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    Ultrasonic cliff detection and depth estimation using tilted sensors
    14.
    发明授权
    Ultrasonic cliff detection and depth estimation using tilted sensors 有权

    公开(公告)号：US12265186B2

    公开(公告)日：2025-04-01

    申请号：US17987304

    申请日：2022-11-15

    Applicant: InvenSense, Inc.

    Inventor： Daniela Hall ,  Tony Lei ,  Zhongyang Li ,  Joe Youssef

    IPC: G01S7/521 ,  B06B1/02 ,  G01S15/931

    Abstract: A robotic cleaning appliance includes a housing to which is coupled a surface treatment item and a sensor assembly with first and second transducers and an acoustic interface. The first sonic transducer transmits sonic signals through an acoustic interface and out of a first acoustic opening toward a surface beneath the robotic cleaning appliance. The sonic signals reflect from the surface as corresponding returned signals received by the second sonic transducer via a second acoustic opening port of the acoustic interface. A first annular ring is defined around the first acoustic opening port and a second annular rings is defined around the second acoustic opening port. The annular ring attenuate direct path echoes between the acoustic opening ports. The first and second acoustic opening ports are coupled the first and sonic transducers, respectively, via first and second horns; and the horns are tilted from orthogonal with the surface.

    Surface type detection
    15.
    发明授权
    Surface type detection 有权

    公开(公告)号：US12013371B2

    公开(公告)日：2024-06-18

    申请号：US17226447

    申请日：2021-04-09

    Applicant: InvenSense, Inc.

    Inventor： Mitchell H Kline ,  Joe Youssef

    IPC: G01N29/04 ,  A47L9/28 ,  G01N29/22

    CPC classification number: G01N29/041 ,  A47L9/2826 ,  A47L9/2852 ,  G01N29/225

    Abstract: A robotic cleaning appliance includes a sonic transducer and a processor coupled with a housing. The sonic transducer transmits sonic signals toward a surface within its ringdown distance and receives corresponding returned signals. Following cessation of the sonic signals, the processor samples the ringdown signal generated by the sonic transducer during an early portion before the corresponding returned signals have reflected back to the sonic transducer, and during a later portion which includes the corresponding returned signals. The processor utilizes the sampled early portion to estimate a void ringdown signal of which represents performance of the sonic transducer in absence of returned signals being received. The processor compares the estimated void ringdown signal to the later portion of the ringdown signal and generates a metric based on the comparison. The processor utilizes the metric to determine a type of the surface, out of a plurality of surface types.

    ULTRASONIC DIRECT ECHO PATH REDUCTION
    16.
    发明公开
    ULTRASONIC DIRECT ECHO PATH REDUCTION 审中-公开

    公开(公告)号：US20230152433A1

    公开(公告)日：2023-05-18

    申请号：US17987151

    申请日：2022-11-15

    Applicant: InvenSense, Inc.

    Inventor： Tony LEI ,  Joe Youssef ,  Daniela Hall ,  Ben Eovino ,  Stefon Shelton

    IPC: G01S7/521 ,  G05D1/02 ,  G01S15/931 ,  G01S15/08

    CPC classification number: G01S7/521 ,  G05D1/0255 ,  G01S15/931 ,  G01S15/08 ,  G01S2015/937

    Abstract: A robotic cleaning appliance includes a housing to which is coupled a surface treatment item and a sensor assembly with first and second transducers and an acoustic interface. The first sonic transducer transmits sonic signals through an acoustic interface and out of a first acoustic opening toward a surface beneath the robotic cleaning appliance. The sonic signals reflect from the surface as corresponding returned signals received by the second sonic transducer via a second acoustic opening port of the acoustic interface. A first plurality of annular rings is defined in the external surface around the first acoustic opening port and a second plurality of annular rings is defined in the external surface around the second acoustic opening port. The pluralities of annular rings attenuate direct path echoes from a subset of the transmitted sonic signals which attempt to travel across the external surface to the second acoustic opening port.

    SYSTEM FOR FUSING ACOUSTIC AND INERTIAL POSITION DETERMINATION
    17.
    发明申请
    SYSTEM FOR FUSING ACOUSTIC AND INERTIAL POSITION DETERMINATION 审中-公开

    公开(公告)号：US20190170785A1

    公开(公告)日：2019-06-06

    申请号：US16212075

    申请日：2018-12-06

    Applicant: InvenSense, Inc.

    Inventor： Sebastian Riccardi ,  Karthik Katingari ,  Joe Youssef

    IPC: G01P13/00 ,  G01S11/12 ,  G01S11/14

    Abstract: A synchronization system for an acoustic signal-based and inertial signal-based positioning system is provided that generates a magnetic field as a synchronization signal. The modulated magnetic synchronization signal is transmitted by a transmitter of the positioning system and received by the receiver of the positioning system. The receiver may make an acoustic position determination for the transmitter based on a received modulated synchronization signal and may make an inertial position determination for the transmitter based on the received inertial signal, such that the acoustic position determination and the inertial position determination are fused.

    METHOD AND SYSTEM FOR AUTOMATIC FACTORY CALIBRATION
    18.
    发明申请
    METHOD AND SYSTEM FOR AUTOMATIC FACTORY CALIBRATION 审中-公开

    公开(公告)号：US20190170546A1

    公开(公告)日：2019-06-06

    申请号：US16212032

    申请日：2018-12-06

    Applicant: InvenSense, Inc.

    Inventor： Joe Youssef ,  Karthik Katingari ,  Sebastian Riccardi ,  Hemabh Shekhar

    IPC: G01D18/00

    Abstract: A sensor may be automatically calibrated during manufacture by providing a sensor processing unit having an integrated sensor, performing a check to determine if the integrated sensor has been previously calibrated upon a reset. When it has been determined the integrated sensor has not been previously calibrated, an automated calibration pattern may be imparted to the sensor so that a calibration parameter is determined.

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