Patent ID: 11927450
Assignee: AI INCORPORATED
Field: Control (Instruments)
Classification: CPC G  A  H | IPC A  G  H

Claim 0:
1. A tangible, non-transitory, machine-readable medium storing instructions that when executed by one or more processors of a robot effectuate operations comprising:
obtaining, with the one or more processors, first data indicative of a position of the robot in a workspace, the first data being based on at least output of a first sensor, wherein obtaining the first data comprises at least:
obtaining, with the one or more processors, first depth data, wherein:
the first depth data comprises a first set of radial distances from the robot at a first position to wall surfaces of the workspace in which the robot is disposed; and
the first depth data include angular direction of each radial distance in the first set of radial distances;

actuating, with the one or more processors, the robot to drive within the workspace to form a map including mapped perimeters that correspond with physical perimeters of the workspace while obtaining, with the one or more processors, second data indicative of displacement of the robot as the robot drives within the workspace, the second data being based on at least output of a second sensor of different type than the first sensor; and
forming, with the one or more processors, the map of the workspace based on at least some of the first data;
wherein:
the map of the workspace expands as new first data comprising a new set of radial distances from the robot to undiscovered perimeters of the workspace are obtained with the one or more processors until radial distances to all perimeters of the workspace are obtained with the one or more processors; and
the robot is paired with an application of a communication device configured to:
receive at least one input designating a modification to the map; a task to perform in a particular zone within the map; a new zone within the map; a cleaning intensity; a cleaning frequency; an area within the map the robot is to avoid; a vacuum power; a cleaning schedule of the robot; and an instruction to activate or deactivate a cleaning tool; and
display an error; completion of a task; cleaning statistics; a battery level; and the map.