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公开(公告)号：US11747813B1
公开(公告)日：2023-09-05
申请号：US17316018
申请日：2021-05-10
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
CPC classification number: G05D1/0212 , G05D1/0016 , G05D2201/0203 , G05D2201/0215
Abstract: Provided is a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robotic device effectuates operations including, receiving, by the processor, a sequence of one or more commands; executing, by the robotic device, the sequence of one or more commands; saving, by the processor, the sequence of one or more commands in memory after a predetermined amount of time from receiving a most recent one or more commands; and re-executing, by the robotic device, the saved sequence of one or more commands.
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公开(公告)号：US11548159B1
公开(公告)日：2023-01-10
申请号：US16427317
申请日：2019-05-30
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Brian Highfill , Amin Ebrahimi Afrouzi
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Brian Highfill , Amin Ebrahimi Afrouzi
Abstract: Provided is a robot including: a chassis; wheels; electric motors; a network card; sensors; a processor; and a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with at least one exteroceptive sensor, a first image and a second image; determining, with the processor, an overlapping area of the first image and the second image by comparing the raw pixel intensity values of the first image to the raw pixel intensity values of the second image; combining, with the processor, the first image and the second image at the overlapping area to generate a digital spatial representation of the environment; and estimating, with the processor using a statistical ensemble of simulated positions of the robot, a corrected position of the robot to replace a last known position of the robot within the digital spatial representation of the environment.
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公开(公告)号：US11215461B1
公开(公告)日：2022-01-04
申请号：US16597945
申请日：2019-10-10
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
IPC: G05D1/02 , G01C21/30 , G06T7/55 , G06T7/11 , H04N5/225 , G05D1/00 , A47L11/40 , G01C21/20 , G01S17/89 , G01C21/16 , G06T7/30 , G06T7/62 , G06T7/521 , G06T3/00
Abstract: Provided is a method including: capturing, with at least one sensor of a robot, first data indicative of the position of the robot in relation to objects within the workspace and second data indicative of movement of the robot; recognizing, with a processor of the robot, a first area of the workspace based on observing at least one of: a first part of the first data and a first part of the second data; generating, with the processor of the robot, at least part of a map of the workspace based on at least one of: the first part of the first data and the first part of the second data; generating, with the processor of the robot, a first movement path covering at least part of the first recognized area; actuating, with the processor of the robot, the robot to move along the first movement path.
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公开(公告)号：US11036230B1
公开(公告)日：2021-06-15
申请号：US16446574
申请日：2019-06-19
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
Abstract: Included is a method of path planning for a robotic device, including: receiving, by a processor of the robotic device, a sequence of one or more commands; executing, via the robotic device, the sequence of one or more commands; saving the sequence of one or more commands in memory of the robotic device after a predetermined amount of time from receiving a most recent one or more commands; and re-executing the saved sequence of one or more commands.
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公开(公告)号：US11835343B1
公开(公告)日：2023-12-05
申请号：US17535968
申请日：2021-11-26
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
IPC: G05D1/02 , G01C21/30 , G05D1/00 , G01C21/20 , G01S17/89 , G06T7/11 , G06T7/55 , G01C21/16 , G06T7/30 , G06T7/521 , G06T3/00
CPC classification number: G01C21/30 , G01C21/165 , G01C21/206 , G01S17/89 , G05D1/0088 , G05D1/0219 , G05D1/0272 , G05D1/0274 , G06T7/11 , G06T7/30 , G06T7/55 , A47L2201/022 , A47L2201/04 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G06T3/0068 , G06T7/521 , G06T2207/10028
Abstract: Provided is a method including: capturing, with at least one sensor of a robot, first data indicative of the position of the robot in relation to objects within the workspace and second data indicative of movement of the robot; recognizing, with a processor of the robot, a first area of the workspace based on observing at least one of: a first part of the first data and a first part of the second data; generating, with the processor of the robot, at least part of a map of the workspace based on at least one of: the first part of the first data and the first part of the second data; generating, with the processor of the robot, a first movement path covering at least part of the first recognized area; actuating, with the processor of the robot, the robot to move along the first movement path.
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Patent Agency Ranking
公开(公告)号：US11808580B1
公开(公告)日：2023-11-07
申请号：US17159970
申请日：2021-01-27
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
IPC: G01C21/30 , G06T7/55 , G06T7/11 , G05D1/00 , G05D1/02 , G01C21/16 , G06T7/30 , A47L11/40 , G01C21/20 , G01S17/89 , G06T7/62 , H04N23/00 , G06T7/521 , G06T3/00
CPC classification number: G01C21/30 , A47L11/4011 , G01C21/165 , G01C21/206 , G01S17/89 , G05D1/0088 , G05D1/0219 , G05D1/0272 , G05D1/0274 , G06T7/11 , G06T7/30 , G06T7/55 , G06T7/62 , H04N23/00 , A47L2201/022 , A47L2201/04 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D2201/0215 , G06T3/0068 , G06T7/521 , G06T2207/10028
Abstract: Provided is a medium storing instructions that when executed by one or more processors effectuate operations including: obtaining a stream of spatial data indicative of a robot's position in a workspace; obtaining a stream of movement data indicative of the robot's displacement in the workspace; navigating along a path of the robot in the workspace based on the stream of spatial data; while navigating, mapping at least part of the workspace based on the stream of spatial data to form or update a spatial map in memory; wherein the spatial map expands as new areas of the workspace are covered by the robot and spatial data of the new areas of the workspace are obtained and used by the one or more processors to update the spatial map; and wherein the spatial map of the workspace is segmented into two or more zones.
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公开(公告)号：US11726490B1
公开(公告)日：2023-08-15
申请号：US17127849
申请日：2020-12-18
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Brian Highfill
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Brian Highfill
CPC classification number: G05D1/0246 , G06T7/521 , G06T7/68 , G06T7/70
Abstract: A robotic device, including a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor effectuates operations including: capturing, with the camera, one or more images of an environment of the robotic device; capturing, with the plurality of sensors, sensor data of the environment; generating or updating, with the processor, a map of the environment; identifying, with the processor, one or more rooms in the map; receiving, with the processor, one or more multidimensional arrays including at least one parameter that is used to identify a feature included in the one or more images; determining, with the processor, a position and orientation of the robotic device relative to the feature; and transmitting, with the processor, a signal to the processor of the controller to adjust a heading of the robotic device.
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公开(公告)号：US11499832B1
公开(公告)日：2022-11-15
申请号：US17577234
申请日：2022-01-17
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang , Sebastian Schweigert
IPC: G05D1/02 , G01C21/30 , G05D1/00 , G01C21/20 , G06T7/30 , H04N5/225 , G06T7/62 , G01S17/89 , G01C21/16 , G06T7/55 , G06T7/11 , A47L11/40 , G06T7/521 , G06T3/00
Abstract: Provided is a process executed by a robot, including: traversing, to a first position, a first distance in a backward direction; after traversing the first distance, rotating in a first rotation; after the first rotation, traversing, to a second position, a second distance in a third direction; after traversing the second distance, rotating 180 degrees in a second rotation such that the field of view of the sensor points in a fourth direction; after the second rotation, traversing, to a third position, a third distance in the fourth direction; after traversing the second distance, rotating 180 degrees in a third rotation such that the field of view of the sensor points in the third direction; and after the third rotation, traversing, to a fourth position, a fourth distance in the third direction.
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公开(公告)号：US11435192B1
公开(公告)日：2022-09-06
申请号：US17581497
申请日：2022-01-21
Applicant: Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
Inventor： Ali Ebrahimi Afrouzi , Lukas Fath , Chen Zhang
IPC: G01C21/30 , G06T7/62 , G05D1/02 , G06T7/11 , G05D1/00 , G06T7/30 , G01C21/16 , G06T7/55 , G01S17/89 , A47L11/40 , G01C21/20 , H04N5/225 , G06T3/00 , G06T7/521
Abstract: Provided is a method including: capturing first data indicative of the position of the robot in relation to objects within the workspace and second data indicative of movement of the robot; recognizing, with a processor of the robot, a first area of the workspace based on at least one of: a first part of the first data and a first part of the second data; generating, with the processor of the robot, at least part of a map of the workspace based on at least one of: the first part of the first data and the first part of the second data; generating, with the processor of the robot, a first movement path covering at least part of the first recognized area; actuating, with the processor of the robot, the robot to move along the first movement path.
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公开(公告)号：US11348269B1
公开(公告)日：2022-05-31
申请号：US16920328
申请日：2020-07-02
Applicant: Ali Ebrahimi Afrouzi , Chen Zhang , Sebastian Schweigert , Lukas Fath
Inventor： Ali Ebrahimi Afrouzi , Chen Zhang , Sebastian Schweigert , Lukas Fath
IPC: G06T7/593 , G06K9/00 , G06N5/04 , G06K9/62 , G06T7/13 , G01S7/48 , G06K9/20 , G06T7/30 , G05D1/02 , G01S17/86 , G06T7/136 , G06T7/33 , G01S17/48 , G06T7/00 , G01S17/89
Abstract: A robot for perceiving a spatial representation of an environment, including: an actuator, at least one sensor, a processor, and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data by the at least one sensor of the robot, wherein: the plurality of data comprises first data comprising pixel characteristics indicative of features of the environment and second data indicative of depth to objects in the environment; the plurality of data is captured from different positions within the environment through which the robot moves, the plurality of data corresponding with respective positions from which the plurality of data was captured; and the plurality of data captured from different respective positions within the environment corresponds to respective fields of view; and aligning the plurality of data as it is captured to more accurately perceive the spatial representation of the environment.
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