US 12,282,331 B2
Mobile cleaning robot artificial intelligence for situational awareness
Christopher V. Jones, Woburn, MA (US); Gary Ellis Hall, Malden, MA (US); Steven J. Baron, Nashua, NH (US); Brent Hild, Bedford, MA (US); Stefan Zickler, Bedford, MA (US); and John Sinnigen, Cambridge, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Dec. 28, 2020, as Appl. No. 17/135,258.
Application 17/135,258 is a continuation of application No. 15/863,591, filed on Jan. 5, 2018, granted, now 10,878,294.
Prior Publication US 2021/0224579 A1, Jul. 22, 2021
Int. Cl. G06V 20/10 (2022.01); A47L 9/00 (2006.01); A47L 11/40 (2006.01); G05D 1/00 (2006.01); G06F 18/2413 (2023.01); G06F 18/2431 (2023.01); G06T 7/73 (2017.01); G06V 10/44 (2022.01); G06V 10/82 (2022.01); G06V 20/20 (2022.01); G06V 30/19 (2022.01); G06V 40/10 (2022.01)
CPC G05D 1/0246 (2013.01) [A47L 9/009 (2013.01); A47L 11/4011 (2013.01); G05D 1/0274 (2013.01); G06F 18/24143 (2023.01); G06F 18/2431 (2023.01); G06T 7/74 (2017.01); G06V 10/454 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/20 (2022.01); G06V 30/19173 (2022.01); G06V 40/10 (2022.01); A47L 2201/04 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A mobile cleaning robot comprising:
a cleaning head configured to clean a floor surface;
one or more sensors configured to obtain information about an environment, the one or more sensors comprising a microphone configured to capture audio signals from the environment;
a control module configured to:
communicate with a mobile computing device to cause the mobile computing device to display a message requesting a guided tour of the environment,
control the mobile cleaning robot to follow an individual through at least a portion of the environment responsive to an audible command from the individual, the audible command having been captured by the microphone, and
generate a map of the environment based at least in part on information obtained by the one or more sensors while following the individual through the environment; and
a storage device configured to store the generated map of the environment.