公开(公告)号：US20160144505A1

公开(公告)日：2016-05-26

申请号：US14856497

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Phillip Fong ,  Jason Meltzer ,  Marc Barnada Rius

IPC: B25J9/16 ,  B25J9/00

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.

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，其包括机器视觉系统，该机器视觉系统包括使用机器视觉系统捕获操作环境的图像的相机; 基于所拍摄的图像来检测是否存在阻挡摄像机的视场的一部分的遮挡物，并且当检测到阻挡相机的视野部分的遮挡物时产生通知，并且保持描述的遮挡检测数据 由SLAM应用使用的图像的遮挡和无障碍部分。

公开(公告)号：US20160147230A1

公开(公告)日：2016-05-26

申请号：US14856526

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Phillip Fong

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/20

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。