US 11,740,634 B2
Systems and methods for configurable operation of a robot based on area classification
Alexander D. Kleiner, Pasadena, CA (US); and Mario E. Munich, La Canada, CA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Apr. 11, 2022, as Appl. No. 17/718,079.
Application 17/718,079 is a continuation of application No. 16/388,286, filed on Apr. 18, 2019, granted, now 11,314,260.
Application 16/388,286 is a continuation of application No. 15/943,083, filed on Apr. 2, 2018, granted, now 10,310,507.
Application 15/943,083 is a continuation of application No. 15/704,814, filed on Sep. 14, 2017, granted, now 10,168,709.
Claims priority of provisional application 62/394,638, filed on Sep. 14, 2016.
Prior Publication US 2022/0317693 A1, Oct. 6, 2022
Int. Cl. G05D 1/02 (2020.01); A47L 9/04 (2006.01); A47L 9/28 (2006.01); A47L 11/40 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0219 (2013.01) [A47L 9/0488 (2013.01); A47L 9/2852 (2013.01); A47L 9/2857 (2013.01); A47L 9/2894 (2013.01); A47L 11/4011 (2013.01); G05D 1/0016 (2013.01); G05D 1/0044 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01); G05D 2201/0203 (2013.01); Y10S 901/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a mobile robot in an environment, the method comprising:
executing, by a processor of a mobile terminal, computer readable instructions stored in a non-transitory computer readable storage medium to perform operations comprising:
displaying, via a user interface of the mobile terminal, a segmentation map of the environment;
receiving cleaning mission information comprising demarcated regions on the segmentation map including one or more regions to be cleaned and at least one keep-out region to be excluded from being cleaned by the mobile robot;
receiving information about a boundary of an obstacle detected by the mobile robot in the environment;
receiving a user input to modify the at least one keep-out region on the segmentation map based on a discrepancy between a user-defined boundary of the at least one keep-out region and the detected boundary of the obstacle; and
controlling the mobile robot to navigate the environment and to perform a cleaning operation in accordance with the cleaning mission information.