Abstract

This disclosure describes various methods and apparatus for detecting and characterizing debris pickup during a cleaning operation. A debris detection sensor is described capable of counting the number of particles retrieved by a robotic vacuum during the cleaning operation and associating particles identified with particular areas. The location information can be obtained using various sensors on-board the robotic vacuum. In some embodiments, a cleaning operation can be rerouted when senor readings from the debris detection sensor deviate from historical sensor readings by a predetermined amount.

IPC Classes  ?

• A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
• A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers

Abstract

Techniques that optimize performance of simultaneous localization and mapping (SLAM) processes for mobile devices, typically a mobile robot. In one embodiment, erroneous particles are introduced to the particle filtering process of localization. Monitoring the weights of the erroneous particles relative to the particles maintained for SLAM provides a verification that the robot is localized and detection that it is no longer localized. In another embodiment, cell-based grid mapping of a mobile robot's environment also monitors cells for changes in their probability of occupancy. Cells with a changing occupancy probability are marked as dynamic and updating of such cells to the map is suspended or modified until their individual occupancy probabilities have stabilized. In another embodiment, mapping is suspended when it is determined that the device is acquiring data regarding its physical environment in such a way that use of the data for mapping will incorporate distortions into the map, as for example when the robotic device is tilted.

IPC Classes  ?

• G01C 21/00 - Navigation; Navigational instruments not provided for in groups
• B25J 9/16 - Programme controls
• B25J 9/18 - Programme controls electric
• G01S 17/08 - Systems determining position data of a target for measuring distance only

Abstract

A multi-function robotic device may have utility in various applications. In accordance with one aspect, a multi-function robotic device may be selectively configurable to perform a desired function in accordance with the capabilities of a selectively removable functional cartridge operably coupled with a robot body. Localization and mapping techniques may employ partial maps associated with portions of an operating environment, data compression, or both.

IPC Classes  ?

• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B25J 9/18 - Programme controls electric
• B25J 19/04 - Viewing devices
• G01C 3/10 - Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
• G01S 17/08 - Systems determining position data of a target for measuring distance only

Abstract

A multi-function robotic device may have utility in various applications. In accordance with one aspect, a multi-function robotic device may be selectively configurable to perform a desired function in accordance with the capabilities of a selectively removable functional cartridge operably coupled with a robot body. Localization and mapping techniques may employ partial maps associated with portions of an operating environment, data compression, or both.

IPC Classes  ?

• B25J 9/18 - Programme controls electric
• B25J 19/02 - Sensing devices