公开(公告)号：US08972061B2

公开(公告)日：2015-03-03

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 ,  A47L9/28 ,  G05D1/02 ,  G06T7/00

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。