US 12,293,068 B2
Robotic floor-cleaning system manager
Ali Ebrahimi Afrouzi, Henderson, NV (US); and Soroush Mehrnia, Helsingborg (SE)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); and Soroush Mehrnia, Helsingborg (SE)
Filed on Aug. 29, 2023, as Appl. No. 18/239,134.
Application 18/239,134 is a continuation of application No. 15/949,708, filed on Apr. 10, 2018, granted, now 12,093,520.
Application 15/949,708 is a continuation of application No. 15/272,752, filed on Sep. 22, 2016, granted, now 10,496,262, issued on Dec. 3, 2019.
Claims priority of provisional application 62/272,004, filed on Dec. 28, 2015.
Claims priority of provisional application 62/235,408, filed on Sep. 30, 2015.
Prior Publication US 2023/0409181 A1, Dec. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/648 (2024.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/00 (2006.01); G05D 1/00 (2006.01); G05D 1/229 (2024.01); G05D 1/246 (2024.01); G06F 3/04847 (2022.01); G05D 1/223 (2024.01); G05D 105/10 (2024.01)
CPC G06F 3/04847 (2013.01) [B25J 9/1666 (2013.01); B25J 11/0085 (2013.01); B25J 13/00 (2013.01); B25J 13/006 (2013.01); G05D 1/0219 (2013.01); G05D 1/2295 (2024.01); G05D 1/246 (2024.01); G05D 1/6482 (2024.01); G05D 1/2232 (2024.01); G05D 2105/10 (2024.01); Y10S 901/01 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method for operating a robot, comprising:
sensing, with a sensor of the device, data indicative of locations of objects within the environment through which the device moves;
creating, with the robot, a map of an environment while navigating through the environment based on at least some of the sensed data, the map identifying free space and objects within the environment;
cleaning, with a cleaning tool of the robot, floors of the environment;
obtaining, with an application installed on a user computing device wirelessly connected with the robot, via a wireless network, the map including at least a portion of the environment, wherein:
the map includes at least two spatial dimensions; and
the map includes boundaries corresponding to at least one wall within the environment;
presenting, with the application, via a user interface of the application, the map;
receiving, with the application, via the user interface, a specification of a boundary to be added to the map, comprising a user input indicative of a given boundary of the map based on a location on a touchscreen of the user computing device touched by a user;
receiving, with the application, via the user interface, an adjustment to the map based on the specified boundary, comprising a user input indicative of a shift of the given boundary relative to the map in one of four candidate directions comprising of: up, down, left, or right;
sending, from the user computing device, via the wireless network, instructions that cause the robot to obtain a version of the map that incorporates the received adjustment, wherein:
receiving the specification of the boundary comprises creating a boundary to be added to the map; and
the adjustment to the map includes the addition of the specified boundary to the map;
receiving, with the application, via the user interface, a selection of an area;
presenting, with the application, via the user interface, a plurality of robotic operations to be executed comprising at least three of the following:
mopping;
vacuuming;
turning on deep cleaning or high intensity vacuuming;
turning on regular cleaning or medium intensity vacuuming; and
turning on light cleaning or low intensity vacuuming;
receiving, with the application, via the user interface, a selection of the plurality of robotic operations;
after receiving the selections of the plurality of robotic operations, receiving, with the application, via the user interface, a selectable schedule comprising a selection of a day, a time, and a frequency of performance of the selected plurality of robotic operations;
receiving, with the application, via the user interface, a selection of one or more rooms of the environment within which the selected plurality of robotic operations are to be executed according to the selected schedule;
executing, with the robot, the selected plurality of robotic operations according to the selected schedule and the selected one or more rooms; and
navigating the robot in the environment based on the adjustment and the selected plurality of robotic operations executed according to the selected schedule and the selected one or more rooms, causing the robot to clean at least part of the environment with the cleaning tool.