US 12,280,509 B1
Method for efficient operation of mobile robotic devices
Ali Ebrahimi Afrouzi, Henderson, NV (US); and Chen Zhang, Redmond, WA (US)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); and Chen Zhang, Redmond, WA (US)
Filed on Aug. 25, 2022, as Appl. No. 17/895,999.
Application 17/895,999 is a continuation of application No. 17/109,868, filed on Dec. 2, 2020, granted, now 11,458,628.
Application 17/109,868 is a continuation of application No. 15/976,853, filed on May 10, 2018, granted, now 10,882,186, issued on Jan. 5, 2021.
Claims priority of provisional application 62/505,060, filed on May 11, 2017.
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 11/0085 (2013.01); Y10S 901/01 (2013.01); Y10S 901/02 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for autonomously planning work duties of a robot within an environment of the robot, comprising:
obtaining, with a processor of the robot, first data indicative of a presence and an absence of at least one human within the environment at a particular time;
actuating, with the processor, the robot to execute work duties based on the first data, wherein:
the robot executes the work duties when the first data indicates the absence of the at least one human from the environment; and
the work duties comprise cleaning at least a portion of the environment;
capturing, with at least one sensor of a plurality of sensors disposed on the robot, second data while the robot executes the work duties;
altering, with the processor, a navigational route of the robot or the work duties based on the second data; and
determining, with the processor, a probability for a floor type of a floor on which the robot is currently driving on, being of a certain floor type based on historical data collected that are indicative of the floor type of a floor in different areas of the environment.