| CPC G05D 1/0274 (2013.01) [A47L 9/0405 (2013.01); A47L 9/0488 (2013.01); A47L 9/2826 (2013.01); A47L 9/2831 (2013.01); A47L 9/2847 (2013.01); A47L 9/2852 (2013.01); A47L 11/24 (2013.01); A47L 11/4011 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 11/0085 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); G05D 2201/0215 (2013.01)] | 49 Claims |
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1. An apparatus, comprising:
a robot, comprising:
a main brush;
a peripheral brush;
a first actuator;
a first sensor, wherein the first sensor is an optical sensor;
one or more processors communicatively coupled to the first actuator and to the first sensor; and
memory storing instructions that when executed by at least some of the one or more processors effectuate operations comprising:
determining a first location of the robot in a working environment;
obtaining, with the first sensor, first data indicative of an environmental characteristic of the first location;
adjusting a first operational parameter of the first actuator based on the sensed first data, wherein the adjusting is configured to cause the first operational parameter to be in a first adjusted state while the robot is at the first location; and
forming or updating a debris map of the working environment based on data output by the first sensor or another sensor configured to collect data indicative of an existence of debris on a floor of the working environment over at least one cleaning session, wherein:
the first actuator or another actuator is configured to drive the main brush or the peripheral brush;
the peripheral brush comprises a plurality of arms;
at least some of the arms of the peripheral brush comprise bristles extending from the respective arm, the bristles being secured to the respective arm with stitching using one or more of the following techniques: stitching a line across the bristles in a direction perpendicular to the length of the bristles, stitching at least one line diagonally across the width of the bristles, or stitching a crisscross pattern across the bristles in a direction perpendicular to the length of the bristles; and
the debris map at least indicates areas covered by the robot and areas with a high level of debris accumulation; and
an application of a communication device communicatively paired with the robot and configured to:
at least display the debris map; and
receive at least one input designating at least one of: a modification, addition, or deletion of information to the map of the environment; a modification or addition of environmental characteristics of different locations within the map of the environment; a modification or addition of floor type of different locations within the map of environment; a modification or addition of levels of debris accumulation of different locations within the map of environment; a modification or addition of a specific type or size of debris of different locations within the map of environment; a modification or addition of obstacles in different locations within the map of environment; a modification, addition, or deletion of perimeters to the map of the environment; a modification, addition, or deletion of doorways to the map of the environment; a modification, addition, or deletion of subareas to the map of the environment; a modification, addition, or deletion of a cleaning path to the map of the environment; a selection or modification of a function of the robot; a selection or modification of a setting of the robot; a selection or modification of a cleaning schedule of the robot; a selection or modification of an order of coverage of subareas; and a selection or modification of impeller speed, main brush speed, wheel speed, or peripheral brush speed.
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