公开(公告)号：US09744670B2

公开(公告)日：2017-08-29

申请号：US14856501

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Nikolai Romanov ,  James Philip Case ,  Kenneth Griest ,  David O. Swett

IPC: G01C22/00 ,  G05D1/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1697 ,  G05B2219/50393 ,  G05D1/0253 ,  G05D1/027 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.

公开(公告)号：US20160144511A1

公开(公告)日：2016-05-26

申请号：US14856501

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Nikolai Romanov ,  James Philip Case ,  Kenneth Griest ,  David O. Swett

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1697 ,  G05B2219/50393 ,  G05D1/0253 ,  G05D1/027 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.

Abstract translation: 在移动机器人中使用光学测距传感器系统的系统和方法。 光学测距传感器系统定位在移动机器人主体的下侧上的凹陷结构内，并被配置为输出光学测距数据。 光学测距传感器系统包括光学测距照相机，其包括远心透镜，其被配置为捕获身体下方的跟踪表面的图像，并且具有提供观察距离范围的景深的距离，在该范围内跟踪表面被聚焦从焦点 在凹陷结构内的第一距离到移动机器人主体的下侧之下的第二距离。