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公开(公告)号：US20240310851A1
公开(公告)日：2024-09-19
申请号：US18413853
申请日：2024-01-16
申请人： Ali Ebrahimi Afrouzi , Lukas Robinson , Andrew Francis Fitzgerald , Amin Ebrahimi Afrouzi , Brian Highfill
发明人： Ali Ebrahimi Afrouzi , Lukas Robinson , Andrew Francis Fitzgerald , Amin Ebrahimi Afrouzi , Brian Highfill
CPC分类号： G05D1/617 , B25J9/1676 , B25J9/1697 , G05D1/249
摘要： A method for operating a robot, including: capturing images of a workspace; capturing data indicative of movement of the robot; capturing LIDAR data as the robot moves within the workspace; generating a map of the workspace based on the LIDAR data; actuating the robot to drive; discriminating between an object on a floor surface along a path of the robot and the floor surface based on the captured images; actuating the robot to drive until determining all areas of the workspace are discovered and included in the map; and executing a cleaning function.
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公开(公告)号：US20240192690A1
公开(公告)日：2024-06-13
申请号：US18366761
申请日：2023-08-08
申请人： Ali Ebrahimi Afrouzi , Lukas Robinson , Andrew Francis Fitzgerald , Amin Ebrahimi Afrouzi , Brian Highfill
发明人： Ali Ebrahimi Afrouzi , Lukas Robinson , Andrew Francis Fitzgerald , Amin Ebrahimi Afrouzi , Brian Highfill
CPC分类号： G05D1/0274 , B25J9/1664 , B25J11/0085 , B25J13/087 , G06F9/5016 , G06F9/5038 , G06N3/084
摘要： Some aspects include a method for operating a cleaning robot, including: capturing LIDAR data; generating a first iteration of a map of the environment in real time; capturing sensor data from different positions within the environment; capturing movement data indicative of movement of the cleaning robot; aligning and integrating newly captured LIDAR data with previously captured LIDAR data at overlapping points; generating additional iterations of the map based on the newly captured LIDAR data and at least some of the newly captured sensor data; localizing the cleaning robot; planning a path of the cleaning robot; and actuating the cleaning robot to drive along a trajectory that follows along the planned path by providing pulses to one or more electric motors of wheels of the cleaning robot.
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公开(公告)号：US20230085608A1
公开(公告)日：2023-03-16
申请号：US17983920
申请日：2022-11-09
摘要： Provided is a robot including a chassis; a set of wheels coupled to the chassis; a plurality of sensors; a processor; and a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations. The operations include capturing, with an image sensor disposed on the robot, a plurality of images of an environment of the robot as the robot navigates within the environment; identifying, with the processor, an obstacle type of an obstacle captured in an image based on a comparison between features of the obstacle and features of obstacles with different obstacles types stored in a database; and determining, with the processor, an action of the robot based on the obstacle type of the obstacle.
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公开(公告)号：US12092467B1
公开(公告)日：2024-09-17
申请号：US17720040
申请日：2022-04-13
CPC分类号： G01C21/32 , G06F16/29 , G06T7/70 , G06V20/56 , G06T2207/30244 , G06T2207/30252
摘要： Provided is a medium storing instructions that when executed by a processor of a first wheeled device effectuates operations including: capturing sensor readings of an environment; finding a position of the first wheeled device within a map of the environment based on at least some of the sensor readings; and generating a new map of the environment when the processor is unable to load the previously generated map or cannot find the position of the first wheeled device within the previously generated map; wherein: the map is previously generated with the processor of the first wheeled device or a processor of a second wheeled device; the map is loaded into a memory of the first wheeled device at a beginning of each work session; and the processor of the first wheeled device iteratively tracks the position of the first wheeled device while performing a task.
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公开(公告)号：US11340079B1
公开(公告)日：2022-05-24
申请号：US16418988
申请日：2019-05-21
摘要： Provided is a wheeled device, including: a chassis; a set of wheels coupled to the chassis; one or more electric motors to rotate the set of wheels; a network card for wireless connection to the internet; a plurality of sensors; a processor electronically coupled to the plurality of sensors; and a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with at least one exteroceptive sensor, measurement readings of the environment; and estimating, with the processor using a statistical ensemble of simulated positions of the wheeled device and the measurement readings, a corrected position of the wheeled device to replace a last known position of the wheeled device.
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公开(公告)号：US20220066456A1
公开(公告)日：2022-03-03
申请号：US17403292
申请日：2021-08-16
摘要： Provided is a method for operating a robot, including: capturing images of a workspace; capturing movement data indicative of movement of the robot; capturing LIDAR data as the robot performs work within the workspace; comparing at least one object from the captured images to objects in an object dictionary; identifying a class to which the at least one object belongs; generating a first iteration of a map of the workspace based on the LIDAR data; generating additional iterations of the map based on newly captured LIDAR data and newly captured movement data; actuating the robot to drive along a trajectory that follows along a planned path by providing pulses to one or more electric motors of wheels of the robot; and localizing the robot within an iteration of the map by estimating a position of the robot based on the movement data, slippage, and sensor errors.
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公开(公告)号：US11768504B2
公开(公告)日：2023-09-26
申请号：US17344892
申请日：2021-06-10
CPC分类号： G05D1/0274 , B25J9/1664 , B25J11/0085 , B25J13/087 , G05D1/0016 , G05D1/0022 , G05D1/0044 , G05D1/024 , G05D1/0219 , G05D1/0272 , G06F9/5016 , G06F9/5038 , G06N3/084 , G05D2201/0215
摘要： Some aspects include a method for operating a cleaning robot, including: capturing LIDAR data; generating a first iteration of a map of the environment in real time; capturing sensor data from different positions within the environment; capturing movement data indicative of movement of the cleaning robot; aligning and integrating newly captured LIDAR data with previously captured LIDAR data at overlapping points; generating additional iterations of the map based on the newly captured LIDAR data and at least some of the newly captured sensor data; localizing the cleaning robot; planning a path of the cleaning robot; and actuating the cleaning robot to drive along a trajectory that follows along the planned path by providing pulses to one or more electric motors of wheels of the cleaning robot.
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公开(公告)号：US11548159B1
公开(公告)日：2023-01-10
申请号：US16427317
申请日：2019-05-30
摘要： Provided is a robot including: a chassis; wheels; electric motors; a network card; sensors; a processor; and a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with at least one exteroceptive sensor, a first image and a second image; determining, with the processor, an overlapping area of the first image and the second image by comparing the raw pixel intensity values of the first image to the raw pixel intensity values of the second image; combining, with the processor, the first image and the second image at the overlapping area to generate a digital spatial representation of the environment; and estimating, with the processor using a statistical ensemble of simulated positions of the robot, a corrected position of the robot to replace a last known position of the robot within the digital spatial representation of the environment.
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公开(公告)号：US11927965B2
公开(公告)日：2024-03-12
申请号：US17403292
申请日：2021-08-16
CPC分类号： G05D1/0214 , B25J9/1676 , B25J9/1697 , G05D1/0246
摘要： Provided is a method for operating a robot, including: capturing images of a workspace; capturing movement data indicative of movement of the robot; capturing LIDAR data as the robot performs work within the workspace; comparing at least one object from the captured images to objects in an object dictionary; identifying a class to which the at least one object belongs; generating a first iteration of a map of the workspace based on the LIDAR data; generating additional iterations of the map based on newly captured LIDAR data and newly captured movement data; actuating the robot to drive along a trajectory that follows along a planned path by providing pulses to one or more electric motors of wheels of the robot; and localizing the robot within an iteration of the map by estimating a position of the robot based on the movement data, slippage, and sensor errors.
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公开(公告)号：US20220026920A1
公开(公告)日：2022-01-27
申请号：US17344892
申请日：2021-06-10
摘要： Some aspects include a method for operating a cleaning robot, including: capturing LIDAR data; generating a first iteration of a map of the environment in real time; capturing sensor data from different positions within the environment; capturing movement data indicative of movement of the cleaning robot; aligning and integrating newly captured LIDAR data with previously captured LIDAR data at overlapping points; generating additional iterations of the map based on the newly captured LIDAR data and at least some of the newly captured sensor data; localizing the cleaning robot; planning a path of the cleaning robot; and actuating the cleaning robot to drive along a trajectory that follows along the planned path by providing pulses to one or more electric motors of wheels of the cleaning robot.
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