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公开(公告)号：US20230052571A1
公开(公告)日：2023-02-16
申请号：US17934853
申请日：2022-09-23
Applicant: iRobot Corporation
Inventor： Artem Gritsenko , Erik Schembor , James R. Salvati , John Wang , Jonathan J. Dorich , Steven Kordell , Tadvana S. Canakapalli , Zacharias Psarakis
Abstract: An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.
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公开(公告)号：US20220080592A1
公开(公告)日：2022-03-17
申请号：US17021507
申请日：2020-09-15
Applicant: iRobot Corporation
Inventor： Vazgen Karapetyan , Artem Gritsenko , Zacharias Psarakis , Guanlai Li , Daniele Tamino
Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and docks based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
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Patent Agency Ranking
公开(公告)号：US11662743B2
公开(公告)日：2023-05-30
申请号：US17021507
申请日：2020-09-15
Applicant: iRobot Corporation
Inventor： Vazgen Karapetyan , Artem Gritsenko , Zacharias Psarakis , Guanlai Li , Daniele Tamino
IPC: G05D1/02
CPC classification number: G05D1/0272 , G05D1/027 , G05D1/0227 , G05D1/0274 , G05D2201/0203
Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and docks based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
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公开(公告)号：US11607094B2
公开(公告)日：2023-03-21
申请号：US17934853
申请日：2022-09-23
Applicant: iRobot Corporation
Inventor： Artem Gritsenko , Erik Schembor , James R. Salvati , John Wang , Jonathan J. Dorich , Steven Kordell , Tadvana S. Canakapalli , Zacharias Psarakis
Abstract: An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.
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公开(公告)号：US20230384795A1
公开(公告)日：2023-11-30
申请号：US18202413
申请日：2023-05-26
Applicant: iRobot Corporation
Inventor： Vazgen Karapetyan , Artem Gritsenko , Zacharias Psarakis , Guanlai Li , Daniele Tamino
IPC: G05D1/02
CPC classification number: G05D1/0272 , G05D1/027 , G05D1/0227 , G05D1/0274 , G05D2201/0203
Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and dock-based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
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公开(公告)号：US11464375B2
公开(公告)日：2022-10-11
申请号：US16120993
申请日：2018-09-04
Applicant: iRobot Corporation
Inventor： Artem Gritsenko , Erik Schembor , James R. Salvati , John Wang , Jonathan J. Dorich , Steven Kordell , Tadvana S. Canakapalli , Zacharias Psarakis
Abstract: An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.
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公开(公告)号：US20200069125A1
公开(公告)日：2020-03-05
申请号：US16120993
申请日：2018-09-04
Applicant: iRobot Corporation
Inventor： Artem Gritsenko , Erik Schembor , James R. Salvati , John Wang , Jonathan J. Dorich , Steven Kordell , Tadvana S. Canakapalli , Zacharias Psarakis
Abstract: An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.
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