US 11,703,857 B2
Map based training and interface for mobile robots
Stephen O'Dea, Bedford, MA (US); Benjamin H. Schriesheim, Watertown, MA (US); Qunxi Huang, Somerville, MA (US); Kenrick E. Drew, Northborough, MA (US); Adam Goss, Lincoln, MA (US); Mario E. Munich, La Canada, CA (US); and Alexander D. Kleiner, Leonberg (DE)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Nov. 16, 2020, as Appl. No. 17/98,929.
Application 17/098,929 is a continuation of application No. 16/117,484, filed on Aug. 30, 2018, granted, now 10,835,096.
Prior Publication US 2021/0113050 A1, Apr. 22, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A47L 11/40 (2006.01); A47L 9/28 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G09B 5/02 (2006.01); G01C 21/20 (2006.01); G01C 21/00 (2006.01); B25J 11/00 (2006.01)
CPC G05D 1/0044 (2013.01) [A47L 9/2857 (2013.01); A47L 11/4011 (2013.01); B25J 11/0085 (2013.01); G01C 21/206 (2013.01); G01C 21/383 (2020.08); G05D 1/0088 (2013.01); G05D 1/0221 (2013.01); G05D 1/0274 (2013.01); G09B 5/02 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); G05D 2201/0203 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
initiating a first run of an autonomous cleaning robot;
presenting, on a display of a mobile device, (i) a first map depicting portions of an area traversed by the autonomous cleaning robot during the first run and (ii) a selectable option to store the first map;
storing, on one or more machine-readable storage media, the first map in response to a selection of the selectable option by a user of the mobile device;
initiating one or more further runs of the autonomous cleaning robot to produce one or more additional maps, respectively, each additional map of the one or more additional maps comprising data representing portions of an area traversed by the autonomous cleaning robot during a respective further run of the one or more further runs;
storing, additional to and discrete from the stored first map, at least one of the one or more additional maps in response to one or more indications by the user to store the at least one of the one or more additional maps; and
presenting, on the display of the mobile device, a map of a floor plan generated based on the stored first map and the stored at least one of the one or more additional maps.