公开(公告)号：US11320835B2

公开(公告)日：2022-05-03

申请号：US16707840

申请日：2019-12-09

Applicant: iRobot Corporation

Inventor： Frederic D. Hook ,  Nikolai Romanov ,  Matthew Mercaldo ,  Peter Teulings ,  Kenneth Holm, Jr. ,  Juan Oxoby

IPC: G05D1/02 ,  B25J9/16 ,  G05D1/00

Abstract: An autonomous mobile robot includes a drive system to maneuver the autonomous mobile robot about an environment, a first magnetic field antenna system responsive to a magnetic field pulse to generate a first signal, and a second magnetic field antenna system responsive to the magnetic field pulse to generate a second signal. The magnetic field pulse is emitted by a magnetic field emitter system in the environment. The autonomous mobile robot further includes a controller to execute instructions to perform operations including reorienting the autonomous mobile robot based on the first signal and the second signal.

公开(公告)号：US10379172B2

公开(公告)日：2019-08-13

申请号：US14799319

申请日：2015-07-14

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.