Back to results
US 10,809,071 B2Granted
Method for constructing a map while performing work
AssigneeAI Incorporated
InventorsAli Ebrahimi Afrouzi, Sebastian Schweigert, Lukas Fath, Chen Zhang
Life of this patent
Estimating the term…
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 180 degrees in a first rotation; after the first rotation, traversing, to a second position, a second distance in the second direction; and after traversing the second distance, rotating 180 degrees in a second rotation such that the field of view of the sensor points in the first direction.
Claims30
A method executed by a robot, the method comprising:
- starting, from a starting position, a session in which a robot maps a workspace, wherein the robot comprises a sensor having a field of view of less than 360 degrees and pointing in a forward direction in a frame of reference of the robot and, while the robot is in the starting position, a first direction in a frame of reference of the workspace, wherein while the robot is in the starting position, the forward direction and the first direction are the same direction;
- traversing, from the starting position, to a first position, a first distance from the starting position in a backward direction in the frame of reference of the robot and in a second direction in the frame of reference of the workspace, the backward direction being opposite the forward direction in the frame of reference of the robot, and the second direction being opposite the first direction in the frame of reference of the workspace;
- after traversing the first distance, rotating 180 degrees in a first rotation, placing the robot in an orientation where the field of view of the sensor points in the second direction in the frame of reference of the workspace;
- after the first rotation, traversing, to a second position, a second distance in the second direction in the frame of reference of the workspace and in the forward direction in the frame of reference of the robot;
- and
- after traversing the second distance, rotating 180 degrees in a second rotation, placing the robot in an orientation where the field of view of the sensor points in the first direction in the frame of reference of the workspace.
3 more elements
A robot, comprising:
- a drive motor configured to actuate movement of the robot;
- a sensor coupled to the robot;
- a processor onboard the robot and configured to communicate with the sensor and the drive motor;
- and
- memory storing instructions that when executed by the processor cause the robot to effectuate operations comprising:
- starting a session in which the robot maps a workspace from a starting position, wherein the sensor has a field of view of less than 360 degrees and pointing in a forward direction in a frame of reference of the robot and, while the robot is in the starting position, a first direction in a frame of reference of the workspace, wherein while the robot is in the starting position, the forward direction and the first direction are the same direction;
- traversing, from the starting position, to a first position, a first distance from the starting position in a backward direction in the frame of reference of the robot and in a second direction in the frame of reference of the workspace, the backward direction being opposite the forward direction in the frame of reference of the robot, and the second direction being opposite the first direction in the frame of reference of the workspace;
- after traversing the first distance, rotating 180 degrees in a first rotation, placing the robot in an orientation where the field of view of the sensor points in the second direction in the frame of reference of the workspace;
- after the first rotation, traversing, to a second position, a second distance in the second direction in the frame of reference of the workspace and in the forward direction in the frame of reference of the robot;
- and
- after traversing the second distance, rotating 180 degrees in a second rotation, placing the robot in an orientation where the field of view of the sensor points in the first direction in the frame of reference of the workspace.
8 more elements
Dependencies are inferred from the claim text.