US 12,339,675 B2
Method for determining a motion path on a surface
Robert Schirmer, Schoemberg (DE); and Sebastian Scherer, Tuebingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 18/549,257
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed May 25, 2022, PCT No. PCT/EP2022/064167
§ 371(c)(1), (2) Date Sep. 6, 2023,
PCT Pub. No. WO2022/253658, PCT Pub. Date Dec. 8, 2022.
Claims priority of application No. 10 2021 205 620.2 (DE), filed on Jun. 2, 2021.
Prior Publication US 2024/0160224 A1, May 16, 2024
Int. Cl. G05D 1/43 (2024.01); G05D 1/622 (2024.01); G05D 105/10 (2024.01); G05D 105/15 (2024.01); G05D 111/10 (2024.01); G05D 111/50 (2024.01)
CPC G05D 1/43 (2024.01) [G05D 1/622 (2024.01); G05D 2105/10 (2024.01); G05D 2105/15 (2024.01); G05D 2111/10 (2024.01); G05D 2111/52 (2024.01); G05D 2111/54 (2024.01)] 12 Claims
OG exemplary drawing
 
1. A method for determining a motion path on a surface in an environment, along which motion path a mobile appliance including a robot or a domestic robot or a robot vacuum cleaner, is intended to move, the method comprising the following steps:
obtaining environment information and determining a region of the surface intended to be covered by motion of the mobile appliance;
determining, while taking into account the environment information, whether within the region there is at least one uneven area in the surface that can be negotiated by the mobile appliance; and
determining the motion path while taking into account the at least one uneven area,
wherein the determining of the motion path includes minimizing a number of negotiations of the at least one uneven area by the motion path, while taking into account a total length of the motion path and/or wherein the determining of the motion path includes minimizing costs of a length of the motion path, wherein costs for motion path portions in which the at least one uneven area is crossed are weighted more highly than for other motion path portions.