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US 12,761,651 B1Granted
Method for robotic devices to identify doorways using machine learning
AssigneeBobsweep USA
InventorAli Ebrahimi Afrouzi
Life of this patent
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Abstract
A method for identifying a doorway, including: capturing, with a sensor disposed on a robot, sensor data of an environment of the robot as the robot drives along a movement path; identifying, with a processor of the robot, at least one feature from the sensor data indicative of a doorway; identifying, with the processor, the doorway at a location within the environment upon detecting the at least one feature in the sensor data; and generating, with the processor, a map of the environment based on at least the sensor data.
Claims20
A method for identifying doorways in a house, comprising:
- capturing, with a sensor disposed on an autonomous robot, sensor data from an environment of the autonomous robot as the autonomous robot drives along a movement path wherein:
- the sensor data from the environment is indicative of distances to walls within the environment;
- creating, with a processor of the autonomous robot, a map of the environment based on the sensor data;
- observing, with a processor of the autonomous robot, an increase in measured distances followed by a decrease in the measured distances;
- recognizing, with the processor of the autonomous robot, a doorway at a location within the environment based on the sensor data indicating an increase and a decrease in measured distances;
- positioning, with the processor of the autonomous robot, the recognized doorway in the map of the environment;
- and
- instructing, with the processor of the autonomous robot, the autonomous robot to execute one or more instructions in relation to the recognized doorway, wherein:
- the one or more instructions comprise working in a first area and avoiding crossing the doorway into a second area until the work in the first area is complete.
6 more elements
An autonomous robot, comprising:
- a chassis;
- a set of wheels;
- a plurality of sensors;
- and
- a processor;
- a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor of the autonomous robot effectuate operations comprising:
- capturing, with a sensor disposed on the autonomous robot, sensor data from an environment of the autonomous robot as the autonomous robot drives along a movement path wherein:
- the sensor data from the environment is indicative of distances to walls within the environment;
- creating, with the processor of the autonomous robot, a map of the environment based on the sensor data;
- observing, with the processor of the autonomous robot, an increase in measured distances followed by a decrease in the measured distances;
- recognizing, with the processor of the autonomous robot, a doorway at a location within the environment based on the sensor data indicating an increase and a decrease in the measured distances;
- positioning, with the processor of the autonomous robot, the doorway in a map of the environment to depict rooms and areas within the map of the environment;
- and
- instructing, with the processor of the autonomous robot, the autonomous robot to complete a task in a first area before crossing into a second area to begin performing the task in the second area.
11 more elements
Dependencies are inferred from the claim text.