Methods, systems, and devices for mapping wireless communication signals for mobile robot guidance
First Claim
1. A method of operating a mobile robot, comprising:
- performing, by a processor of the mobile robot, operations comprising;
operating a drive to navigate the mobile robot in an operating environment;
detecting, via at least one localization sensor of the mobile robot, localization data responsive to operating the drive to navigate the mobile robot in the operating environment;
acquiring, via at least one wireless receiver of the mobile robot, wireless network communication signals responsive to operating the drive to navigate the mobile robot in the operating environment, wherein the wireless network communication signals are transmitted by at least one network-enabled electronic device that is local to the operating environment;
determining a location of the mobile robot in the operating environment based on correlation of the localization data detected by the at least one localization sensor with a coverage pattern of signal strength of the wireless network communication signals acquired by the at least one wireless receiver, wherein the determining the location of the mobile robot comprises;
comparing (1) respective signal strengths of the wireless network communication signals acquired responsive to a repositioning of the mobile robot in the operating environment with (2) respective signal strengths of the wireless network communication signals acquired responsive to operating the drive; and
using the localization data.
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Accused Products
Abstract
A method of operating a computing device includes receiving occupancy data for an operating environment of a mobile robot based on localization data detected by at least one localization sensor of the mobile robot responsive to navigation thereof in the operating environment, and receiving signal coverage data for the operating environment based on wireless communication signals acquired by at least one wireless receiver of the mobile robot responsive to navigation thereof in the operating environment. The wireless communication signals are transmitted by at least one electronic device that is local to the operating environment. The method further includes generating a map indicating coverage patterns of the wireless communication signals at respective locations in the operating environment by correlating the occupancy data and the signal coverage data. Related methods, mobile robots, and user terminals are also discussed.
37 Citations
27 Claims
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1. A method of operating a mobile robot, comprising:
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performing, by a processor of the mobile robot, operations comprising; operating a drive to navigate the mobile robot in an operating environment; detecting, via at least one localization sensor of the mobile robot, localization data responsive to operating the drive to navigate the mobile robot in the operating environment; acquiring, via at least one wireless receiver of the mobile robot, wireless network communication signals responsive to operating the drive to navigate the mobile robot in the operating environment, wherein the wireless network communication signals are transmitted by at least one network-enabled electronic device that is local to the operating environment; determining a location of the mobile robot in the operating environment based on correlation of the localization data detected by the at least one localization sensor with a coverage pattern of signal strength of the wireless network communication signals acquired by the at least one wireless receiver, wherein the determining the location of the mobile robot comprises; comparing (1) respective signal strengths of the wireless network communication signals acquired responsive to a repositioning of the mobile robot in the operating environment with (2) respective signal strengths of the wireless network communication signals acquired responsive to operating the drive; and using the localization data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of operating a mobile robot, comprising:
performing, by a processor of the mobile robot, operations comprising; operating a drive to navigate the mobile robot in an operating environment; detecting, via at least one localization sensor of the mobile robot, localization data responsive to operating the drive to navigate the mobile robot in the operating environment, wherein the at least one localization sensor comprises a camera, wherein the localization data comprises visual localization data detected by the camera at at least one of different timestamped times of day or under different lighting conditions; acquiring, via at least one wireless receiver of the mobile robot, wireless network communication signals responsive to operating the drive to navigate the mobile robot in the operating environment, wherein the wireless network communication signals are transmitted by at least one network-enabled electronic device that is local to the operating environment; determining a location of the mobile robot in the operating environment based on correlation of the localization data detected by the at least one localization sensor with a coverage pattern of signal strength of the wireless network communication signals acquired by the at least one wireless receiver; and merging respective occupancy maps generated from the visual localization data detected at at least one of the timestamped different times of day or in the different lighting conditions using the location of the at least one network-enabled electronic device as an anchor point. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method of operating a user terminal communicatively coupled to at least one mobile robot, comprising:
performing, by a processor of the user terminal, operations comprising; determining a location of at least one mobile robot in an operating environment based on correlation of localization data detected by at least one localization sensor of the at least one mobile robot with a coverage pattern of signal strength of wireless network communication signals acquired by a wireless receiver of the at least one mobile robot in the operating environment responsive to navigation of the at least one mobile robot in the operating environment, wherein the wireless network communication signals are transmitted by at least one network-enabled electronic device that is local to the operating environment, wherein the at least one localization sensor comprises a camera, wherein the localization data comprises visual localization data detected by the camera at at least one of different tunestamped. times of day or under different lighting conditions; receiving, via a receiver of the user terminal, map information including the determined location of the at least one mobile robot; merging respective occupancy maps generated from the visual localization data detected at at least one of the timestamp d different times of day or in the different lighting conditions using the location of the at least one network-enabled electronic device as an anchor point; and displaying, via a user interface of he user terminal, one or more visual representations of the map information. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
Specification