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公开(公告)号：US20160154408A1
公开(公告)日：2016-06-02
申请号：US15014934
申请日：2016-02-03
Applicant: iRobot Corporation
Inventor： Ethan Eade , Mario E. Munich , Philip Fong
CPC classification number: G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0215 , G06F17/30061 , G06F17/30241 , G06F17/30386 , G06F17/3053 , G06K9/2054 , G06K9/6201 , G09B29/007
Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 某些实施例考虑了在基于SLAM的系统中对前端处理的改进。 特别地，这些实施方案中的某些考虑了新颖的地标匹配过程。 这些实施例中的某些也考虑了一个新颖的地标创建过程。 某些实施例考虑了对基于SLAM的系统中的后端处理的改进。 特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法以实现更有效的结构。
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22.发明授权公开(公告)号：US09223312B2
公开(公告)日：2015-12-29
申请号：US13913258
申请日：2013-06-07
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
IPC: G05D1/02
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.
Abstract translation: 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。
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公开(公告)号：US11966227B2
公开(公告)日：2024-04-23
申请号：US17671183
申请日：2022-02-14
Applicant: iRobot Corporation
Inventor： Mario Munich , Andreas Kolling , Manjunath Narayana , Philip Fong
CPC classification number: G05D1/0212 , A47L11/4011 , A47L11/4061 , G05D1/0088 , A47L2201/04 , A47L2201/06 , G05D2201/0203 , G05D2201/0215
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.
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公开(公告)号：US11571813B2
公开(公告)日：2023-02-07
申请号：US16804749
申请日：2020-02-28
Applicant: iRobot Corporation
Inventor： Manjunath Narayana , Andreas Kolling , Philip Fong
Abstract: Described herein are systems, devices, and methods for maintaining a valid semantic map of an environment for a mobile robot. A mobile robot comprises a drive system, a sensor circuit to sense occupancy information, a memory, a controller circuit, and a communication system. The controller circuit can generate a first semantic map corresponding to a first robot mission using first occupancy information and first semantic annotations, transfer the first semantic annotations to a second semantic map corresponding to a subsequent second robot mission. The control circuit can generate the second semantic map that includes second semantic annotations generated based on the transferred first semantic annotations. User feedback on the first or the second semantic map can be received via a communication system. The control circuit can update first semantic map and use it to navigate the mobile robot in a future mission.
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公开(公告)号：US20210221003A1
公开(公告)日：2021-07-22
申请号：US17223406
申请日：2021-04-06
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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Patent Agency Ranking
公开(公告)号：US20210124354A1
公开(公告)日：2021-04-29
申请号：US16537155
申请日：2019-08-09
Applicant: iRobot Corporation
Inventor： Mario Munich , Andreas Kolling , Manjunath Narayana , Philip Fong
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.
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公开(公告)号：US10962376B2
公开(公告)日：2021-03-30
申请号：US15921085
申请日：2018-03-14
Applicant: iRobot Corporation
Inventor： Philip Fong , Ethan Eade , Mario E. Munich
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.
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28.发明授权公开(公告)号：US10705535B2
公开(公告)日：2020-07-07
申请号：US16189402
申请日：2018-11-13
Applicant: iRobot Corporation
Inventor： Mario Munich , Nikolai Romanov , Dhiraj Goel , Philip Fong
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：US10391630B2
公开(公告)日：2019-08-27
申请号：US15646782
申请日：2017-07-11
Applicant: iRobot Corporation
Inventor： Philip Fong , Jason Meltzer , Marc Barnada Rius
Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a machine vision system comprising a camera that captures images of the operating environment using a machine vision system; detects the presence of an occlusion obstructing a portion of the field of view of a camera based on the captured images, and generate a notification when an occlusion obstructing the portion of the field of view of the camera is detected, and maintain occlusion detection data describing occluded and unobstructed portions of images being used by the SLAM application.
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公开(公告)号：US20180299275A1
公开(公告)日：2018-10-18
申请号：US15921085
申请日：2018-03-14
Applicant: iRobot Corporation
Inventor： Philip Fong , Ethan Eade , Mario E. Munich
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.
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