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US 11,899,463 B1Granted
Obstacle recognition method for autonomous robots
AssigneeAI Incorporated
InventorsAli Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Robinson
Life of this patent
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Abstract
A robot including a medium storing instructions that when executed by a processor of the robot effectuates operations including: capturing images of a workspace as the robot moves within the workspace; identifying at least one characteristic of an object captured in the images of the workspace; determining an object type of the object based on an object dictionary of different types of objects, wherein the different object types comprise at least a cord, clothing garments, a shoe, earphones, and pet bodily waste; and instructing the robot to execute at least one action based on the object type of the object, wherein the at least one action comprises avoiding the object or cleaning around the object.
Claims119
A robot, comprising:
- a plurality of sensors;
- a processor;
- an image sensor;
- at least one cleaning tool for performing one of vacuuming and mopping;
- and
- a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
- capturing, with the image sensor, images of a workspace as the robot moves within the workspace;
- identifying, with the processor, at least one characteristic of an object captured in the images of the workspace;
- determining, with the processor, an object type of the object based on an object dictionary of different types of objects, wherein the different object types comprise at least a cord, clothing garments, a shoe, earphones, and pet bodily waste;
- and
- instructing, with the processor, the robot to execute at least one action based on the object type of the object, wherein the at least one action comprises avoiding the object or cleaning around the object.
8 more elements
A method for operating a robot, comprising:
- capturing, by an image sensor disposed on the robot, images of a workspace of the robot;
- controlling, with the processor, an actuator of the robot to cause the robot to move along a navigation path, wherein:
- the robot moves along the navigation path to perform work in the workspace;
- and
- the navigation path comprises at least a boustrophedon pattern comprising parallel linear segments, wherein adjacent linear segments have motion trajectories in alternating directions;
- capturing, with the image sensor, an image of an object located along the navigation path of the robot;
- actuating, with the processor, the robot to execute an altered navigation path to avoid the object or maneuver around the object and continue along the planned navigation path;
- and
- inferring, with the processor, an object type of the object, wherein possible object types comprise at least a cable or a cord.
6 more elements
A robot, comprising:
- a plurality of sensors;
- a processor;
- an image sensor;
- at least one cleaning tool for performing one of vacuuming and mopping;
- and
- a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
- capturing, by the image sensor disposed on the robot, images of a workspace of the robot;
- controlling, with the processor, an actuator of the robot to cause the robot to move along a navigation path, wherein:
- the robot moves along the navigation path to perform work in the workspace;
- the navigation path comprises at least a back and forth pattern comprising parallel linear segments, wherein adjacent linear segments have motion trajectories in alternating directions;
- and
- the navigation path covers areas of the workspace that the robot is yet to perform work within;
- capturing, with the image sensor, an image of an object located along the navigation path of the robot;
- and
- actuating, with the processor, the robot to execute an altered navigation path to avoid the object or maneuver around the object and continue along the planned navigation path.
12 more elements
A tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robot effectuates operations comprising:
- capturing, by an image sensor disposed on the robot, images of a workspace of the robot;
- controlling, with the processor, an actuator of the robot to cause the robot to move along a navigation path, wherein:
- the robot moves along the navigation path to perform work in the workspace;
- the navigation path comprises at least a boustrophedon pattern comprising parallel linear segments, wherein adjacent linear segments have motion trajectories in alternating directions;
- and
- the navigation path covers areas of the workspace that the robot is yet to perform work within;
- capturing, with the image sensor, an image of an object located along the navigation path of the robot;
- and
- actuating, with the processor, the robot to execute an altered navigation path to avoid the object or maneuver around the object and continue along the planned navigation path.
6 more elements
A tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robot effectuates operations comprising:
- creating, with the processor, a planar representation of an environment of the robot;
- dividing, with the processor or an external processor, the planar representation into one or more subareas using dividers;
- and
- storing, with the processor, the planar representation in a memory accessible to the processor;
- wherein the robot is paired with an application of a smartphone configured to:
- display the planar representation;
- historical information relating to at least one previous work episode;
- debris detected;
- a total area cleaned;
- a cleaning time;
- a robot status;
- and an alert associated with a work episode;
- and
- receive at least one user input designating a modification, a deletion, or an addition of a divider within the planar representation;
- a selection, an addition, or a modification of a label of a subarea;
- an addition, a modification, or a deletion of a restricted subarea which the robot is to avoid;
- scheduling information;
- a number of coverage repetitions;
- an intensity of cleaning;
- and a preference associated with content of a captured image.
17 more elements
A system, comprising:
- a robot, comprising:
- a plurality of sensors;
- a processor;
- an image sensor;
- at least one cleaning tool for performing one of vacuuming and mopping;
- and
- a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
- creating, with the processor, a planar representation of an environment of the robot;
- dividing, with the processor or an external processor, the planar representation into one or more subareas using dividers;
- and
- storing, with the processor, the planar representation in a memory accessible to the processor;
- and
- an application of a smartphone paired with the robot configured to:
- display the planar representation;
- historical information relating to at least one previous work episode;
- debris detected;
- a total area cleaned;
- a cleaning time;
- a robot status;
- and an alert associated with a work episode;
- and
- receive at least one user input designating a modification, a deletion, or an addition of a divider within the planar representation;
- a selection, an addition, or a modification of a label of a subarea;
- an addition, a modification, or a deletion of a restricted subarea which the robot is to avoid;
- scheduling information;
- a number of coverage repetitions;
- an intensity of cleaning;
- and a preference associated with content of a captured image.
25 more elements
A method for operating a robot, comprising:
- creating, with a processor of the robot, a planar representation of an environment of the robot;
- dividing, with the processor or an external processor, the planar representation into one or more subareas using dividers;
- and
- storing, with the processor, the planar representation in a memory accessible to the processor;
- wherein the robot is paired with an application of a smartphone configured to:
- display the planar representation;
- historical information relating to at least one previous work episode;
- debris detected;
- a total area cleaned;
- a cleaning time;
- a robot status;
- and an alert associated with a work episode;
- and
- receive at least one user input designating a modification, a deletion, or an addition of a divider within the planar representation;
- a selection, an addition, or a modification of a label of a subarea;
- an addition, a modification, or a deletion of a restricted subarea which the robot is to avoid;
- scheduling information;
- a number of coverage repetitions;
- an intensity of cleaning;
- and a preference associated with content of a captured image.
17 more elements
Dependencies are inferred from the claim text.