US 12,092,467 B1
Simultaneous collaboration, localization, and mapping
Ali Ebrahimi Afrouzi, Henderson, NV (US); Lukas Robinson, York (CA); Chen Zhang, Redmond, WA (US); Brian Highfill, Castro Valley, CA (US); and Amin Ebrahimi Afrouzi, Berkeley, 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); Brian Highfill, Castro Valley, CA (US); and Amin Ebrahimi Afrouzi, Berkeley, CA (US)
Filed on Apr. 13, 2022, as Appl. No. 17/720,040.
Application 17/720,040 is a continuation of application No. 16/418,988, filed on May 21, 2019, granted, now 11,340,079.
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 62/740,573, 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.
Int. Cl. G01C 21/32 (2006.01); G06F 16/29 (2019.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01)
CPC G01C 21/32 (2013.01) [G06F 16/29 (2019.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A first wheeled device, comprising:
a chassis;
a set of wheels coupled to the chassis;
one or more electric motors to rotate the set of wheels;
a wireless card for wirelessly connecting to internet;
a plurality of sensors;
a processor electronically coupled to the plurality of sensors; and
a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor of the first wheeled device effectuates operations comprising:
capturing, with at least one exteroceptive sensor disposed on the first wheeled device, sensor readings of an environment of the first wheeled device;
obtaining, with the processor of the first wheeled device, the sensor readings;
finding, with the processor of the first wheeled device, a position of the first wheeled device within a map of the environment based on at least some of the sensor readings;
capturing, with a debris sensor disposed on the first wheeled device, debris data;
associating, with the processor of the first wheeled device, a location with each debris data, the location comprising a location of the first wheeled device when the respective debris data was captured;
inferring, with the processor of the first wheeled device, debris accumulation in locations within the environment;
marking, with the processor of the first wheeled device, the debris accumulation of the locations within the map, wherein an application of a communication device paired with the first wheeled device is configured to display the debris accumulation within the map;
generating, with the processor of the first wheeled device, a new map of the environment when the processor is unable to load the previously generated map or when the processor cannot find the position of the first wheeled device within the previously generated map; and
wherein:
the map is previously generated with the processor of the first wheeled device during a previous work session or with a processor of a second wheeled device configured to collaborate with the first wheeled device;
the second wheeled device comprises:
a chassis;
a set of wheels coupled to the chassis;
one or more electric motors to rotate the set of wheels;
a wireless card for wirelessly connecting to internet;
a plurality of sensors;
a processor electronically coupled to the plurality of sensors; and
a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor of the second wheeled device effectuates operations comprising:
 generating, with the processor of the second wheeled device, the map of the environment;
the map is loaded into a memory of the first wheeled device at a beginning of each work session; and
the processor of the first wheeled device iteratively tracks the position of the first wheeled device while performing at least one task.