US 12,072,713 B1
Robotic vacuum with mobile security function
Christopher N Day, Los Gatos, CA (US)
Assigned to Ambarella International LP, Santa Clara, CA (US)
Filed by Ambarella International LP, Santa Clara, CA (US)
Filed on Apr. 29, 2022, as Appl. No. 17/733,492.
Application 17/733,492 is a continuation of application No. 16/437,256, filed on Jun. 11, 2019, granted, now 11,416,002.
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); A47L 11/40 (2006.01); G06V 40/16 (2022.01); H04N 7/18 (2006.01)
CPC G05D 1/0246 (2013.01) [A47L 11/4061 (2013.01); G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); G06V 40/172 (2022.01); H04N 7/185 (2013.01); A47L 2201/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a video capture device (i) comprising a lens mounted to a housing at a low position with respect to a floor level and (ii) configured to generate pixel data having warping caused by a field of view of said lens; and
a processor configured to (i) process said pixel data arranged as video frames that capture said field of view upward from said low position, (ii) reverse effects of said warping of said pixel data captured caused by said field of view of said lens to generate dewarped frames from said video frames, (iii) detect objects in said dewarped frames, (iv) extract data about said objects based on characteristics of said objects, (v) perform path planning in response to said data extracted and (vi) generate a video stream based on said dewarped frames, wherein
(a) said path planning is used to move said apparatus to a new location,
(b) said apparatus performs autonomous movement, and
(c) reversing said effects of said warping enables said dewarped frames to provide a rectilinear perspective based on said field of view upward from said low position.
 
20. An apparatus comprising:
a video capture device (i) mounted at a low position and (ii) configured to generate warped pixel data that captures a field of view upward from said low position;
speakers configured to playback audio messages; and
a processor configured to (i) process said warped pixel data arranged as input video frames, (ii) perform video operations to (a) generate dewarped frames from said input video frames and (b) detect objects in said dewarped frames, (iii) extract data about said objects based on characteristics of said objects determined using said video operations, (iv) perform path planning in response said data extracted and (v) generate a video stream based on said dewarped frames, wherein
(a) said video operations generate said dewarped frames to correct a distortion effect caused by capturing said input video frames from said low position,
(b) said path planning is used to move said apparatus to a new location,
(c) said apparatus is capable of autonomous movement, and
(d) said audio messages are played back in response to said data extracted.