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公开(公告)号：US08972061B2
公开(公告)日：2015-03-03
申请号：US13790867
申请日：2013-03-08
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.
Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。
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公开(公告)号：US20140129027A1
公开(公告)日：2014-05-08
申请号：US13790643
申请日：2013-03-08
Applicant: IROBOT CORPORATION
Inventor： Mark Schnittman
IPC: G05D1/02
CPC classification number: G05D1/0219 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , Y10S901/01
Abstract: A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.
Abstract translation: 同时定位和映射的方法包括初始化机器人姿态和粒子滤波器的粒子模型。 粒子模型包括粒子，每个粒子具有相关联的图，机器人姿态和重量。 该方法包括从机器人的传感器系统接收稀疏传感器数据，使接收的传感器数据与机器人姿态的变化同步，随着时间的推移累积同步的传感器数据，并确定机器人定位质量。 当积累的传感器数据超过阈值累积并且机器人定位质量大于阈值定位质量时，该方法包括用累积的同步传感器数据更新粒子。 该方法包括当粒子的平均重量大于阈值粒子重量时，确定粒子模型的每个更新粒子的权重并且将机器人姿势置信于具有最高权重的粒子的机器人姿势。
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公开(公告)号：US20170080570A1
公开(公告)日：2017-03-23
申请号：US15252355
申请日：2016-08-31
Applicant: iRobot Corporation
Inventor： Mark Schnittman , Thomas W. Bushman
CPC classification number: B25J9/1694 , G05D1/0227 , G05D1/027 , G05D1/0272 , G05D2201/0215 , Y10S901/01 , Y10S901/46 , Y10S901/49
Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
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公开(公告)号：US09408515B2
公开(公告)日：2016-08-09
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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公开(公告)号：US20150205299A1
公开(公告)日：2015-07-23
申请号：US14674427
申请日：2015-03-31
Applicant: iRobot Corporation
Inventor： Mark Schnittman
IPC: G05D1/02
CPC classification number: G05D1/0219 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , Y10S901/01
Abstract: A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.
Abstract translation: 同时定位和映射的方法包括初始化机器人姿态和粒子滤波器的粒子模型。 粒子模型包括粒子，每个粒子具有相关联的图，机器人姿态和重量。 该方法包括从机器人的传感器系统接收稀疏传感器数据，使接收的传感器数据与机器人姿态的变化同步，随着时间的推移累积同步的传感器数据，并确定机器人定位质量。 当积累的传感器数据超过阈值累积并且机器人定位质量大于阈值定位质量时，该方法包括用累积的同步传感器数据更新粒子。 该方法包括当粒子的平均重量大于阈值粒子重量时，确定粒子模型的每个更新粒子的权重并且将机器人姿势置信于具有最高权重的粒子的机器人姿势。
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Patent Agency Ranking
公开(公告)号：US09457471B2
公开(公告)日：2016-10-04
申请号：US14586099
申请日：2014-12-30
Applicant: iRobot Corporation
Inventor： Mark Schnittman , Thomas W. Bushman
CPC classification number: B25J9/1694 , G05D1/0227 , G05D1/027 , G05D1/0272 , G05D2201/0215 , Y10S901/01 , Y10S901/46 , Y10S901/49
Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
Abstract translation: 自主移动机器人包括机器人主体，驱动系统，传感器系统和控制器。 驱动系统支持机器人主体，并将机器人操纵在地板表面上。 传感器系统包括用于测量机器人的姿态的惯性测量单元，并且发出包括具有关于机器人姿态的信息的数据的传感器信号。 控制器与驱动器和传感器系统通信，并执行行为系统。 行为系统从传感器系统接收传感器信号并执行一个行为。 响应于传感器信号，行为系统执行反停滞行为，指示机器人被约束以评估约束状态。 此外，行为系统响应于指示机器人相对于重力方向倾斜的传感器信号执行反倾斜行为以评估倾斜状态。
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公开(公告)号：US20150120128A1
公开(公告)日：2015-04-30
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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公开(公告)号：US10124490B2
公开(公告)日：2018-11-13
申请号：US15252355
申请日：2016-08-31
Applicant: iRobot Corporation
Inventor： Mark Schnittman , Thomas W. Bushman
Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
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公开(公告)号：US20150197012A1
公开(公告)日：2015-07-16
申请号：US14586099
申请日：2014-12-30
Applicant: iRobot Corporation
Inventor： Mark Schnittman , Thomas W. Bushman
IPC: B25J9/16
CPC classification number: B25J9/1694 , G05D1/0227 , G05D1/027 , G05D1/0272 , G05D2201/0215 , Y10S901/01 , Y10S901/46 , Y10S901/49
Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
Abstract translation: 自主移动机器人包括机器人主体，驱动系统，传感器系统和控制器。 驱动系统支持机器人主体，并将机器人操纵在地板表面上。 传感器系统包括用于测量机器人的姿态的惯性测量单元，并且发出包括具有关于机器人姿态的信息的数据的传感器信号。 控制器与驱动器和传感器系统通信，并执行行为系统。 行为系统从传感器系统接收传感器信号并执行一个行为。 响应于传感器信号，行为系统执行反停滞行为，指示机器人被约束以评估约束状态。 此外，行为系统响应于指示机器人相对于重力方向倾斜的传感器信号执行反倾斜行为以评估倾斜状态。
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公开(公告)号：US09400501B2
公开(公告)日：2016-07-26
申请号：US14674427
申请日：2015-03-31
Applicant: iRobot Corporation
Inventor： Mark Schnittman
CPC classification number: G05D1/0219 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , Y10S901/01
Abstract: A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.
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