公开(公告)号：EP2903787A4

公开(公告)日：2016-07-27

申请号：EP13844141

申请日：2013-10-05

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  MELTZER JASON ,  GUTMANN STEFFEN ,  KARAPETYAN VAZGEN ,  MUNICH MARIO

IPC: B25J13/08 ,  A47L11/00 ,  B25J5/00 ,  G05D1/02

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: 一种移动机器人系统被提供确实包括具有至少两个姿态-基准限定标记的坞站。 姿态 - 限定的基准标记具有预定的相对于空间关系到彼此和/或到对接站搜索并对接路径向所述基站可以是确定从所述至少两个中的一个或多个观测姿势开采上的参考点 - 定义基准标记。 在系统中的移动机器人包括姿态传感器组件。 控制器位于底盘上，被配置成分析来自所述姿势传感器组件的输出信号。 所述控制器被配置为确定矿的对接站的姿势，以定位地图由移动机器人和路径计划对接轨迹经过的表面的上对接站姿势。

公开(公告)号：CA2968561C

公开(公告)日：2018-07-31

申请号：CA2968561

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G01C7/00

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.

公开(公告)号：CA2870175C

公开(公告)日：2017-01-03

申请号：CA2870175

申请日：2013-06-07

Applicant: IROBOT CORP

Inventor： GOEL DHIRAJ ,  EADE ETHAN ,  FONG PHILIP ,  MUNICH MARIO E

IPC: B25J19/04 ,  A47L11/32 ,  B25J5/00

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.

公开(公告)号：AU2011305154B2

公开(公告)日：2015-02-05

申请号：AU2011305154

申请日：2011-09-23

Applicant: IROBOT CORP

Inventor： EADE ETHAN ,  MUNICH MARIO E ,  FONG PHILIP

IPC: G08G1/123

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM- based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.

公开(公告)号：CA2870175A1

公开(公告)日：2013-12-12

申请号：CA2870175

申请日：2013-06-07

Applicant: IROBOT CORP

Inventor： GOEL DHIRAJ ,  EADE ETHAN ,  FONG PHILIP ,  MUNICH MARIO E

IPC: B25J19/04 ,  A47L11/32 ,  B25J5/00

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.

公开(公告)号：AU2017201409B2

公开(公告)日：2018-08-09

申请号：AU2017201409

申请日：2017-03-01

Applicant: IROBOT CORP

Inventor： EADE ETHAN ,  MUNICH MARIO E ,  FONG PHILIP

IPC: G08G1/123

Abstract: A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of matching landmarks in a mobile device by retrieving features from a global database, ranking landmarks by visual similarity, selecting a plurality of candidate landmarks, for each of the plurality of candidate landmarks retrieving features in a local database, performing pose estimation, performing bundle adjustment, and determining an observation pose and covariance, selecting the best candidate as the matching landmark. coo

公开(公告)号：AU2013327774B2

公开(公告)日：2016-05-19

申请号：AU2013327774

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G05D1/00

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.

公开(公告)号：AU2015202318A1

公开(公告)日：2015-05-21

申请号：AU2015202318

申请日：2015-05-01

Applicant: IROBOT CORP

Inventor： EADE ETHAN ,  MUNICH MARIO E ,  FONG PHILIP

IPC: G08G1/123

Abstract: H:\dxl\Intrwovn\NRPortbl\DCC\DXL\7745724_I.docx-1/05/2015 A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of: creating landmarks in a mobile device by: finding inlier matches by camera motion and epipolar geometry; refining camera motion using inlier matches; determining if sufficient inliers exist; determining if a tolerance has been reached; adjusting a tolerance based on the determination that a tolerance has been reached; and returning inliers and camera motion as a new landmark. WO 20 12/040644 PCT/US201 11053122

公开(公告)号：AU2015202316A1

公开(公告)日：2015-05-21

申请号：AU2015202316

申请日：2015-05-01

Applicant: IROBOT CORP

Inventor： EADE ETHAN ,  MUNICH MARIO E ,  FONG PHILIP

IPC: G08G1/123

Abstract: H:\dxl\Intrwovn\NRPortbl\DCC\DXL\7744432_I.docx-1/05/2015 A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of: matching landmarks in a mobile device by: retrieving features from a global database; ranking landmarks by visual similarity; selecting a plurality of candidate landmarks; for each of the plurality of candidate landmarks: retrieving features in a local database; performing pose estimation; performing bundle adjustment; and determining an observation pose and covariance; selecting the best candidate as the matching landmark. WO 20 12/040644 PCT/US201 11053122

公开(公告)号：AU2013327774A1

公开(公告)日：2014-10-30

申请号：AU2013327774

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G06F19/00

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.