US 11,927,450 B2
Methods for finding the perimeter of a place using observed coordinates
Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Robinson, York (CA); Chen Zhang, Redmond, WA (US); and Sebastian Schweigert, Sunnyvale, CA (US)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Robinson, York (CA); Chen Zhang, Redmond, WA (US); and Sebastian Schweigert, Sunnyvale, CA (US)
Filed on Oct. 6, 2023, as Appl. No. 18/482,620.
Application 18/482,620 is a continuation of application No. 17/159,970, filed on Jan. 27, 2021, granted, now 11,808,580.
Application 17/159,970 is a continuation of application No. 16/542,287, filed on Aug. 15, 2019, granted, now 10,935,383, issued on Mar. 2, 2021.
Application 16/542,287 is a continuation of application No. 16/163,508, filed on Oct. 17, 2018, granted, now 10,422,648, issued on Sep. 24, 2019.
Claims priority of provisional application 62/746,688, filed on Oct. 17, 2018.
Claims priority of provisional application 62/740,573, filed on Oct. 3, 2018.
Claims priority of provisional application 62/740,580, filed on Oct. 3, 2018.
Claims priority of provisional application 62/740,558, filed on Oct. 3, 2018.
Claims priority of provisional application 62/688,497, filed on Jun. 22, 2018.
Claims priority of provisional application 62/674,173, filed on May 21, 2018.
Claims priority of provisional application 62/666,266, filed on May 3, 2018.
Claims priority of provisional application 62/665,095, filed on May 1, 2018.
Claims priority of provisional application 62/661,802, filed on Apr. 24, 2018.
Claims priority of provisional application 62/655,494, filed on Apr. 10, 2018.
Claims priority of provisional application 62/648,026, filed on Mar. 26, 2018.
Claims priority of provisional application 62/640,444, filed on Mar. 8, 2018.
Claims priority of provisional application 62/637,185, filed on Mar. 1, 2018.
Claims priority of provisional application 62/637,156, filed on Mar. 1, 2018.
Claims priority of provisional application 62/631,050, filed on Feb. 15, 2018.
Claims priority of provisional application 62/616,928, filed on Jan. 12, 2018.
Claims priority of provisional application 62/614,449, filed on Jan. 7, 2018.
Claims priority of provisional application 62/613,005, filed on Jan. 2, 2018.
Claims priority of provisional application 62/599,216, filed on Dec. 15, 2017.
Claims priority of provisional application 62/591,217, filed on Nov. 28, 2017.
Claims priority of provisional application 62/590,205, filed on Nov. 22, 2017.
Claims priority of provisional application 62/573,598, filed on Oct. 17, 2017.
Claims priority of provisional application 62/573,591, filed on Oct. 17, 2017.
Claims priority of provisional application 62/573,579, filed on Oct. 17, 2017.
Prior Publication US 2024/0035827 A1, Feb. 1, 2024
Int. Cl. G01C 21/30 (2006.01); A47L 11/40 (2006.01); G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01S 17/89 (2020.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06T 3/00 (2006.01); G06T 7/11 (2017.01); G06T 7/30 (2017.01); G06T 7/521 (2017.01); G06T 7/55 (2017.01); G06T 7/62 (2017.01); H04N 23/00 (2023.01)
CPC G01C 21/30 (2013.01) [A47L 11/4011 (2013.01); G01C 21/165 (2013.01); G01C 21/206 (2013.01); G01S 17/89 (2013.01); G05D 1/0088 (2013.01); G05D 1/0219 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01); G06T 7/11 (2017.01); G06T 7/30 (2017.01); G06T 7/55 (2017.01); G06T 7/62 (2017.01); H04N 23/00 (2023.01); A47L 2201/022 (2013.01); A47L 2201/04 (2013.01); G05D 1/0242 (2013.01); G05D 1/0246 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 2201/0215 (2013.01); G06T 3/0068 (2013.01); G06T 7/521 (2017.01); G06T 2207/10028 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A tangible, non-transitory, machine-readable medium storing instructions that when executed by one or more processors of a robot effectuate operations comprising:
obtaining, with the one or more processors, first data indicative of a position of the robot in a workspace, the first data being based on at least output of a first sensor, wherein obtaining the first data comprises at least:
obtaining, with the one or more processors, first depth data, wherein:
the first depth data comprises a first set of radial distances from the robot at a first position to wall surfaces of the workspace in which the robot is disposed; and
the first depth data include angular direction of each radial distance in the first set of radial distances;
actuating, with the one or more processors, the robot to drive within the workspace to form a map including mapped perimeters that correspond with physical perimeters of the workspace while obtaining, with the one or more processors, second data indicative of displacement of the robot as the robot drives within the workspace, the second data being based on at least output of a second sensor of different type than the first sensor; and
forming, with the one or more processors, the map of the workspace based on at least some of the first data;
wherein:
the map of the workspace expands as new first data comprising a new set of radial distances from the robot to undiscovered perimeters of the workspace are obtained with the one or more processors until radial distances to all perimeters of the workspace are obtained with the one or more processors; and
the robot is paired with an application of a communication device configured to:
receive at least one input designating a modification to the map; a task to perform in a particular zone within the map; a new zone within the map; a cleaning intensity; a cleaning frequency; an area within the map the robot is to avoid; a vacuum power; a cleaning schedule of the robot; and an instruction to activate or deactivate a cleaning tool; and
display an error; completion of a task; cleaning statistics; a battery level; and the map.