Ai Incorporated

Bobsweep Inc

Masih Ebrahimi Afrouzi

Ali Ebrahimi Afrouzi

Soroush Mehrnia

Azadeh Afshar Bakooshli

Amin Ebrahimi Afrouzi

Lukas Fath

Brian Highfill

Shahin Fathi Djalali

Chen Zhang

Andrew Francis Fitzgerald

Masoud Nasiri Sarvi

Nema Link

Nema Lankarani

Provided is a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor effectuates operations including: capturing, with at least one exteroceptive sensor, readings of an environment and capturing, with at least one proprioceptive sensor, readings indicative of displacement of a wheeled device; estimating, with the processor using an ensemble of simulated positions of possible new locations of the wheeled device, the readings of the environment, and the readings indicative of displacement, a corrected position of the wheeled device to replace a last known position of the wheeled device; determining, by the processor using the readings of the exteroceptive sensor, a most feasible position of the wheeled device as the corrected position; and, transmitting, by the processor, status information of tasks performed by the wheeled device to an external processor, wherein the status information initiates a second wheeled device to perform a second task.

Versatile mobile platform

Some aspects include a method for operating a wheeled device, including: capturing, by a primary sensor coupled to the wheeled device, primary sensor data indicative of a plurality of radial distances to objects; transforming, by a processor of the wheeled device, the plurality of radial distances from a perspective of the primary sensor to a perspective of the wheeled device; generating, by the processor, a partial map of visible areas in real-time at a first position of the wheeled device based on the primary sensor data and some secondary sensor data, wherein: the partial map is a bird's eye view; and the processor iteratively completes a full map of the environment based on new sensor data captured by sensors as the wheeled device performs work within the environment and new areas become visible to the sensors; and executing, by the wheeled device, a movement path to a second position.

Method of lightweight simultaneous localization and mapping performed on a real-time computing and battery operated wheeled device

A robot that recognizes a user by identifying elements in a captured image that match elements in at least one previously captured image of the user, identifying biometric data that matches previously captured biometric data of the user, or identifying voice data that matches previously captured voice data of the user. Upon recognition of the user, the user is authorized to use the robot, control the robot, modify settings of the robot, add or delete or modify access of users to the robot, actuate the robot, program the robot, and assign a task to the robot.

Method for robotic devices to authenticate users

A robotic floor cleaning device that features a controlled liquid releasing mechanism. A rotatable cylinder with at least one aperture for storing a limited quantity of liquid is connected to a non-propelling wheel of the robotic floor cleaning device. There is a passage below the cylinder and between the cylinder and a drainage mechanism. The cylinder is within or adjacent to a liquid reservoir. Each time an aperture is exposed to the liquid within the reservoir it fills with liquid. As the wheel turns the connected cylinder is rotated until the aperture is adjacent to the passage. The liquid in the aperture will flow through the passage and enter the drainage mechanism which disperses the liquid to the working surface. The release of liquid is halted when the connected wheel stops turning.

Robotic floor cleaning device with controlled liquid release mechanism

Provided is a tangible, non-transitory, machine-readable medium storing instructions that when executed by a processor effectuate operations including: obtaining, with one or more rangefinder sensors positioned on a mobile automated device, distances from the one or more rangefinder sensors to a surface; monitoring, with the processor, the distances sensed by each of the one or more rangefinder sensors; detecting, with the processor, an edge when a change in the distances is greater than a predetermined amount; and actuating, with the processor, the mobile automated device to execute one or more movement patterns upon detecting the edge, wherein the one or more movement patterns initiates movement of the mobile automated device away from the area where the edge was detected.

Edge detection system

Included is a method for a mobile automated device to detect and avoid edges including: providing one or more rangefinder sensors on the mobile automated device to calculate, continuously or periodically, distances from the one or more rangefinder sensor to a surface; monitoring, with a processor of the mobile automated device, the distances calculated by each of the one or more rangefinder sensors; and actuating, with the processor of the mobile automated device, the mobile automated device to execute one or more predetermined movement patterns upon the processor detecting a calculated distance greater than a predetermined amount, wherein the one or more movement patterns initiate movement of the mobile automated device away from the area where the increase was detected.

The disclosure relates to a system and/or method to create or otherwise define one or more virtual barriers for confining or controlling an autonomous robotic device substantially within one or more portion of one or more selected working areas, for example, to prohibit entrance of certain areas. The system and/or method may use a set of beacon transmitters that emit time-stamped signals, which are received by one or more robots and used to calculate the robotic device's distance from such beacons.

System and method for confinement of a robotic device

Provided is a method for establishing and maintaining a user loyalty metric to accesses a plurality of robotic device functions including: receiving biometric data associated with a user; authenticating the user; providing a time access memory, wherein the time access memory comprises a plurality of memory cells; assigning a predetermined time slot to each of the plurality of memory cells, wherein each of the plurality of memory cells is available for writing only during the predetermined time slot, after which each memory cell is made read-only; storing the biometric data of the user if the user is authenticated within a currently available memory cell of the time access memory; increasing the user loyalty metric if the user is authenticated; and, providing access to the plurality of robotic device functions in accordance with the user loyalty metric.

Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.

Methods and systems for automated robotic movement

A method for automated mobile devices to identify and avoid dangerous edges or drop-offs. Rangefinder sensors are installed on the underside of devices to calculate distances to the work surfaces. Distances are monitored for changes greater than a predetermined threshold. Distance changes greater than the threshold cause the device to execute methods or algorithms for avoiding the identified area.

The present invention proposes a method for robotic devices to accurately identify authorized users. Biometric data of users is supplied to the system through biometric scanners. Biometric profiles of authorized users are identified to the system during an initial set-up phase. Subsequently, users provide biometric data to the system through the scanners in order to be authenticated. Received data is compared to the original stored profiles, and when a match is found, that user is authenticated. In another aspect of the invention, a time-activated memory storage process is utilized to prevent malicious attempts to overcome the authentication process. Memory cells become writable in successive time slots, after which point the memory cells are converted to read-only. If a user is authenticated during a particular time slot, their biometric data is written in the available memory cell. If no user is authenticated, the available memory cell is written with junk data. In this way, used memory cells may not be altered by a malicious attack. Furthermore, a loyalty metric is established for each user and stored in a loyalty index. The loyalty metric of each user is increased with each successful authentication. Functions of the robotic device may be assigned minimum loyalty requirements such that users must have had a number of successful past authentications in order to access some of the functions of the device.

A spherical or ovoid design for a robotic vacuum in which the housing of the vacuum also serves as the means by which the device moves. Steering of the device is controlled by adjusting the center of gravity within the housing. Perforations in the housing allow debris to be vacuumed into the device.

Growing community of inventors

Berkeley, CA, United States of America

Masih Ebrahimi Afrouzi