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公开(公告)号：US09952053B2
公开(公告)日：2018-04-24
申请号：US15225158
申请日：2016-08-01
申请人： iRobot Corporation
发明人： Philip Fong , Ethan Eade , Mario E. Munich
CPC分类号： G01C21/32 , G01C21/20 , G01C21/206 , G05B15/00 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , Y10S901/00
摘要： 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.
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公开(公告)号：US20170305010A1
公开(公告)日：2017-10-26
申请号：US15646782
申请日：2017-07-11
申请人： iRobot Corporation
发明人： Philip Fong , Jason Meltzer , Marc Barnada Rius
CPC分类号： B25J9/1602 , B25J9/1697 , G05B2219/40572 , G05D1/0253 , G05D1/0274 , G05D2201/0203 , Y10S901/01 , Y10S901/47
摘要： 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.
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3.发明授权Robot management systems for determining docking station pose including mobile robots and methods using same 有权用于确定对接站姿势的机器人管理系统，包括移动机器人和使用其的方法公开(公告)号：US09538892B2
公开(公告)日：2017-01-10
申请号：US14046941
申请日：2013-10-05
申请人： iRobot Corporation
IPC分类号： A47L9/28 , G05D1/02 , A47L9/30 , B25J5/00 , B25J9/16 , B25J11/00 , B25J13/00 , B25J19/00 , H02J7/00
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US09427875B2
公开(公告)日：2016-08-30
申请号：US14949002
申请日：2015-11-23
申请人： iRobot Corporation
发明人： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
CPC分类号： B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
摘要： 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.
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公开(公告)号：US11249482B2
公开(公告)日：2022-02-15
申请号：US16537155
申请日：2019-08-09
申请人： iRobot Corporation
发明人： Mario Munich , Andreas Kolling , Manjunath Narayana , Philip Fong
摘要： 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：US10974391B2
公开(公告)日：2021-04-13
申请号：US15949653
申请日：2018-04-10
申请人： iRobot Corporation
发明人： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
摘要： 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.
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公开(公告)号：US20200375429A1
公开(公告)日：2020-12-03
申请号：US16425658
申请日：2019-05-29
申请人： iRobot Corporation
发明人： Mario Munich , Philip Fong , Vazgen Karapetyan , Andreas Kolling
摘要： 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：US10222805B2
公开(公告)日：2019-03-05
申请号：US15353368
申请日：2016-11-16
申请人： iRobot Corporation
发明人： Mario Munich , Nikolai Romanov , Dhiraj Goel , Philip Fong
摘要： 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.
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公开(公告)号：US20170050318A1
公开(公告)日：2017-02-23
申请号：US15248352
申请日：2016-08-26
申请人： iRobot Corporation
发明人： Steffen Gutmann , Ethan Eade , Philip Fong , Mario Munich
CPC分类号： B25J9/1664 , B25J9/1694 , G05D1/0234 , G05D1/0261 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0206 , G05D2201/0208 , G05D2201/0211 , G05D2201/0215 , Y10S901/01 , Y10S901/09 , Y10S901/46
摘要： A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.
摘要翻译： 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。
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公开(公告)号：US09404756B2
公开(公告)日：2016-08-02
申请号：US14944152
申请日：2015-11-17
申请人： iRobot Corporation
发明人： Philip Fong , Ethan Eade , Mario E. Munich
CPC分类号： G01C21/32 , G01C21/20 , G01C21/206 , G05B15/00 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , Y10S901/00
摘要： 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.
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