公开(公告)号：US09623557B2

公开(公告)日：2017-04-18

申请号：US15248352

申请日：2016-08-26

Applicant: iRobot Corporation

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

IPC: G05D1/02 ,  G05B19/00 ,  B25J9/16 ,  G06F19/00 ,  B25J5/00

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.

公开(公告)号：US09218003B2

公开(公告)日：2015-12-22

申请号：US14307402

申请日：2014-06-17

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Ethan Eade ,  Mario E. Munich

IPC: G05B15/00 ,  G05D1/02

CPC classification number: G01C21/32 ,  G01C21/20 ,  G01C21/206 ,  G05B15/00 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/00

Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.

Abstract translation: 公开了一种用于映射由机器人映射系统获取的参数数据的系统和方法。 当机器人使用地标在本地化环境中时，收集表征环境的参数数据。 参数数据被记录在多个局部网格中，即当收集数据时与机器人位置和取向相关联的子图。 机器人被配置为根据机器人的当前姿态，与其他网格相关联的姿势以及这些相对姿态估计的不确定性来生成新的网格或重用现有网格。 与网格相关的姿态估计随着时间的推移而更新，因为机器人精简了对地标位置的估计，从而确定了其在环境中的姿态。 可以通过将局部网格渲染成全面的映射来生成占用映射或其他全局参数映射，该综合映射指示在扩展环境维度的全局参考帧中的参数数据。

公开(公告)号：US20150261223A1

公开(公告)日：2015-09-17

申请号：US14307402

申请日：2014-06-17

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Ethan Eade ,  Mario E. Munich

IPC: G05D1/02

CPC classification number: G01C21/32 ,  G01C21/20 ,  G01C21/206 ,  G05B15/00 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/00

Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.

Abstract translation: 公开了一种用于映射由机器人映射系统获取的参数数据的系统和方法。 当机器人使用地标在本地化环境中时，收集表征环境的参数数据。 参数数据被记录在多个局部网格中，即当收集数据时与机器人位置和取向相关联的子图。 机器人被配置为根据机器人的当前姿态，与其他网格相关联的姿势以及这些相对姿态估计的不确定性来生成新的网格或重用现有网格。 与网格相关的姿态估计随着时间的推移而更新，因为机器人精简了对地标位置的估计，从而确定了其在环境中的姿态。 可以通过将局部网格渲染成全面的映射来生成占用映射或其他全局参数映射，该综合映射指示在扩展环境维度的全局参考帧中的参数数据。

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。