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公开(公告)号：WO2014055278A1
公开(公告)日：2014-04-10
申请号：PCT/US2013/061208
申请日：2013-09-23
Applicant: IROBOT CORPORATION
Inventor： FONG, Philip , EADE, Ethan , MUNICH, Mario, E.
IPC: G06F19/00
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。
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公开(公告)号：WO2021029918A1
公开(公告)日：2021-02-18
申请号：PCT/US2020/026174
申请日：2020-04-01
Applicant: IROBOT CORPORATION
Inventor： MUNICH, Mario , KOLLING, Andreas , NARAYANA, Manju , FONG, Philip
IPC: G06F19/00
Abstract: A method includes constructing a map of an environment based on mapping data produced by an autonomous cleaning robot in the environment during a first cleaning mission. Constructing the map includes providing a label associated with a portion of the mapping data. The method includes causing a remote computing device to present a visual representation of the environment based on the map, and a visual indicator of the label. The method includes causing the autonomous cleaning robot to initiate a behavior associated with the label during a second cleaning mission.
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公开(公告)号：WO2020242593A1
公开(公告)日：2020-12-03
申请号：PCT/US2020/026183
申请日：2020-04-01
Applicant: IROBOT CORPORATION
Inventor： MUNICH, Mario , FONG, Philip , KARAPETYAN, Vazgen , KOLLING, Andreas
IPC: G01S13/88
Abstract: An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.
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公开(公告)号：WO2021183247A1
公开(公告)日：2021-09-16
申请号：PCT/US2021/017240
申请日：2021-02-09
Applicant: IROBOT CORPORATION
Inventor： FONG, Philip , SCHNEIDER, Ryan
Abstract: A method includes receiving mapping data collected by an autonomous cleaning robot as the autonomous cleaning robot moves about an environment. A portion of the mapping data is indicative of a location of an object in the environment. The method includes defining a clean zone at the location of the object such that the autonomous cleaning robot initiates a clean behavior constrained to the clean zone in response to encountering the clean zone in the environment.
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公开(公告)号：WO2021173308A1
公开(公告)日：2021-09-02
申请号：PCT/US2021/016160
申请日：2021-02-02
Applicant: IROBOT CORPORATION
Inventor： NARAYANA, Manjunath , KOLLING, Andreas , FONG, Philip
Abstract: Described herein are systems, devices, and methods for maintaining a valid semantic map of an environment for a mobile robot. A mobile robot comprises a drive system, a sensor circuit to sense occupancy information, a memory, a controller circuit, and a communication system. The controller circuit can generate a first semantic map corresponding to a first robot mission using first occupancy information and first semantic annotations, transfer the first semantic annotations to a second semantic map corresponding to a subsequent second robot mission. The control circuit can generate the second semantic map that includes second semantic annotations generated based on the transferred first semantic annotations. User feedback on the first or the second semantic map can be received via a communication system. The control circuit can update first semantic map and use it to navigate the mobile robot in a future mission.
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6.发明申请
公开(公告)号：WO2013185102A1
公开(公告)日：2013-12-12
申请号：PCT/US2013/044825
申请日：2013-06-07
Applicant: IROBOT CORPORATION
Inventor： GOEL, Dhiraj , EADE, Ethan , FONG, Philip , MUNICH, Mario, E.
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
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.
Abstract translation: 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。
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7.发明申请SYSTEMS AND METHODS FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING MACHINE VISION SYSTEMS 审中-公开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：WO2016085717A1
公开(公告)日：2016-06-02
申请号：PCT/US2015/061153
申请日：2015-11-17
Applicant: IROBOT CORPORATION
Inventor： MUNICH, Mario , ROMANOV, Nikolai , GOEL, Dhiraj , FONG, Philip , MELTZER, Jason , BARNADA RIUS, Marc
CPC classification number: G05D1/0274 , G05D1/0253 , G05D1/0272 , G05D2201/0203
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。
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8.发明申请ROBOT MANAGEMENT SYSTEMS FOR DETERMINING DOCKING STATION POSE INCLUDING MOBILE ROBOTS AND METHODS USING SAME 审中-公开用于确定包含移动机器人的锁定站的机器人管理系统及其使用方法
公开(公告)号：WO2014055966A1
公开(公告)日：2014-04-10
申请号：PCT/US2013/063599
申请日：2013-10-05
Applicant: IROBOT CORPORATION
Inventor： FONG, Philip , MELTZER, Jason , GUTMANN, Steffen , KARAPETYAN, Vazgen , MUNICH, Mario
CPC classification number: A47L9/2873 , A47L9/2894 , A47L9/30 , A47L2201/02 , A47L2201/04 , B25J5/00 , B25J9/1664 , B25J9/1666 , B25J9/1697 , B25J11/0085 , B25J13/006 , B25J19/005 , G05D1/0225 , G05D1/0234 , G05D1/0274 , G05D2201/0215 , H02J7/0045 , Y10S901/01
Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.
Abstract translation: 提供了一种移动机器人系统，其包括具有至少两个姿势限定基准标记的对接站。 姿势定义基准标记在对接站上相对于彼此和/或参考点具有预定的空间关系，使得可以根据至少两个姿势的一个或多个观察来确定到基站的对接路径 确定基准标记。 系统中的移动机器人包括姿态传感器组件。 控制器位于机箱上，并被配置为分析来自姿态传感器组件的输出信号。 控制器被配置为确定对接站姿态，以将对接站姿态定位在由移动机器人穿过的表面的地图上，并且路径规划对接轨迹。
