US 12,458,191 B2
Control of autonomous mobile robots
Philip Fong, South Pasadena, CA (US); and Ryan Schneider, Arlington, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Jun. 8, 2020, as Appl. No. 16/895,848.
Claims priority of provisional application 62/988,468, filed on Mar. 12, 2020.
Prior Publication US 2021/0282613 A1, Sep. 16, 2021
Int. Cl. G05D 1/00 (2024.01); A47L 9/00 (2006.01); A47L 9/04 (2006.01); A47L 9/28 (2006.01)
CPC A47L 9/2852 (2013.01) [A47L 9/009 (2013.01); A47L 9/0477 (2013.01); A47L 9/2826 (2013.01); A47L 9/2831 (2013.01); G05D 1/0212 (2013.01); A47L 2201/022 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at a computing system, sensor data collected by an autonomous cleaning robot as the autonomous cleaning robot moves about an environment, the sensor data comprising mapping data indicative of a location of an object in the environment;
based on the sensor data, determining, by the computing system, a type of the object, wherein the type of the object is associated with a debris level; and
based on the type of the object being associated with the debris level, defining, by the computing system, a clean zone at the location of the object such that the autonomous cleaning robot initiates a clean behavior constrained to the clean zone in response to encountering the clean zone in the environment.