发明公开
- 专利标题： CARPET DRIFT ESTIMATION
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申请号： EP21168056.6申请日： 2013-06-07
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公开(公告)号： EP3910440A1公开(公告)日： 2021-11-17
- 发明人: GOEL, Dhiraj , EADE, Ethan , FONG, Philip , MUNICH, Mario, E.
- 申请人： iRobot Corporation
- 申请人地址： US Bedford, MA 01730 8 Crosby Drive
- 代理机构： Peterreins Schley
- 优先权： US201261657399 P 20120608
- 主分类号： G05D1/02
- IPC分类号： G05D1/02 ; B25J19/04 ; B25J5/00 ; A47L11/32
摘要：
Methods for carpet drift estimation of a robotic device include sensing an actuation characteristic of the actuator system, for example, odometry sensors for sensing wheel rotations of the actuator system. An image sensor senses a motion characteristic of the body.
A controller estimates carpet drift based at least on the actuation characteristic and the actual motion sensed by the image sensor.
A controller estimates carpet drift based at least on the actuation characteristic and the actual motion sensed by the image sensor.
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