US 11,656,082 B1
Method for constructing a map while performing work
Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Robinson, York (CA); and Chen Zhang, Redmond, WA (US)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Robinson, York (CA); and Chen Zhang, Redmond, WA (US)
Filed on May 29, 2022, as Appl. No. 17/827,729.
Application 17/827,729 is a continuation of application No. 17/581,497, filed on Jan. 21, 2022, granted, now 11,435,192.
Application 17/581,497 is a continuation of application No. 16/724,328, filed on Dec. 22, 2019, granted, now 11,274,929.
Application 16/724,328 is a continuation in part of application No. 16/597,945, filed on Oct. 10, 2019, granted, now 11,215,461, issued on Jan. 4, 2022.
Application 16/597,945 is a continuation of application No. 16/163,562, filed on Oct. 17, 2018, granted, now 10,809,071, issued on Oct. 20, 2020.
Claims priority of provisional application 62/952,376, filed on Dec. 22, 2019.
Claims priority of provisional application 62/952,384, filed on Dec. 22, 2019.
Claims priority of provisional application 62/942,237, filed on Dec. 2, 2019.
Claims priority of provisional application 62/933,882, filed on Nov. 11, 2019.
Claims priority of provisional application 62/914,190, filed on Oct. 11, 2019.
Claims priority of provisional application 62/746,688, filed on Oct. 17, 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 62/740,573, 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 62/637,156, filed on Mar. 1, 2018.
Claims priority of provisional application 62/637,185, 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 62/573,591, filed on Oct. 17, 2017.
Claims priority of provisional application 62/573,579, filed on Oct. 17, 2017.
Claims priority of provisional application 62/573,598, filed on Oct. 17, 2017.
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G01C 21/16 (2006.01); A47L 11/40 (2006.01); G06T 7/30 (2017.01); G06T 7/11 (2017.01); G06T 7/62 (2017.01); G05D 1/00 (2006.01); G01C 21/20 (2006.01); G01S 17/89 (2020.01); G06T 7/55 (2017.01); H04N 23/00 (2023.01); G06T 3/00 (2006.01); G06T 7/521 (2017.01)
CPC G01C 21/165 (2013.01) [A47L 11/4011 (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); G06T 3/0068 (2013.01); G06T 7/521 (2017.01); G06T 2207/10028 (2013.01)] 30 Claims
OG exemplary drawing
 
25. A system, comprising:
a robot, comprising:
a chassis;
a set of wheels;
a plurality of sensors coupled to the robot;
a processor; and
tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
capturing, with at least one sensor of a plurality of sensors coupled to the robot, first data used in indicating a position of the robot in relation to a workspace and objects within the workspace;
capturing, with at least one sensor of the plurality of sensors coupled to the robot, second data indicative of movement of the robot;
recognizing, with the processor of the robot, a first area of the workspace based on 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, a first movement path covering at least part of the first recognized area of the workspace;
actuating, with the processor of the robot, the robot to move along the first movement path, wherein actuating the robot to move along the first movement path comprises at least a repetitive iteration of:
actuating, with the processor of the robot, the robot to traverse a first linear segment;
actuating, with the processor of the robot, the robot to rotate 180 degrees in a first rotation comprising traversing a first distance in a direction perpendicular to the first linear segment after starting the first rotation and before finishing the first rotation;
actuating, with the processor of the robot, the robot to traverse a second linear segment parallel to the first linear segment; and
actuating, with the processor of the robot, the robot to rotate 180 degrees in a second rotation comprising traversing a second distance in a direction perpendicular to the second linear segment after starting the second rotation and before finishing the second rotation;
generating, with the processor of the robot, a map of the workspace based on at least one of: the first data and the second data; and
an application of a user device paired with the robot configured to:
display the map of the workspace including dividers that divide the map into subareas; and
receive at least one user input designating an addition, a modification, or a deletion of a divider in the map; an addition, a modification, or a deletion of a name of a subarea within the map; and a schedule for the robot to perform work within at least one subarea; and
wherein the processor of the robot or the application of the user device divides the map into subareas using dividers.