US 12,083,684 B1
Method for tracking movement of a mobile robotic device
Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Fath, York (CA); Chen Zhang, Richmond (CA); and Brian Highfill, Castro Valley, CA (US)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Fath, York (CA); Chen Zhang, Richmond (CA); and Brian Highfill, Castro Valley, CA (US)
Filed on Dec. 29, 2021, as Appl. No. 17/565,117.
Application 17/565,117 is a continuation of application No. 16/554,040, filed on Aug. 28, 2019, granted, now 11,241,791.
Application 16/554,040 is a continuation in part of application No. 15/955,480, filed on Apr. 17, 2018, granted, now 10,436,810, issued on Oct. 8, 2019.
Claims priority of provisional application 62/774,420, filed on Dec. 3, 2018.
Claims priority of provisional application 62/772,026, filed on Nov. 27, 2018.
Claims priority of provisional application 62/760,267, filed on Nov. 13, 2018.
Claims priority of provisional application 62/756,896, filed on Nov. 7, 2018.
Claims priority of provisional application 62/748,943, filed on Oct. 22, 2018.
Claims priority of provisional application 62/746,688, filed on Oct. 17, 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 62/740,580, filed on Oct. 3, 2018.
Claims priority of provisional application 62/739,738, filed on Oct. 1, 2018.
Claims priority of provisional application 62/737,576, filed on Sep. 27, 2018.
Claims priority of provisional application 62/737,270, filed on Sep. 27, 2018.
Claims priority of provisional application 62/736,676, filed on Sep. 26, 2018.
Claims priority of provisional application 62/736,239, filed on Sep. 25, 2018.
Claims priority of provisional application 62/735,137, filed on Sep. 23, 2018.
Claims priority of provisional application 62/730,675, filed on Sep. 13, 2018.
Claims priority of provisional application 62/729,015, filed on Sep. 10, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 19/02 (2006.01); G06F 17/18 (2006.01)
CPC B25J 9/1671 (2013.01) [B25J 9/1664 (2013.01); B25J 11/0085 (2013.01); B25J 19/022 (2013.01); G06F 17/18 (2013.01)] 37 Claims
OG exemplary drawing
 
1. A robotic device, comprising:
a chassis;
a set of wheels coupled to the chassis;
one or more electric motors for rotating the set of wheels;
one or more tools for performing work coupled to the chassis;
a processor electronically coupled to a plurality of sensors; and
a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
capturing, with a visual sensor, visual readings to objects within an environment of a robotic device as the robotic device moves within the environment;
capturing, with an encoder sensor, readings of wheel rotation indicative of displacement of the robotic device;
capturing, with an optoelectronic sensor, readings of a driving surface of the environment of the robotic device;
capturing, with a depth sensor, distances to obstacles as the robot moves within the environment;
determining, with the processor, displacement of the robotic device in two dimensions based on the optoelectronic sensor readings of the driving surface;
determining, with the processor, a difference in displacement between the displacement determined based on the encoder sensor readings and the displacement determined based on the optoelectronic sensor readings of the driving surface, the difference in displacement being indicative of slippage; and
estimating, with the processor, a corrected position of the robotic device to replace a last known position of the robotic device.