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    MAPPING FOR AUTONOMOUS MOBILE ROBOTS
    12.
    发明申请
    MAPPING FOR AUTONOMOUS MOBILE ROBOTS 有权

    公开(公告)号：US20220269275A1

    公开(公告)日：2022-08-25

    申请号：US17671183

    申请日：2022-02-14

    Applicant: iRobot Corporation

    Inventor： Mario Munich ,  Andreas Kolling ,  Manjunath Narayana ,  Philip Fong

    IPC: G05D1/02 ,  A47L11/40 ,  G05D1/00

    Abstract: A method includes constructing a map of an environment based on mapping data produced by an autonomous cleaning robot in the environment during a first cleaning mission. Constructing the map includes providing a label associated with a portion of the mapping data. The method includes causing a remote computing device to present a visual representation of the environment based on the map, and a visual indicator of the label. The method includes causing the autonomous cleaning robot to initiate a behavior associated with the label during a second cleaning mission.

    CONTROL OF AUTONOMOUS MOBILE ROBOTS
    13.
    发明申请
    CONTROL OF AUTONOMOUS MOBILE ROBOTS 有权

    公开(公告)号：US20220183529A1

    公开(公告)日：2022-06-16

    申请号：US17688372

    申请日：2022-03-07

    Applicant: iRobot Corporation

    Inventor： Mario Munich ,  Philip Fong ,  Vazgen Karapetyan ,  Andreas Kolling

    IPC: A47L11/40 ,  G05D1/02

    Abstract: An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.

    Systems and methods for performing simultaneous localization and mapping using machine vision systems
    18.
    发明授权
    Systems and methods for performing simultaneous localization and mapping using machine vision systems 有权
    使用机器视觉系统执行同时定位和映射的系统和方法

    公开(公告)号：US09519289B2

    公开(公告)日：2016-12-13

    申请号：US14856526

    申请日：2015-09-16

    Applicant: iRobot Corporation

    Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Philip Fong

    IPC: B25J9/16 ,  G05D1/02 ,  G01C21/20 ,  G05D1/00

    CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

    Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

    Abstract translation: 本发明提供了一种移动机器人，其被配置为导航操作环境，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

    Systems and Methods for Performing Simultaneous Localization and Mapping using Machine Vision Systems
    19.
    发明申请
    Systems and Methods for Performing Simultaneous Localization and Mapping using Machine Vision Systems 有权
    使用机器视觉系统执行同步定位和映射的系统和方法

    公开(公告)号：US20160147230A1

    公开(公告)日：2016-05-26

    申请号：US14856526

    申请日：2015-09-16

    Applicant: iRobot Corporation

    Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Phillip Fong

    IPC: G05D1/02 ,  G05D1/00 ,  G01C21/20

    CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

    Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

    Abstract translation: 本发明提供了一种移动机器人，其被配置为导航操作环境，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

    Localization by Learning of Wave-Signal Distributions
    20.
    发明申请
    Localization by Learning of Wave-Signal Distributions 有权
    通过学习波信号分布进行本地化

    公开(公告)号：US20150197011A1

    公开(公告)日：2015-07-16

    申请号：US14589429

    申请日：2015-01-05

    Applicant: iRobot Corporation

    Inventor： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

    IPC: B25J9/16

    CPC classification number: B25J9/1664 ,  B25J9/1694 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0208 ,  G05D2201/0211 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

    Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.

    Abstract translation: 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

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