US 12,253,852 B2
Image capture devices for autonomous mobile robots and related systems and methods
Husain al-Mohssen, Cambridge, MA (US); Zupei Li, Nashua, NH (US); Elena Jakubiak, Arlington, MA (US); Laura V. Herlant, Arlington, MA (US); Michael J. Halloran, Bedford, MA (US); and Danielle O'Connor Dean, Westford, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Apr. 5, 2022, as Appl. No. 17/713,910.
Application 17/713,910 is a continuation of application No. 16/588,295, filed on Sep. 30, 2019, granted, now 11,327,483.
Prior Publication US 2022/0229434 A1, Jul. 21, 2022
Int. Cl. G05D 1/00 (2024.01); A47L 9/00 (2006.01); A47L 9/28 (2006.01); A47L 11/40 (2006.01)
CPC G05D 1/0038 (2013.01) [A47L 9/009 (2013.01); A47L 9/2826 (2013.01); A47L 9/2852 (2013.01); A47L 9/2894 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); G05D 1/0214 (2013.01); G05D 1/0231 (2013.01); A47L 2201/04 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
capturing, by an image capture device on an autonomous cleaning robot, imagery of a portion of a floor surface forward of the autonomous cleaning robot, the portion of the floor surface comprising at least a peripheral feature of a rug, and the imagery of the portion of the floor surface being indicative of a location of a tassel of the rug; and
maneuvering the autonomous cleaning robot onto the rug along a path selected based on the imagery of the portion of the floor surface such that the autonomous cleaning robot avoids the tassel.