to actual boundaries indicated by the occupancy data;
identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas;
modifying the segmentation map comprising the simplified boundaries to indicate the clutter areas responsive to identification thereof;
computing a coverage pattern based on identification of the sub-regions, the coverage pattern indicating a sequence for navigation of the non-clutter and clutter areas;
and
providing the coverage pattern to the mobile robot,
wherein, 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.