公开(公告)号：US20230157506A1

公开(公告)日：2023-05-25

申请号：US17532863

申请日：2021-11-22

Applicant: iRobot Corporation

Inventor： Daniele Tamino ,  Artem Gritsenko ,  Andrea M. Okerholm Huttlin ,  Arman Karimian ,  Benjamin Pheil ,  Yao Chen ,  Renaud Moser ,  Jose Luis Franco Monsalve

IPC: A47L11/40 ,  G05D1/02

CPC classification number: A47L11/4011 ,  G05D1/0219 ,  G05D1/0238 ,  G05D1/0274 ,  A47L2201/04 ,  G05D2201/0203

Abstract: An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.

公开(公告)号：US12137856B2

公开(公告)日：2024-11-12

申请号：US17532863

申请日：2021-11-22

Applicant: iRobot Corporation

Inventor： Daniele Tamino ,  Artem Gritsenko ,  Andrea M. Okerholm Huttlin ,  Arman Karimian ,  Benjamin Pheil ,  Yao Chen ,  Renaud Moser ,  Jose Luis Franco Monsalve

IPC: A47L11/40 ,  G05D1/00

Abstract: An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.

公开(公告)号：US20240419173A1

公开(公告)日：2024-12-19

申请号：US18211047

申请日：2023-06-16

Applicant: IRobot Corporation

Inventor： Dimitri A. Lisin ,  Yao Chen ,  Adel Fakih

IPC: G05D1/02 ,  A47L11/40

Abstract: A mobile cleaning robot configured to clean an environment. The mobile cleaning robot can include a body and a drivetrain operable to move the body within the environment. The robot can include a sensor connected to the body and configured to generate a sensor signal based on interactions between the mobile cleaning robot and the environment. The robot can include an image capture device connected to the body and configured to generate an image stream based on an optical filed of view of the image capture device. The robot can include a controller connected to the body and configured to determine whether the mobile cleaning robot is in a stasis condition based on the image stream and the sensor signal. The controller can also update a map of the environment based on the stasis determination.