Methods and systems for movement of an automatic cleaning device using video signal

Abstract

A method of causing a mobile robotic device, such as an automated cleaning device, to navigate an area includes using a video camera to collect visual information associated with an area in which a mobile robotic device is located. A system receives information from the video camera, wherein the information comprises a value associated with a detected color in the area. The system compares the value associated with the detected color to a value of a requested color, and the system determines whether the value associated with the detected color is within a tolerance range of the value of the requested color. If the value associated with the detected color is within a tolerance range of the value of the requested color, the system accepts the color. The system uses the received information to adjust a position of the mobile robotic device in the area.

1 . A method of causing a mobile robotic device to navigate an area, the method comprising:
 by a video camera, collecting visual information associated with an area in which a mobile robotic device is located;   by a processing device, receiving information from the video camera, wherein the information comprises a value associated with a detected color in the area;   comparing the value associated with the detected color to a value of a requested color;   determining whether the value associated with the detected color is within a tolerance range of the value of the requested color;   if the value associated with the detected color is within a tolerance range of the value of the requested color, accepting the color; and   by the processing device, using the received information to adjust a position of the mobile robotic device in the area.   
     
     
         2 . The method of  claim 1 :
 further comprising receiving, from one or more sensors, positional information for the mobile robotic device; and   wherein using the received information to adjust a position of the mobile robotic device in the area comprises comparing the positional information and the information received from the video camera to a digital representation of a map.   
     
     
         3 . The method of  claim 2 , wherein using the received information to adjust a position of the mobile robotic device in the area also comprises:
 using the map to determine a current position of the mobile robotic device;   determining which of the received information has a least amount of error as compared to the current position; and   causing the mobile robotic device to adjust its position based on the information that has the least amount of error.   
     
     
         4 . The method of  claim 1 , wherein the received information also comprises one or more of the following:
 coordinates associated with a substantially center portion of the area;   coordinates associated with one or more corners of a rectangle that surrounds the area; or   a number of pixels of the detected color within the area.   
     
     
         5 . The method of  claim 1 , wherein using the received information to adjust a position of the mobile robotic device comprises adjusting a path of the mobile robotic device based on the received information in response to an amount of error associated with the received information as compared to the position being less than an amount of error associated with the received position data as compared to the position. 
     
     
         6 . The method of  claim 1 , wherein using the received information to adjust a position of the mobile robotic device comprises:
 determining an estimated location of the mobile robotic device;   using the received information to determine an actual location of the mobile robotic device; and   if the estimated location differs from the actual location, moving the mobile robotic device to the estimated location.   
     
     
         7 . The method of  claim 1 , wherein:
 the mobile robotic device comprises an automated cleaning device; and   the method further comprises, by the processing device, causing the automated cleaning device to clean a surface of the area as the automated cleaning device adjusts its position.   
     
     
         8 . The method of  claim 7 , wherein causing the automated cleaning device to clean the surface comprises, by the processing device:
 determining one or more characteristics associated with the surface;   determining a cleaning method based on the determined one or more characteristics; and   causing the automated cleaning device to apply the cleaning method to the surface.   
     
     
         9 . The method of  claim 8 , wherein determining one or more characteristics comprises determining that the surface comprises one or more of the following:
 hard wood flooring;   tile flooring;   carpeting;   a high-traffic area; or   a low-traffic area.   
     
     
         10 . The method of  claim 8 , wherein causing the automated cleaning device to apply the cleaning method comprises causing the automated cleaning device to perform one or more of the following:
 vacuum the surface along a path;   scrub the surface along a path; or   wax the surface along a path.   
     
     
         11 . A mobile robotic system, comprising:
 a video camera;   a mobile robotic device;   a processing device; and   a non-transitory, computer-readable medium containing programming instructions configured to cause the processing device to:
 receive, from the video camera, visual information associated with an area in which a mobile robotic device is located, wherein the information comprises a value associated with a detected color in the area, 
 compare the value associated with the detected color to a value of a requested color, 
 determine whether the value associated with the detected color is within a tolerance range of the value of the requested color, 
 in response to determining that the detected color is within a tolerance range of the value of the requested color, accept the color, and 
 use the received information to adjust a position of the mobile robotic device in the area. 
   
     
     
         12 . The system of  claim 11 , further comprising:
 one or more sensors; and   additional programming instructions configured to cause the processing device to:
 receive, from the one or more sensors, positional information for the mobile robotic device; and 
 when using the received information to adjust a position of the mobile robotic device in the area, comparing the positional information and the information received from the video camera to a digital representation of a map. 
   
     
     
         13 . The system of  claim 12 , wherein the instructions to use the received information to adjust a position of the mobile robotic device in the area also comprise instructions to:
 use the map to determine a current position of the mobile robotic device;   determine which of the received information has a least amount of error as compared to the current position; and   cause the mobile robotic device to adjust its position based on the information that has the least amount of error.   
     
     
         14 . The system of  claim 11 , wherein the received information also comprises one or more of the following:
 coordinates associated with a substantially center portion of the area;   coordinates associated with one or more corners of a rectangle that surrounds the area; or   a number of pixels of the detected color within the area.   
     
     
         15 . The system of  claim 11 , wherein the instructions to use the received information to adjust a position of the mobile robotic device comprise instructions to adjust a path of the mobile robotic device based on the received information in response to an amount of error associated with the received information as compared to the position being less than an amount of error associated with the received position data as compared to the position. 
     
     
         16 . The system of  claim 11 , wherein the instructions to use the received information to adjust a position of the mobile robotic device comprise instructions to:
 determine an estimated location of the mobile robotic device;   use the received information to determine an actual location of the mobile robotic device; and   if the estimated location differs from the actual location, move the mobile robotic device to the estimated location.   
     
     
         17 . The system of  claim 11 , wherein:
 the mobile robotic device comprises an automated cleaning device; and   the instructions are further configured to cause the automated cleaning device to clean a surface of the area as the automated cleaning device adjusts its position.   
     
     
         18 . The system of  claim 17 , wherein the instructions to cause the automated cleaning device to clean the surface comprise instructions to:
 determine one or more characteristics associated with the surface;   determine a cleaning method based on the determined one or more characteristics; and   cause the automated cleaning device to apply the cleaning method to the surface.   
     
     
         19 . The system of  claim 18 , wherein the instructions to determine one or more characteristics comprise instructions to determine that the surface comprises one or more of the following:
 hard wood flooring;   tile flooring;   carpeting;   a high-traffic area; or   a low-traffic area.   
     
     
         20 . The system of  claim 18 , wherein the instructions to cause the automated cleaning device to apply the cleaning method comprise instructions to cause the automated cleaning device to perform one or more of the following:
 vacuum the surface along a path;   scrub the surface along a path; or   wax the surface along a path.