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公开(公告)号：US11052540B2
公开(公告)日：2021-07-06
申请号：US16251926
申请日：2019-01-18
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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公开(公告)号：US20190152059A1
公开(公告)日：2019-05-23
申请号：US16251926
申请日：2019-01-18
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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公开(公告)号：US20170197314A1
公开(公告)日：2017-07-13
申请号：US15461106
申请日：2017-03-16
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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公开(公告)号：US09442488B2
公开(公告)日：2016-09-13
申请号：US14279598
申请日：2014-05-16
Applicant: iRobot Corporation
Inventor： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC: G05D1/02
CPC classification number: G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。
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公开(公告)号：US09427875B2
公开(公告)日：2016-08-30
申请号：US14949002
申请日：2015-11-23
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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Patent Agency Ranking
26.发明申请公开(公告)号：US20160101523A1
公开(公告)日：2016-04-14
申请号：US14880610
申请日：2015-10-12
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
CPC classification number: B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge—following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
Abstract translation: 一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖导致映射 模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。
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27.发明申请公开(公告)号：US20140222279A1
公开(公告)日：2014-08-07
申请号：US14251390
申请日：2014-04-11
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC: G05D1/02
CPC classification number: B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
Abstract translation: 一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖导致映射 模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。
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28.发明申请公开(公告)号：US20190086933A1
公开(公告)日：2019-03-21
申请号：US16189402
申请日：2018-11-13
Applicant: iRobot Corporation
Inventor： Mario Munich , Nikolai Romanov , Dhiraj Goel , Philip Fong
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.
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公开(公告)号：US20180297208A1
公开(公告)日：2018-10-18
申请号：US15949653
申请日：2018-04-10
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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公开(公告)号：US09969089B2
公开(公告)日：2018-05-15
申请号：US15221036
申请日：2016-07-27
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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