公开(公告)号：US09910444B2

公开(公告)日：2018-03-06

申请号：US15014934

申请日：2016-02-03

Applicant: iRobot Corporation

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

IPC: G06K9/00 ,  G05D1/02 ,  G09B29/00 ,  G06F17/30 ,  G06K9/20 ,  G06K9/62

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.

公开(公告)号：US09751210B2

公开(公告)日：2017-09-05

申请号：US14856497

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Jason Meltzer ,  Marc Barnada Rius

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1602 ,  B25J9/1697 ,  G05D1/0253 ,  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 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.

公开(公告)号：US20170105592A1

公开(公告)日：2017-04-20

申请号：US15389926

申请日：2016-12-23

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Jason Meltzer ,  Jens-Steffen Gutmann ,  Vazgen Karapetyan ,  Mario E. Munich

IPC: A47L9/28 ,  B25J9/16 ,  B25J11/00 ,  H02J7/00 ,  B25J19/00 ,  G05D1/02 ,  A47L9/30 ,  B25J5/00 ,  B25J13/00

CPC classification number: A47L9/2873 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/02 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1697 ,  B25J11/0085 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0215 ,  H02J7/0045 ,  Y10S901/01

Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.

公开(公告)号：US09440354B2

公开(公告)日：2016-09-13

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 ,  G05D1/02 ,  G06F15/00 ,  G06F19/00

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：US20160143500A1

公开(公告)日：2016-05-26

申请号：US14947277

申请日：2015-11-20

Applicant: IRobot Corporation

Inventor： Philip Fong ,  Jason Meltzer ,  Jens-Steffen Gutmann ,  Vazgen Karapetyan ,  Mario E. Munich

IPC: A47L9/28 ,  B25J11/00 ,  H02J7/00 ,  B25J13/00 ,  B25J9/16 ,  A47L9/30 ,  B25J5/00 ,  B25J19/00

CPC classification number: A47L9/2873 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/02 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1697 ,  B25J11/0085 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0215 ,  H02J7/0045 ,  Y10S901/01

Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.

Abstract translation: 提供了一种移动机器人系统，其包括具有至少两个姿势限定基准标记的对接站。 姿势定义基准标记在对接站上相对于彼此和/或参考点具有预定的空间关系，使得可以根据至少两个姿势的一个或多个观察来确定到基站的对接路径 确定基准标记。 系统中的移动机器人包括姿态传感器组件。 控制器位于机箱上，并被配置为分析来自姿态传感器组件的输出信号。 控制器被配置为确定对接站姿态，以将对接站姿态定位在由移动机器人穿过的表面的地图上，并且路径规划对接轨迹。

公开(公告)号：US20160069691A1

公开(公告)日：2016-03-10

申请号：US14944152

申请日：2015-11-17

Applicant: iRobot Corporation

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

IPC: G01C21/20 ,  G05D1/00

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.

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.

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.

公开(公告)号：US20210268652A1

公开(公告)日：2021-09-02

申请号：US16804749

申请日：2020-02-28

Applicant: iRobot Corporation

Inventor： Manjunath Narayana ,  Andreas Kolling ,  Philip Fong

IPC: B25J9/16

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.

公开(公告)号：US20190212752A1

公开(公告)日：2019-07-11

申请号：US15863681

申请日：2018-01-05

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Clifton Eric Smith ,  Mario Munich ,  Stephen Ernest O'Dea

IPC: G05D1/02 ,  A47L11/40 ,  A47L9/28

CPC classification number: G05D1/0274 ,  A47L9/2815 ,  A47L9/2826 ,  A47L9/2857 ,  A47L11/4011 ,  A47L2201/022 ,  A47L2201/024 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0297 ,  G05D2201/0203 ,  G06K9/00

Abstract: A multi-robot system includes a first a mobile cleaning robot that has a local storage device to store a persistent map of an environment, at least one sensor to sense the environment, and a control module. The control module is configured to: control the mobile cleaning robot to navigate in the environment using the persistent map and sensing data provided by the at least one sensor, share the persistent map with a second mobile cleaning robot, and coordinate with the second mobile cleaning robot to perform cleaning tasks.