Movea

Invensense, Inc.

Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Movea Sas

Ivensense, Inc.

Joe Youssef

Richard J Przybyla

Stefon Shelton

Karthik Katingari

Christelle Godin

Mitchell Herman Kline

Suzanne Lesecq

Daniela Hall

Zhongyang Li

Tony Lei

Sankalp Dayal

Benoit Denis

Benoît Denis

Cyrille Soubeyrat

Sinan Karahan

Sébastien Riccardi

Agnès Duval

Gregoire Aujay

Sebastian Riccardi

Grégoire Aujay

Lubin Kerhuel

Abbas Ataya

Ben Eovino

Anne Frassati

A device comprises a processor communicatively coupled with an ultrasonic sensor which is configured to repeatedly emit ultrasonic pulses during transmit periods which are interspersed with receive periods. Returned ultrasonic signals corresponding to the emitted ultrasonic pulses are received by the ultrasonic sensor during the receive periods. The processor is configured to direct the ultrasonic sensor to listen, during a listening window, for a potentially interfering ultrasonic signal from a second ultrasonic sensor. The listening window is prior to a transmit period of the transmit periods. In response to detecting the potentially interfering ultrasonic signal during the listening window, the processor is configured to adjust operation of the ultrasonic sensor to avoid an ultrasonic collision with the second ultrasonic sensor to facilitate coexistence of the ultrasonic sensor and the second ultrasonic sensor in an operating environment shared by the ultrasonic sensor and the second ultrasonic sensor.

Ultrasonic device coexistence

A robotic cleaning appliance includes a housing to which is coupled a surface treatment item and a sensor assembly with first and second transducers and an acoustic interface. The first sonic transducer transmits sonic signals through an acoustic interface and out of a first acoustic opening toward a surface beneath the robotic cleaning appliance. The sonic signals reflect from the surface as corresponding returned signals received by the second sonic transducer via a second acoustic opening port of the acoustic interface. A first plurality of annular rings is defined in the external surface around the first acoustic opening port and a second plurality of annular rings is defined in the external surface around the second acoustic opening port. The pluralities of annular rings attenuate direct path echoes from a subset of the transmitted sonic signals which attempt to travel across the external surface to the second acoustic opening port.

Ultrasonic direct echo path reduction

A robotic cleaning appliance includes a housing to which is coupled a surface treatment item and a sensor assembly with first and second transducers and an acoustic interface. The first sonic transducer transmits sonic signals through an acoustic interface and out of a first acoustic opening toward a surface beneath the robotic cleaning appliance. The sonic signals reflect from the surface as corresponding returned signals received by the second sonic transducer via a second acoustic opening port of the acoustic interface. A first annular ring is defined around the first acoustic opening port and a second annular rings is defined around the second acoustic opening port. The annular ring attenuate direct path echoes between the acoustic opening ports. The first and second acoustic opening ports are coupled the first and sonic transducers, respectively, via first and second horns; and the horns are tilted from orthogonal with the surface.

Ultrasonic cliff detection and depth estimation using tilted sensors

A robotic cleaning appliance includes a sonic transducer and a processor coupled with a housing. The sonic transducer transmits sonic signals toward a surface within its ringdown distance and receives corresponding returned signals. Following cessation of the sonic signals, the processor samples the ringdown signal generated by the sonic transducer during an early portion before the corresponding returned signals have reflected back to the sonic transducer, and during a later portion which includes the corresponding returned signals. The processor utilizes the sampled early portion to estimate a void ringdown signal of which represents performance of the sonic transducer in absence of returned signals being received. The processor compares the estimated void ringdown signal to the later portion of the ringdown signal and generates a metric based on the comparison. The processor utilizes the metric to determine a type of the surface, out of a plurality of surface types.

Surface type detection

A mobile robotic device has a motion sensor assembly configured to provide data for deriving a navigation solution for the mobile robotic device. The mobile robotic device temperature is determined for at least two different epochs so that an accumulated heading error of the navigation solution can be estimated based on the determined temperature at the at least two different epochs. A calibration procedure is then performed for at least one sensor of the motion sensor assembly when the estimated accumulated heading error is outside a desired range.

Method and system for mobile sensor calibration

A method for filtering the signals arising from a sensor assembly (EC) comprising at least one measurement sensor for measuring a vector physical field which is substantially constant over time and in space in a reference frame, said sensor assembly (EC) being tied in motion to a moving frame, moving in the reference frame, the method comprising the steps consisting in:

Method for filtering the signals arising from a sensor assembly comprising at least one sensor for measuring a vector physical field which is substantially constant over time and in space in a reference frame

An iterative method determines a bias of a sensor for measuring a substantially continuous physical vector field in a reference frame, in which the sensor is linked in movement to a frame that is mobile in the reference frame. An iteration of the method includes:

Iterative method of determining a bias of a sensor for measuring a substantially continuous physical vector field

A method for estimating a path of a moving element or body using a sensor assembly includes: receiving acceleration values provided by an accelerometer; receiving angular velocity values provided by a gyrometer; processing the values provided for estimating at least one angular position value using the angular velocity values and at least two Cartesian position values defining a path of the moving element or body using acceleration values and the at least one previously estimated angular position value; estimating rotation parameters, by inverting a rotational realignment model of the estimated path subject to prior knowledge of the path; retroactively correcting the at least one estimated angular position value, by applying a rotation on this value using estimated rotation parameters, so as to provide at least one corrected angular position value.

Method and system for estimating a path of a mobile element or body

A system and method of controlling a cursor () in a surface () by measurements of attitude of a pointer (). The measurements can be provided by inertial, optical, magnetic, ultrasound, radiofrequency or video means and appropriate processing means. The method includes a step of computing the displacements of the intersection of a vector tied to the pointer with a projection surface. The projection surface can be predetermined on the basis of the measurements of the attitude and/or of the angular velocity of the pointer. The pointed-at surfaces can be planes, cylinders or spheres. The pointing can be performed in limited fashion or by sliding. The control of the cursor, in absolute mode or in relative mode, can allow the triggering of functions controlled by the orientation of the cursor on the pointed-at surface.

Method of controlling a cursor by measurements of the attitude of a pointer and pointer implementing said method

A method determining values of parameters representing a movement of an entity represented by an articulated chain, by a sensor assembly including at least one sensor for a parameter representing an orientation of a first segment of the articulated chain, the method including: reception of an orientation value measured and supplied by the orientation sensor; estimation of a value of at least one first parameter representing a movement of the first segment by processing the orientation value; and, based on a predetermined movement model of the articulated chain, as a time change model, including at least one relationship of time dependency between the at least one first parameter and at least one other parameter representing a movement of another segment of the articulated chain: estimation of a value of the at least one other parameter by application of the time change model to the estimated value of the at least one first parameter.

Method and system for determining the values of parameters representative of a movement of at least two limbs of an entity represented in the form of an articulated line

Device for determining a characteristic of a trajectory formed of successive positions of a triaxial accelerometer (A) rigidly tied to a mobile element (EM), between a first instant of immobility (t) and a second instant of immobility (t) of the triaxial accelerometer (A), subsequent to said first instant of immobility (t), said device comprising, furthermore, a triaxial additional sensor for measuring a vector of a substantially constant vector field between said first and second instants of immobility (t,t), in a fixed global reference frame (GE) tied to the terrestrial reference frame, said additional sensor being rigidly tied to said mobile element (EM) and fixed in the reference frame of the accelerometer (A), and control means (CMD).

Device and method for determining a characteristic of a path formed by consecutive positions of a triaxial accelerometer rigidly connected to a mobile element

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Grenoble, France

Joe Youssef