公开(公告)号：US11822331B2

公开(公告)日：2023-11-21

申请号：US16993334

申请日：2020-08-14

Applicant: National Central University

Inventor： Kuo-Shih Tseng ,  Chih-Yuan Chou

IPC: G06F17/00 ,  G05D1/02 ,  G01S17/86 ,  G01P3/00 ,  A61L2/24 ,  A61L2/10 ,  A61L2/025 ,  A61L2/22 ,  A61L2/07 ,  A61L2/20 ,  G01S17/88 ,  G01S5/00 ,  G01S5/30 ,  G06V10/10

CPC classification number: G05D1/0212 ,  A61L2/025 ,  A61L2/07 ,  A61L2/10 ,  A61L2/20 ,  A61L2/22 ,  A61L2/24 ,  G01P3/00 ,  G01S17/86 ,  G01S17/88 ,  G05D1/0272 ,  A61L2202/11 ,  A61L2202/14 ,  A61L2202/16 ,  G01S5/014 ,  G01S5/30 ,  G05D2201/0203 ,  G06V10/10

Abstract: The present invention relates to an environmental coverage oriented motion system. The system includes a rangefinder module configured to measure a distance in real time; an odometry module configured to measure a velocity or a position in real time; a powered vehicle carrying the rangefinder module and the odometry module; and a controller module carried by the powered vehicle, configured to receive one of the distance, the velocity and the position, performing an environmental coverage oriented motion scheme based on one of the distance, the velocity and the position to select a plurality of positions, and commanding the powered vehicle to move among the plurality of positions.

公开(公告)号：US20230367324A1

公开(公告)日：2023-11-16

申请号：US18360679

申请日：2023-07-27

Applicant: Ali Ebrahimi Afrouzi ,  Shahin Fathi Djalali ,  Lukas Robinson ,  Brian Highfill

Inventor： Ali Ebrahimi Afrouzi ,  Shahin Fathi Djalali ,  Lukas Robinson ,  Brian Highfill

IPC: G05D1/02 ,  A47L9/28 ,  A47L9/04 ,  A47L5/22 ,  A47L9/00 ,  G06V20/10 ,  A47L9/30

CPC classification number: G05D1/0219 ,  A47L9/2826 ,  A47L9/0477 ,  A47L5/22 ,  A47L9/009 ,  G06V20/10 ,  A47L9/30 ,  G05D1/0231 ,  A47L9/2894 ,  A47L9/2852 ,  G05D2201/0203 ,  G05D1/0242 ,  B60G7/001

Abstract: Provided is a robot, including: a chassis; a set of wheels coupled to the chassis; a plurality of sensors; a processor; and a non-transitory, machine-readable media storing instructions that when executed by the processor effectuates operations including: establishing, with the processor, a wireless connection with at least one of a computing device, a charging station, and a second robot; capturing, with at least one sensor, spatial data of an environment of the robot; generating or updating, with the processor, a map of the environment based on at least a portion of the spatial data; dividing, with the processor, the map into two or more rooms; storing, with the processor, the map in a memory accessible to the processor during a subsequent work session; and transmitting, with the processor, the map to an application of the computing device, wherein the application is configured to display the map.

公开(公告)号：US20230363610A1

公开(公告)日：2023-11-16

申请号：US18081672

申请日：2022-12-14

Applicant: Trifo, Inc.

Inventor： Zhe ZHANG ,  Zhongwei LI ,  Peizhang CHEN ,  Rui XIANG ,  Xu HAN

IPC: A47L11/40 ,  G05D1/02 ,  G06T7/50

CPC classification number: A47L11/4011 ,  G05D1/0274 ,  G05D1/0246 ,  G06T7/50 ,  A47L2201/04 ,  G05D2201/0203 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: The technology disclosed includes systems and methods for preparing a segmented occupancy grid map based upon image information of an environment in which a robot moves. The image information is captured by at least one visual spectrum-capable camera and at least one depth measuring camera. The system includes logic to receive image information captured by at least one visual spectrum-capable camera and location information captured by at least one depth measuring camera located on a mobile platform. The system includes logic to extract from the image information, features in the environment. The system includes logic to determine a 3D point cloud of points having 3D information. The system includes logic to determine, from the 3D point cloud, an occupancy map of the environment. The system includes logic to segment the occupancy map into a segmented occupancy map of regions that represent rooms and corridors in the environment.

公开(公告)号：US20230350420A1

公开(公告)日：2023-11-02

申请号：US18215335

申请日：2023-06-28

Applicant: Brain Corporation

Inventor： Kajal Gada ,  Abdolhamid Badiozamani ,  Oleg Sinavski ,  Jayram Moorkanikara-Nageswaran

IPC: G05D1/02 ,  G06T7/50 ,  G06T7/11

CPC classification number: G05D1/0246 ,  G05D1/0274 ,  G05D1/0214 ,  G06T7/50 ,  G06T7/11 ,  G05D2201/0203 ,  G06T2207/10028 ,  G06T2207/10024

Abstract: Systems and methods for precisely estimating a robotic footprint for execution of near-collision motions are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may switch from using a computer readable map to a sensor which senses at least a portion of the robot to navigate close by objects.

公开(公告)号：US20230320551A1

公开(公告)日：2023-10-12

申请号：US17718192

申请日：2022-04-11

Applicant: Vorwerk & Co. Interholding Gmb

Inventor： Pawel Orzechowski ,  Mark Wilson ,  Ron Domingo ,  Stephanie Blankley

IPC: A47L11/40 ,  G05D1/02 ,  G06V10/56 ,  G06V10/75 ,  G06V10/80 ,  G06V10/82

CPC classification number: A47L11/4011 ,  G05D1/0238 ,  G05D1/0246 ,  G06V10/56 ,  G06V10/751 ,  G06V10/803 ,  G06V10/82 ,  A47L2201/04 ,  G05D2201/0203

Abstract: Embodiments provide a method for obstacle avoidance in a mobile robot. Images of objects are captured with mobile robot image sensors with a floor level perspective. Data corresponding to the images is used to train a neural network. The identified objects are classified by indicating whether the objects are a potential hazard. In one embodiment, an image sensor on a robot provides intensity and depth data for each of a plurality of pixels of the images. The intensity and depth data are fused to produce fused data. The fused data is then used to train the neural network.

公开(公告)号：US11774982B2

公开(公告)日：2023-10-03

申请号：US16925798

申请日：2020-07-10

Applicant: LG ELECTRONICS INC.

Inventor： Jieun Choi ,  Miyoung Sim

IPC: G05D1/02 ,  G01S17/89 ,  G06V20/10 ,  G06V10/764 ,  G06V10/82 ,  G06V10/44 ,  G06V10/143 ,  G06V20/00

CPC classification number: G05D1/024 ,  G01S17/89 ,  G05D1/0274 ,  G06V10/143 ,  G06V10/44 ,  G06V10/454 ,  G06V10/764 ,  G06V10/82 ,  G06V20/10 ,  G06V20/36 ,  G05D2201/0203

Abstract: A moving robot including: a lidar sensor to acquire terrain information; a memory to store node data nodes; and a controller to determine whether at least one open movement direction exists based on sensing data of the lidar sensor and the node data, to generate a new node in the node data and add the generated node to a node group, to determine any of the open movement directions as a movement direction, to control the robot to travels an area corresponding to the node group, to control a suction unit to suck foreign matter around the main body when traveling in the node group, to initialize the node group, to determine whether at least one node is to be updated, moving the robot to any one of the nodes to be updated, and to complete generation of a map.

公开(公告)号：US11771291B2

公开(公告)日：2023-10-03

申请号：US17338923

申请日：2021-06-04

Applicant: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD. ,  BEIJING ROBOROCK TECHNOLOGY CO., LTD.

Inventor： Haojian Xie ,  Yongfeng Xia

IPC: A47L11/40 ,  A47L11/24 ,  B25J9/16 ,  A47L9/28 ,  B25J11/00 ,  G05D1/00 ,  G05D1/02

CPC classification number: A47L11/4061 ,  A47L9/2852 ,  A47L11/24 ,  A47L11/40 ,  B25J9/16 ,  B25J9/1666 ,  B25J11/0085 ,  G05D1/0088 ,  G05D1/0276 ,  A47L2201/04 ,  G05D2201/0203

Abstract: A robot includes a controller configured to: detect a virtual wall signal; identify a virtual wall according to a signal threshold and the virtual wall signal; and when the virtual wall is identified, adjust the signal threshold, and control the robot to travel along an outer side of the virtual wall according to an adjusted signal threshold and the virtual wall signal, such that a driving wheel of the robot is located at the outer side of the virtual wall when the robot is traveling along the outer side of the virtual wall; wherein the outer side of the virtual wall is a side of the virtual wall within an active region of the robot.

公开(公告)号：US20230305575A1

公开(公告)日：2023-09-28

申请号：US17785928

申请日：2021-09-24

Applicant: AMICRO SEMICONDUCTOR CO., LTD.

Inventor： Qinwei LAI ,  Jianfeng DAI ,  Gangjun XIAO

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D2201/0203

Abstract: Disclosed is an environment boundary construction method based on a remote sensor and a mobile robot. The environment boundary construction method includes: step 1, starting the mobile robot, and then controlling the mobile robot to rotate, so as to enable the mobile robot to mark exploration boundaries according to sensed distance information of the remote sensor; step 2, marking a local boundary according to a sensed distance of the remote sensor on the same side surface of the mobile robot when the mobile robot advances in a preset planned direction after the mobile robot completes rotation, where the preset planned direction is selected and configured from directions of all the marked exploration boundaries; and step 3, delimiting environment boundaries of an effective distance measurement area of the mobile robot by the local boundary and the exploration boundaries

公开(公告)号：US20230297120A1

公开(公告)日：2023-09-21

申请号：US18019778

申请日：2021-06-11

Applicant: Dreame Innovation Technology (Suzhou) Co., LTD.

Inventor： XINWEI CHANG

IPC: G05D1/02 ,  G06V10/44 ,  G06V20/58 ,  G06T7/13

CPC classification number: G05D1/0274 ,  G05D1/0238 ,  G05D1/0246 ,  G06V10/44 ,  G06V20/58 ,  G06T7/13 ,  G05D2201/0203 ,  G06V2201/07 ,  G06T2207/30261

Abstract: A method for creating a map for a self-moving device includes: acquiring a first image captured by the self-moving device in a working area in which the self-moving device moves, the first image being an image above the working area; extracting a target feature according to the first image, the target feature being configured to indicate a first plane directly above the self-moving device; determining an area contour of the working area based on the target feature; and generating an area map of the working area based on the area contour and first position information of the self-moving device in the working area. A self-moving device and an apparatus are also disclosed.

公开(公告)号：US20230288940A1

公开(公告)日：2023-09-14

申请号：US18040678

申请日：2021-07-20

Applicant: BSH Hausgeräte GmbH

Inventor： Kristina Daniel ,  Kai Schmitt ,  Frank Schnitzer

IPC: G05D1/02 ,  G06T7/50 ,  G06T7/20

CPC classification number: G05D1/0231 ,  G05D1/0238 ,  G05D1/0253 ,  G06T7/20 ,  G06T7/50 ,  G05D2201/0203 ,  G06T2207/10016 ,  G06T2207/30261

Abstract: A method for determining a distance between a cleaning robot and an obstacle. The cleaning robot has a first distance measuring system for a far measuring range and a second distance measuring system for a near measuring range. The second distance measuring system includes a camera. a) if the obstacle is located in the far measuring range, the distance between the cleaning robot and the obstacle is determined by way of the first distance measuring system. b) if the obstacle is located in an overlap region of the far measuring range and the near measuring range, the distance between the cleaning robot and the obstacle is determined by way of the first and the second distance measuring systems; c) if the obstacle is located in the near measuring range, the distance between the cleaning robot and the obstacle is determined by way of the second distance measuring system.