US 12,287,639 B1
Floor plan repair system for autonomous mobile devices
Tiago Etiene Queiroz, Mateo, CA (US); Nikhil Sharma, Fremont, CA (US); and Prashant Anand Srivastava, Milpitas, CA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Dec. 8, 2021, as Appl. No. 17/545,587.
Claims priority of provisional application 63/261,271, filed on Sep. 16, 2021.
Claims priority of provisional application 63/261,282, filed on Sep. 16, 2021.
Claims priority of provisional application 63/261,278, filed on Sep. 16, 2021.
Claims priority of provisional application 63/261,288, filed on Sep. 16, 2021.
Int. Cl. G05D 1/639 (2024.01); G05D 1/00 (2006.01); G06T 17/20 (2006.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0221 (2013.01); G05D 1/0238 (2013.01); G05D 1/639 (2024.01); G06T 17/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving map data from an autonomous mobile device disposed within a physical environment, wherein the receiving of the map data from the autonomous mobile device is in response to the autonomous mobile device being unable to navigate the physical environment based at least in part on a stored floor plan of the physical environment;
receiving first floor plan data representing the stored floor plan;
comparing, using one or more algorithms, the map data with the first floor plan data to identify edits to be applied to the stored floor plan;
generating, based at least in part on the comparing, an edit patch including instructions to produce edits over the stored floor plan;
analyzing the edit patch to identify one or more regions defined by vertices within the map data;
determining one or more polygons dividing the map data into polygons such that none of the vertices fall within an area defined by a polygon of the polygons;
determining one or more room boundaries for the first floor plan based on the polygons;
generating second floor plan data representing the map data based on the one or more room boundaries; and
conveying the second floor plan data to the autonomous mobile device to update the stored floor plan such that the autonomous mobile device is able to navigate the physical environment based at least in part on the update of the stored floor plan.