Method for constructing a map while performing work

Register USPTO Patent
Application Number 16724328
Grant Number 11274929
Status In Force
Filing Date 2019-12-22
First Publication Date 2022-03-15
Publication Date 2022-03-15
Grant Date 2022-03-15
Owner AI Incorporated (Canada)
Inventor
  • Afrouzi, Ali Ebrahimi
  • Fath, Lukas
  • Zhang, Chen

Abstract

Provided is a method including: capturing, with at least one sensor of a robot, first data indicative of the position of the robot in relation to objects within the workspace and second data indicative of movement of the robot; recognizing, with a processor of the robot, a first area of the workspace based on observing at least one of: a first part of the first data and a first part of the second data; generating, with the processor of the robot, at least part of a map of the workspace based on at least one of: the first part of the first data and the first part of the second data; generating, with the processor of the robot, a first movement path covering at least part of the first recognized area; actuating, with the processor of the robot, the robot to move along the first movement path.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G01C 21/30 - Map- or contour-matching
  • G06T 7/55 - Depth or shape recovery from multiple images
  • G06T 7/11 - Region-based segmentation
  • H04N 5/225 - Television cameras
  • G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
  • G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G06T 7/30 - Determination of transform parameters for the alignment of images, i.e. image registration
  • A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
  • G01C 21/20 - Instruments for performing navigational calculations
  • G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
  • G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
  • G06T 7/521 - Depth or shape recovery from the projection of structured light
  • G06T 3/00 - Geometric image transformation in the plane of the image