公开(公告)号：US09020637B2

公开(公告)日：2015-04-28

申请号：US13790643

申请日：2013-03-08

Applicant: iRobot Corporation

Inventor： Mark Schnittman

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0219 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.

Abstract translation: 同时定位和映射的方法包括初始化机器人姿态和粒子滤波器的粒子模型。 粒子模型包括粒子，每个粒子具有相关联的图，机器人姿态和重量。 该方法包括从机器人的传感器系统接收稀疏传感器数据，使接收的传感器数据与机器人姿态的变化同步，随着时间的推移累积同步的传感器数据，并确定机器人定位质量。 当积累的传感器数据超过阈值累积并且机器人定位质量大于阈值定位质量时，该方法包括用累积的同步传感器数据更新粒子。 该方法包括当粒子的平均重量大于阈值粒子重量时，确定粒子模型的每个更新粒子的权重并且将机器人姿势置信于具有最高权重的粒子的机器人姿势。

公开(公告)号：US20140124004A1

公开(公告)日：2014-05-08

申请号：US13790867

申请日：2013-03-08

Applicant: IROBOT CORPORATION

Inventor： Michael T. Rosenstein ,  Mark Chiappetta ,  Mark Schnittman ,  Andrew Pastore

IPC: A47L11/40

CPC classification number: A47L11/4011 ,  A47L9/2826 ,  A47L9/2852 ,  A47L11/4061 ,  A47L2201/06 ,  G05D1/0246 ,  G05D2201/0203 ,  G06T7/00 ,  G06T7/11 ,  G06T7/246 ,  G06T7/62 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/30261 ,  Y10S901/01

Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.

Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。