Carpet drift estimation using differential sensors or visual measurements

An imaging sensor and vision technology, applied in the field of robotic systems, can solve problems such as inability to ensure that the robot stays, the position and/or posture of the robot does not properly control the movement of the robot, etc.

Active Publication Date: 2016-06-29
IROBOT CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, many conventional autonomous robots do not properly or precisely determine the robot position and / or pose and do not properly control the robot's movement to ensure that the robot stays on a given route and / or achieves a specified position and / or pose

Method used

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  • Carpet drift estimation using differential sensors or visual measurements
  • Carpet drift estimation using differential sensors or visual measurements
  • Carpet drift estimation using differential sensors or visual measurements

Examples

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Embodiment Construction

[0023] Methods and systems for estimating offset, such as carpet offset, are described. Exemplary embodiments are described herein in the context of a system or method for estimating carpet excursion experienced by a cleaning robot, but would be applicable to other types of devices, such as mobile robotic devices capable of traversing carpeted surfaces . It is to be understood that the term carpet is intended to include rugs and other floor coverings which may have texture or pile. It is also to be understood that the exemplary embodiments described herein will be suitable for estimating offsets due to effects other than carpet effects, such as, for example, sloped floors, unstable surfaces such as sand surface or mud surface) and / or motion offsets due to wind forces (e.g., relatively constant or slowly time-varying wind pushing or pulling the robot).

[0024] The carpet manufacturing process arranges the fibers of the carpet so that the fibers tend to bend in specific direc...

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Abstract

The invention relates to carpet drift estimation using differential sensors or visual measurements. A robotic device comprises: a camera; an actuator system configured to move the robotic device across a carpet surface, the actuator system comprising: a plurality of left wheels interconnected by a left track, and a plurality of right wheels interconnected by a right track; and a controller coupled to the camera, wherein the controller is configured to: extract features from two or more images captured by the camera; match extracted features from the two or more images; generate visual observations of motion based on a motion of matching extracted features relative to the two or more images; estimate carpet drift based at least on the visual observations of motion; generate a carpet drift vector based at least on the visual observations of motion; and generate commands, using the carpet drift vector, configured to compensate for the estimated carpet drift; send the generated commands to the actuator system to compensate for the estimated carpet drift.

Description

[0001] This patent application is a divisional application of a patent application with an international filing date of June 7, 2013, a national application number of 201380022811.5, and an invention title of "Carpet Offset Estimation Using Differential Sensors or Vision Measurement". [0002] Cross References to Related Applications [0003] This application claims priority to US Provisional Application No. 61 / 657,399, filed June 8, 2012, entitled "CARPET DRIFTESTIMATION USING DIFFERENTIAL SENSORS AND VISUAL MEASUREMENTS," the entire contents of which are incorporated herein by reference. technical field [0004] The present disclosure relates to robotic systems, and more particularly to mobile robotic systems configured to move over surfaces. Background technique [0005] An autonomous robot is a robot that can perform a desired task in an environment without continuous human guidance. Robots can be autonomous to varying degrees and can be autonomous in different ways. F...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/027G05D1/0272Y10S901/01G05D2201/0215G05D2201/0203G05D1/0268B25J5/007B25J9/1628B25J9/1664B25J9/1697B25J11/0085
Inventor 迪拉杰·戈埃尔伊桑·伊德菲利普·方马里奥·E·米尼希
Owner IROBOT CORP
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