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    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS
    43.
    发明申请
    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS 审中-公开

    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

    IPC: B25J9/16 ,  B25J11/00 ,  G05D1/02 ,  B25J5/00

    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.

    Systems and methods for performing simultaneous localization and mapping using machine vision systems
    47.
    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。

    Adaptive mapping with spatial summaries of sensor data
    48.
    发明授权
    Adaptive mapping with spatial summaries of sensor data 有权
    自适应映射与传感器数据的空间摘要

    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。

    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA
    49.
    发明申请
    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 审中-公开
    具有传感器数据空间概念的自适应映射

    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。

    Localization by Learning of Wave-Signal Distributions
    50.
    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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