US 12,135,564 B2
Obstacle recognition method for autonomous robots
Ali Ebrahimi Afrouzi, Henderson, NV (US); Soroush Mehrnia, Helsingborg (SE); and Lukas Robinson, York (CA)
Assigned to Al Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US); Soroush Mehrnia, Helsingborg (SE); and Lukas Robinson, York (CA)
Filed on Nov. 17, 2023, as Appl. No. 18/512,814.
Application 18/512,814 is a continuation of application No. 17/882,498, filed on Aug. 5, 2022, granted, now 11,899,463.
Application 17/882,498 is a continuation of application No. 17/679,215, filed on Feb. 24, 2022, granted, now 11,449,063, issued on Sep. 20, 2022.
Application 17/679,215 is a continuation of application No. 16/995,480, filed on Aug. 17, 2020, granted, now 11,467,587, issued on Oct. 11, 2022.
Application 16/995,480 is a continuation of application No. 16/832,180, filed on Mar. 27, 2020, granted, now 10,788,836, issued on Sep. 29, 2020.
Application 16/832,180 is a continuation in part of application No. 16/570,242, filed on Sep. 13, 2019, granted, now 10,969,791, issued on Apr. 6, 2021.
Application 16/570,242 is a continuation of application No. 15/442,992, filed on Feb. 27, 2017, granted, now 10,452,071, issued on Oct. 22, 2019.
Claims priority of provisional application 62/942,237, filed on Dec. 2, 2019.
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 62/986,946, filed on Mar. 9, 2020.
Claims priority of provisional application 62/914,190, filed on Oct. 11, 2019.
Claims priority of provisional application 62/933,882, filed on Nov. 11, 2019.
Claims priority of provisional application 62/301,449, filed on Feb. 29, 2016.
Prior Publication US 2024/0126265 A1, Apr. 18, 2024
Int. Cl. G05D 1/00 (2024.01); A47L 11/40 (2006.01); B25J 9/16 (2006.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/628 (2024.01); G05D 1/661 (2024.01); G06F 3/16 (2006.01); G06N 5/04 (2023.01); G06V 10/141 (2022.01); G06V 10/70 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01); H04W 12/50 (2021.01)
CPC G05D 1/0246 (2013.01) [A47L 11/4011 (2013.01); B25J 9/1676 (2013.01); B25J 9/1697 (2013.01); G05D 1/0214 (2013.01); G05D 1/0225 (2013.01); G05D 1/0238 (2013.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/628 (2024.01); G05D 1/661 (2024.01); G06F 3/167 (2013.01); G06N 5/04 (2013.01); G06V 10/141 (2022.01); G06V 10/70 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01); H04W 12/50 (2021.01); A47L 2201/024 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] 221 Claims
OG exemplary drawing
 
41. A method for operating a robot, comprising:
capturing, by an image sensor disposed on the robot, images of a workspace of the robot;
controlling, with a processor of the robot, an actuator of the robot to cause the robot to move along a path, wherein:
the robot moves along the path to perform work in the workspace; and
while moving along the path, the robot moves along parallel linear segments, adjacent linear segments having motion trajectories in alternating directions, thereby creating a boustrophedon pattern;
capturing, with the image sensor, an image of an object located along the path of the robot;
actuating, with the processor, the robot to move along an altered path to avoid or drive around the object then continue moving along the parallel linear segments, wherein:
the processor actuates the robot to move along the altered path based on characteristics of the object;
the characteristics of the object comprise at least one of: an object type, an object shape, and an object size; and
possible object types of the object comprise at least a cable or a cord.