	US 12,339,664 B1
	Methods and systems for robotic surface coverage
Ali Ebrahimi Afrouzi, San Diego, CA (US); and Lukas Fath, York (CA)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, San Diego, CA (US); and Lukas Fath, York (CA)
Filed on Aug. 12, 2021, as Appl. No. 17/401,159.
Application 17/401,159 is a continuation of application No. 16/599,169, filed on Oct. 11, 2019, granted, now 11,119,496.
Application 16/599,169 is a continuation of application No. 16/198,393, filed on Nov. 21, 2018, granted, now 10,488,865, issued on Nov. 26, 2019.
Application 16/198,393 is a continuation in part of application No. 15/619,449, filed on Jun. 10, 2017, granted, now 10,343,280, issued on Jul. 9, 2019.
Application 15/619,449 is a continuation of application No. 14/817,952, filed on Aug. 4, 2015, granted, now 9,701,020, issued on Jul. 11, 2017.
Claims priority of provisional application 62/666,266, filed on May 3, 2018.
Claims priority of provisional application 62/658,705, filed on Apr. 17, 2018.
Claims priority of provisional application 62/644,708, filed on Mar. 19, 2018.
Claims priority of provisional application 62/590,205, filed on Nov. 22, 2017.
Claims priority of provisional application 62/092,800, filed on Dec. 16, 2014.
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01)

CPC G05D 1/0219 (2013.01) [G05D 1/0217 (2013.01); G05D 1/0274 (2013.01); Y10S 901/01 (2013.01)]

20 Claims

1. A tangible, non-transitory, machine-readable media storing instructions that when executed by a processor of a robot effectuates operations comprising:

capturing, with at least one sensor of the robot, first data indicative of a position of the robot relative to objects within the workspace and second data indicative of movement of the robot;

generating or updating, with a processor of the robot, a map of the workspace based on at least one of: at least a part of the first data and at least a part of the second data;

segmenting, with the processor of the robot, the map into a plurality of zones;

transmitting, with the processor of the robot, the map to an application of a communication device, wherein the application is configured to:

receive the map from the processor of the robot;

display the map;

receive at least one input for the map designating at least one of: a new, modification, or deletion of a boundary; a new, modification, or deletion of a zone; a new, modification, or deletion of a no-entry zone; a new, modification, or deletion of a zone name; a new, modification, or deletion of an object; a new, modification, or deletion of a floor type; and a new, modification, or deletion of a debris accumulation level;

implement the at least one input into the map to generate the updated map; and

transmit the updated map to the processor of the robot;

receiving, with the processor of the robot, the updated map;

generating, with the processor of the robot, a movement path based on the map or the updated map; and

actuating, with the processor of the robot, the robot to traverse the movement path.