US 12,111,664 B1
Versatile robotic device
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 Aug. 16, 2022, as Appl. No. 17/888,921.
Application 17/888,921 is a continuation of application No. 16/389,797, filed on Apr. 19, 2019, granted, now 11,454,981.
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 62/674,994, filed on May 22, 2018.
Claims priority of provisional application 62/669,509, filed on May 10, 2018.
Claims priority of provisional application 62/665,942, filed on May 2, 2018.
Claims priority of provisional application 62/665,095, filed on May 1, 2018.
Claims priority of provisional application 62/664,389, filed on Apr. 30, 2018.
Claims priority of provisional application 62/660,540, filed on Apr. 20, 2018.
Claims priority of provisional application 62/660,789, filed on Apr. 20, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01)
CPC G05D 1/0248 (2013.01) [B25J 5/007 (2013.01); B25J 9/0003 (2013.01); G05D 1/0236 (2013.01); G05D 1/027 (2013.01); G05D 1/0272 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot, comprising:
a chassis;
a set of wheels;
a plurality of sensors;
a camera;
a processor;
a tangible, non-transitory, machine-readable memory storing instructions that when executed by the processor effectuate operations comprising:
capturing, with the camera, spatial data of surroundings of the robot;
generating, with the processor, a spatial model of the surroundings based on at least the spatial data of the surroundings;
generating, with the processor, a movement path based on the spatial model of the surroundings;
inferring, with the processor, a location of the robot, comprising at least:
capturing, with at least one sensor of the plurality of sensors, at least one measurement of the surroundings of the robot;
extracting, with the processor, at least one feature of debris based on at least some data captured by the plurality of sensors;
inferring, with the processor, a debris type of the debris based on a comparison between the at least one feature and features associated with different debris types stored in a database;
actuating, with the processor, the robot to clean or avoid the debris based on the debris type of the debris, wherein the robot is actuated to at least avoid debris with a debris type of feces;
actuating, with the processor, the robot to vacuum or mop based on sensor data indicative of an absence of a user within the surroundings; and
capturing, with the at least one sensor, additional measurement within successively increasing search radii until the processor obtains a measurement that can be used to infer the location of the robot.