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1.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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2.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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