US 11,730,328 B2
Visual fiducial for behavior control zone
Eric J. Burbank, Lexington, MA (US); and Oliver Lewis, Waltham, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Aug. 14, 2020, as Appl. No. 16/993,643.
Prior Publication US 2022/0047134 A1, Feb. 17, 2022
Int. Cl. G01C 22/00 (2006.01); G05D 1/00 (2006.01); A47L 9/28 (2006.01); G01C 21/00 (2006.01); A47L 9/00 (2006.01); G05D 1/02 (2020.01)
CPC A47L 9/2852 (2013.01) [A47L 9/009 (2013.01); A47L 9/2805 (2013.01); G01C 21/383 (2020.08); G01C 21/3837 (2020.08); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); G05D 1/0234 (2013.01); A47L 2201/04 (2013.01); G05D 1/0088 (2013.01); G05D 2201/0203 (2013.01); G05D 2201/0215 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a mobile cleaning robot, the method comprising:
providing a passive, three-dimensional indicator formed from mobile cleaning robot packing materials;
navigating the mobile cleaning robot about an environment;
detecting the three-dimensional indicator; and
adjusting a cleaning behavior of the mobile cleaning robot based on the detection of the three-dimensional indicator.