公开(公告)号：US12235650B2

公开(公告)日：2025-02-25

申请号：US18231966

申请日：2023-08-09

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Mario E. Munich

IPC: G05D1/00 ,  A47L9/04 ,  A47L9/28 ,  A47L11/40

Abstract: A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.

公开(公告)号：US11314260B2

公开(公告)日：2022-04-26

申请号：US16388286

申请日：2019-04-18

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Mario E. Munich

IPC: G05D1/02 ,  G05D1/00 ,  A47L9/04 ,  A47L9/28 ,  A47L11/40

Abstract: A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.

公开(公告)号：US20190383887A1

公开(公告)日：2019-12-19

申请号：US16538737

申请日：2019-08-12

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Nikolai Romanov ,  Frederic D. Hook

IPC: G01R33/00 ,  G01B7/30 ,  B25J9/16 ,  A01D34/00 ,  G01S1/00 ,  G05D1/02

Abstract: A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.

公开(公告)号：US10310507B2

公开(公告)日：2019-06-04

申请号：US15943083

申请日：2018-04-02

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Mario E. Munich

IPC: G05D1/00 ,  G05D1/02 ,  A47L9/04 ,  A47L9/28 ,  A47L11/40

Abstract: A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.

公开(公告)号：US10168709B2

公开(公告)日：2019-01-01

申请号：US15704814

申请日：2017-09-14

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Mario E. Munich

IPC: G05D1/02 ,  A47L9/04 ,  A47L11/40 ,  A47L9/28 ,  G05D1/00

Abstract: A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.