US 11,054,839 B2
Mobile robotic device that processes unstructured data of indoor environments to segment rooms in a facility to improve movement of the device through the facility
Axel Wendt, Ostfildern (DE); Rares Ambrus, Jud Arad (RO); and Sebastian Claici, Cambridge, MA (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 16/474,702
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Dec. 28, 2017, PCT No. PCT/EP2017/084749
§ 371(c)(1), (2) Date Jun. 28, 2019,
PCT Pub. No. WO2018/122335, PCT Pub. Date Jul. 5, 2018.
Claims priority of provisional application 62/440,795, filed on Dec. 30, 2016.
Claims priority of provisional application 62/512,223, filed on May 30, 2017.
Prior Publication US 2019/0324474 A1, Oct. 24, 2019
Int. Cl. G05D 1/02 (2020.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); G05D 1/0242 (2013.01); G05D 2201/0207 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A mobile robotic device comprising:
at least one motive member;
an actuator operatively connected to the at least one motive member, the actuator being configured to drive the motive member to move the mobile robotic device;
a data interface configured to receive point cloud data of a facility in which the robotic device operates;
a memory; and
a controller operatively connected to the actuator, the data interface, and the memory, the controller being configured to store the point cloud data received from the data interface in the memory, to segment the point cloud data into planar primitives, to detect openings in planar primitives that correspond to walls, to generate viewpoints for the planar primitives that correspond to ceilings and walls, to generate a map of rooms with reference to the generated viewpoints, and to operate the actuator with reference to the generated map to move the mobile robotic device through the rooms represented in the generated map.