Patents by Inventor Soroush Mehrnia

Soroush Mehrnia has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11467587
    Abstract: Provided is a method for operating a robot, including capturing images of a workspace, comparing at least one object from the captured images to objects in an object dictionary, identifying a class to which the at least one object belongs using an object classification unit, instructing the robot to execute at least one action based on the object class identified, capturing movement data of the robot, and generating a planar representation of the workspace based on the captured images and the movement data, wherein the captured images indicate a position of the robot relative to objects within the workspace and the movement data indicates movement of the robot.
    Type: Grant
    Filed: August 17, 2020
    Date of Patent: October 11, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11468588
    Abstract: A media storing instructions that when executed by a processor of a robot effectuates operations including detecting an object in a line of sight of at least one sensor; adjusting a current path of the robot to include a detour path around the object, instructing the robot to resume along the current path after avoiding the object, discounting areas of overlap from a total area covered based on at least some data collected by sensors, inferring previously visited areas and unvisited areas, generating a planar representation of a workspace of the robot by stitching data collected by at least some sensors of the robot at overlapping points, and transmitting the planar representation and coverage statistics to an application of a communication device configured to display the information.
    Type: Grant
    Filed: April 27, 2021
    Date of Patent: October 11, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 11449061
    Abstract: Provided is a method for operating a robot, including capturing images of a workspace, comparing at least one object from the captured images to objects in an object dictionary, identifying a class to which the at least one object belongs using an object classification unit, instructing the robot to execute at least one action based on the object class identified, capturing movement data of the robot, and generating a planar representation of the workspace based on the captured images and the movement data, wherein the captured images indicate a position of the robot relative to objects within the workspace and the movement data indicates movement of the robot.
    Type: Grant
    Filed: August 17, 2020
    Date of Patent: September 20, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11449063
    Abstract: A method for identifying objects for autonomous robots, including: capturing, with an image sensor disposed on an autonomous robot, images of a workspace, wherein a field of view of the image sensor captures at least an area in front of the autonomous robot; obtaining, with a processing unit disposed on the autonomous robot, the images; generating, with the processing unit, a feature vector from the images; comparing, with the processing unit, at least one object captured in the images to objects in an object dictionary; identifying, with the processing unit, a class to which the at least one object belongs; and executing, with the autonomous robot, instructions based on the class of the at least one object identified.
    Type: Grant
    Filed: February 24, 2022
    Date of Patent: September 20, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Robinson
  • Patent number: 11435746
    Abstract: Provided is a robot, including: a chassis; a set of wheels coupled to the chassis; a processor; and a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor effectuate operations including: capturing, by an image sensor disposed on a robot, images of a workspace; obtaining, by the processor of the robot or via the cloud, the captured images; comparing, by the processor of the robot or via the cloud, at least one object from the captured images to objects in an object dictionary; identifying, by the processor of the robot or via the cloud, a class to which the at least one object belongs using an object classification unit; and instructing, by the processor of the robot, the robot to execute at least one action based on the object class identified.
    Type: Grant
    Filed: January 17, 2022
    Date of Patent: September 6, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11360481
    Abstract: A method for covering a surface by a robotic device including: generating a two-dimensional map of a workspace using data from at least a depth measurement device positioned on the robotic device, dividing the two-dimensional map into a grid of cells, identifying the cells as free, occupied, or unknown, localizing the robotic device within the two-dimensional map, identifying at least one frontier within the map for exploration, generating a spanning tree such that a movement path of the robotic device includes a repetition of movement in a first direction along a straight line, 180 degree rotation over a distance perpendicular to the first direction, movement in a second direction opposite the first direction along a straight line, and 180 degree rotation over a distance perpendicular to the second direction, and recording the number of collisions incurred and the areas covered by the robotic device while executing the movement path.
    Type: Grant
    Filed: February 20, 2020
    Date of Patent: June 14, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Sebastian Schweigert
  • Patent number: 11064856
    Abstract: A removable dustbin for a robotic vacuum that is wholly separable from all electronic parts thereof including a motor unit such that the dustbin, when separated from the electronic parts, may be safely immersed in water for quick and easy cleaning. The dustbin design further facilitates easy access to the motor for convenient servicing and repair.
    Type: Grant
    Filed: November 10, 2018
    Date of Patent: July 20, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 11069082
    Abstract: Provided is a method including emitting, with a laser light emitter disposed on a robot, a collimated laser beam projecting a light point on a surface opposite the laser light emitter; capturing, with each of at least two image sensors disposed on the robot, images of the projected light point; overlaying, with a processor of the robot, the images captured by the at least two image sensors to produce a superimposed image showing both captured images in a single image; determining, with the processor of the robot, a first distance between the projected light points in the superimposed image; and determining, with the processor, a second distance based on the first distance using a relationship that relates distance between light points with distance between the robot or a sensor thereof and the surface on which the collimated laser beam is projected.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: July 20, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11058268
    Abstract: Provided is a mopping extension attachable to a robotic floor cleaning device including: a fluid reservoir for storing one or more cleaning fluids; a cloth for receiving the one or more cleaning fluids, wherein the cloth is oriented toward the work surface; and, at least one or more dispersed nozzle sets for controlling delivery of the one or more cleaning fluids to the cloth.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: July 13, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Renee Bautista
  • Patent number: 11037320
    Abstract: A method including detecting an object in a line of sight of at least one sensor; adjusting a current path of the robot to include a detour path around the object, instructing the robot to resume along the current path after avoiding the object, discarding at least some data collected by sensors of the robot in overlapping areas covered, inferring previously visited areas and unvisited areas, generating a planar representation of a workspace of the robot by stitching data collected by at least some sensors of the robot at overlapping points, and presenting at least the planar representation and coverage statistics on an application of a communication device.
    Type: Grant
    Filed: July 17, 2020
    Date of Patent: June 15, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 10969791
    Abstract: Provided is a robot, including: a plurality of sensors; a processor; a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with an image sensor, images of a workspace as the robot moves within the workspace; identifying, with the processor, at least one characteristic of at least one object captured in the images of the workspace; determining, with the processor, an object type of the at least one object based on characteristics of different types of objects stored in an object dictionary; and instructing, with the processor, the robot to execute at least one action based on the object type of the at least one object.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: April 6, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Publication number: 20210089040
    Abstract: Provided is a method for operating a robot, including capturing images of a workspace, comparing at least one object from the captured images to objects in an object dictionary, identifying a class to which the at least one object belongs using an object classification unit, instructing the robot to execute at least one action based on the object class identified, capturing movement data of the robot, and generating a planar representation of the workspace based on the captured images and the movement data, wherein the captured images indicate a position of the robot relative to objects within the workspace and the movement data indicates movement of the robot.
    Type: Application
    Filed: August 17, 2020
    Publication date: March 25, 2021
    Applicant: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 10933534
    Abstract: 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.
    Type: Grant
    Filed: February 19, 2019
    Date of Patent: March 2, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Masih Ebrahimi Afrouzi
  • Publication number: 20200409376
    Abstract: Provided is a method for operating a robot, including capturing images of a workspace, comparing at least one object from the captured images to objects in an object dictionary, identifying a class to which the at least one object belongs using an object classification unit, instructing the robot to execute at least one action based on the object class identified, capturing movement data of the robot, and generating a planar representation of the workspace based on the captured images and the movement data, wherein the captured images indicate a position of the robot relative to objects within the workspace and the movement data indicates movement of the robot.
    Type: Application
    Filed: August 17, 2020
    Publication date: December 31, 2020
    Applicant: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 10800038
    Abstract: 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.
    Type: Grant
    Filed: August 14, 2017
    Date of Patent: October 13, 2020
    Assignee: Al Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Masih Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 10788836
    Abstract: Provided is a method including capturing, by an image sensor disposed on a robot, images of a workspace; obtaining, by a processor of the robot or via the cloud, the captured images; comparing, by the processor of the robot or via the cloud, at least one object from the captured images to objects in an object dictionary; identifying, by the processor of the robot or via the cloud, a class to which the at least one object belongs using an object classification unit; and instructing, by the processor of the robot, the robot to execute at least one action based on the object class identified.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: September 29, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 10762186
    Abstract: 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.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: September 1, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Amin Ebrahimi Afrouzi, Masih Ebrahimi Afrouzi, Soroush Mehrnia, Azadeh Afshar Bakooshli
  • Patent number: 10755430
    Abstract: A method including: positioning sensors on a robotic device; positioning a camera on the robotic device; capturing an image of the environment; measuring color depth of each pixel in the image; classifying each pixel into a color depth range; determining for at least one set of two points captured in the image, if the color depth of pixels measured in a region between the two points is within a predetermined range of color; generating at least one line between the two points when the color depth of pixels measured in the region between the two points is within the predetermined range of color; identifying on a map of the environment a wall surface on which the line is generated as a flat wall surface; and adjusting a heading of the robotic device relative to an angle of the wall surface.
    Type: Grant
    Filed: April 24, 2019
    Date of Patent: August 25, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Publication number: 20200225673
    Abstract: Provided is a method including capturing, by an image sensor disposed on a robot, images of a workspace; obtaining, by a processor of the robot or via the cloud, the captured images; comparing, by the processor of the robot or via the cloud, at least one object from the captured images to objects in an object dictionary; identifying, by the processor of the robot or via the cloud, a class to which the at least one object belongs using an object classification unit; and instructing, by the processor of the robot, the robot to execute at least one action based on the object class identified.
    Type: Application
    Filed: March 27, 2020
    Publication date: July 16, 2020
    Applicant: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 10613541
    Abstract: A system and method for devising a surface coverage scheme within a workspace. Space within a two-dimensional map of the workspace is identified as free, occupied, or unknown. The map is divided into a grid of cells. A loop-free spanning tree is constructed within all free cells within the grid. The robotic device is programmed to drive along the outside edge of the spanning tree to cover all portions of each free cell at least once upon completing the path. The system monitors several performance parameters during each work session and assigns negative rewards based on these parameters. A large positive reward is assigned upon completion of the surface coverage. Spanning trees with at least slight differences are used to determine which spanning tree produces the highest reward. The system is programmed to attempt maximize rewards at all times, causing the system to learn the best eventual method or policy for servicing the workspace.
    Type: Grant
    Filed: January 16, 2017
    Date of Patent: April 7, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Sebastian Schweigert