公开(公告)号：US08295125B2

公开(公告)日：2012-10-23

申请号：US13350447

申请日：2012-01-13

Applicant: Mark Chiappetta ,  James Allard

Inventor： Mark Chiappetta ,  James Allard

IPC: G01S15/00

CPC classification number: B25J13/006 ,  B60G2300/45 ,  B62D61/10 ,  B62D61/12 ,  G01S7/52004 ,  G01S7/527 ,  G01S15/108 ,  G01S15/88

Abstract: Detecting an object using sound waves includes outputting a sound wave from a transducer, receiving an echo after outputting the sound wave, obtaining a threshold value based on the echo and plural other echoes that are within a predetermined range of the echo, and determining if the echo is a result of the sound wave based on the threshold value.

公开(公告)号：US20120185096A1

公开(公告)日：2012-07-19

申请号：US13032390

申请日：2011-02-22

Applicant: Michael Rosenstein ,  Steven V. Shamlian ,  Chikyung Won ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

Inventor： Michael Rosenstein ,  Steven V. Shamlian ,  Chikyung Won ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

IPC: G05B15/00

CPC classification number: B25J5/007 ,  B25J11/009 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  Y10S901/01

Abstract: A method of operating a mobile robot to traverse a threshold includes detecting a threshold proximate the robot. The robot includes a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally. The method further includes moving the first drive element onto the threshold from a first side and moving the second drive element onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.

Abstract translation: 操作移动机器人横穿阈值的方法包括检测机器人附近的阈值。 该机器人包括一个完整的驱动系统，其具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件。 该方法还包括将第一驱动元件从第一侧移动到阈值上并将第二驱动元件移动到阈值上以将第一和第二驱动元件都置于阈值上。 该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，并将第三驱动元件移动到阈值上，将第二和第三驱动元件都置于阈值上。 该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

公开(公告)号：US20070179670A1

公开(公告)日：2007-08-02

申请号：US11682642

申请日：2007-03-06

Applicant: Mark Chiappetta ,  Joseph Jones

Inventor： Mark Chiappetta ,  Joseph Jones

IPC: G06F19/00

CPC classification number: G05D1/0231 ,  A47L2201/04 ,  B25J9/0003 ,  B25J9/1694 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09

Abstract: A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system; and wherein the receiving subsystem is configured and operative to process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device to implement a prescribed conduct that alters the movement activity of the robotic device.

Abstract translation: 一种用于改变在限定的工作区域中操作的机器人装置的运动活动的导航控制系统，包括与机器人装置组合的发射子系统，所述发射子系统包括用于发射多个定向波束的装置，每个定向波束具有预定的 发射模式和用作基站的接收子系统，其包括导航控制算法，所述导航控制算法定义用于导航控制系统的预定触发事件以及以已知间隔关系定位在所定义的工作区内的一组检测单元， 一组检测单元被配置和操作以检测由发射系统发射的一个或多个定向波束; 并且其中所述接收子系统被配置和操作以在所述导航控制算法的控制下处理所述一个或多个检测到的定向波束，以确定所述预定触发事件是否已经发生，并且如果所述预定触发事件已经发生，则发送控制信号 机器人装置，其中由机器人装置接收控制信号使机器人装置实现改变机器人装置的运动活动的规定行为。

公开(公告)号：US20050015915A1

公开(公告)日：2005-01-27

申请号：US10752180

申请日：2004-01-06

Applicant: Victor Thomas ,  Robert Kay ,  Jayant Sharma ,  Philip Mass ,  Rosario Robert ,  Colin Angle ,  Lee Sword ,  Joseph Jones ,  Paul Sandin ,  John O'Brien ,  Benjamin Wirz ,  Mark Chiappetta ,  Gideon Coltof

Inventor： Victor Thomas ,  Robert Kay ,  Jayant Sharma ,  Philip Mass ,  Rosario Robert ,  Colin Angle ,  Lee Sword ,  Joseph Jones ,  Paul Sandin ,  John O'Brien ,  Benjamin Wirz ,  Mark Chiappetta ,  Gideon Coltof

IPC: A47L11/164 ,  A47L11/14 ,  A47L11/20 ,  A47L11/24 ,  A47L11/282 ,  A47L11/283 ,  A47L11/29 ,  A47L11/30 ,  A47L11/40

CPC classification number: A47L11/4036 ,  A47L11/14 ,  A47L11/24 ,  A47L11/282 ,  A47L11/30 ,  A47L11/4011 ,  A47L11/4038 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4052 ,  A47L11/4069 ,  A47L11/4088

Abstract: A floor cleaner is provided for cleaning a floor, where the floor cleaner has a front and a rear and includes: a sweeper for sweeping the floor; a scrubber, connected to the sweeper and located in the rear of the sweeper, for wetting and cleaning the floor; and a burnisher, connected to the scrubber and located in the rear of the scrubber, for burnishing the floor.

Abstract translation: 提供地板清洁器用于清洁地板，其中地板清洁器具有前部和后部，并且包括：用于扫掠地板的清扫器; 洗涤器，连接到清扫车并位于清扫车的后部，用于润湿和清洁地板; 以及连接到洗涤器并位于洗涤器后部的抛光机，用于抛光地板。

公开(公告)号：US08918213B2

公开(公告)日：2014-12-23

申请号：US13032370

申请日：2011-02-22

Applicant: Michael Rosenstein ,  Chikyung Won ,  Geoffrey B. Lansberry ,  Steven V. Shamlian ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

Inventor： Michael Rosenstein ,  Chikyung Won ,  Geoffrey B. Lansberry ,  Steven V. Shamlian ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

IPC: G06F19/00 ,  G05B15/00 ,  G05B19/00 ,  B25J13/08 ,  B25J5/00 ,  G05D1/02

CPC classification number: B25J13/084 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01

Abstract: A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

Abstract translation: 一种移动人机接口机器人，其包括限定垂直中心轴线和向前驱动方向的基座和由基座支撑的整体驱动系统。 驱动系统具有第一，第二和第三从动驱动轮，每个三轴驱动轮围绕垂直中心轴线三边隔开，并具有垂直于垂直中心轴线的径向轴线的驱动方向。 机器人还包括与整体驱动系统通信的控制器，支撑在基座上方的躯干以及与控制器通信的触摸传感器系统。 触摸传感器系统响应人的接触。 控制器基于从触摸传感器系统接收的触摸信号向整体驱动系统发出驱动命令。

公开(公告)号：US20130226344A1

公开(公告)日：2013-08-29

申请号：US13555529

申请日：2012-07-23

Applicant: Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

Inventor： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1694 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46 ,  Y10S901/47

Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

公开(公告)号：US20120185094A1

公开(公告)日：2012-07-19

申请号：US13032312

申请日：2011-02-22

Applicant: Michael Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta

Inventor： Michael Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta

IPC: G05B15/00

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J9/1694 ,  B25J11/009 ,  B25J13/08 ,  B25J19/023 ,  G02B13/22 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06K9/00664 ,  G06T7/248 ,  G06T7/521 ,  H04N13/243 ,  H04N13/271 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

Abstract: A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

Abstract translation: 一种移动机器人，其包括驱动系统，与驱动系统通信的控制器，以及支撑在驱动系统上方的体积点云成像装置，其高度大于地面上方约一英尺，并被引导为能够获得 来自包括移动机器人的移动方向上的底板平面的空间体积的点云。 控制器从成像设备接收点云信号，并且至少部分地基于接收到的点云信号向驱动系统发出驱动命令。

公开(公告)号：US20120116587A1

公开(公告)日：2012-05-10

申请号：US13350447

申请日：2012-01-13

Applicant: Mark Chiappetta ,  James Allard

Inventor： Mark Chiappetta ,  James Allard

IPC: B25J13/08

CPC classification number: B25J13/006 ,  B60G2300/45 ,  B62D61/10 ,  B62D61/12 ,  G01S7/52004 ,  G01S7/527 ,  G01S15/108 ,  G01S15/88

Abstract: Detecting an object using sound waves includes outputting a sound wave from a transducer, receiving an echo after outputting the sound wave, obtaining a threshold value based on the echo and plural other echoes that are within a predetermined range of the echo, and determining if the echo is a result of the sound wave based on the threshold value.

Abstract translation: 使用声波检测对象包括从换能器输出声波，在输出声波之后接收回声，基于回波和在回波的预定范围内的多个其它回波获得阈值，以及确定是否 回波是基于阈值的声波的结果。

公开(公告)号：US20160375590A1

公开(公告)日：2016-12-29

申请号：US15194283

申请日：2016-06-27

Applicant: Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Daniel Vincent Harburg ,  Kevin Alcedo ,  Grant Thomas Sellers ,  Mark Chiappetta

Inventor： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Daniel Vincent Harburg ,  Kevin Alcedo ,  Grant Thomas Sellers ,  Mark Chiappetta

IPC: B25J15/12 ,  B25J15/10 ,  B25J15/00

CPC classification number: B25J15/12 ,  B25J15/0023 ,  B25J15/10 ,  Y10S901/39

Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

Abstract translation: 示例性实施例涉及机器人系统的改进以减少系统上的生物或化学港口点。 例如，在示例性实施例中，机器人致动器，轮毂或整个机器人系统可以被配置为允许沿着接头或紧固件附近的缝隙被减少或消除，硬的角部被替换为圆形边缘，某些部件或要消除的密封点 ，要重新配置为更平滑或平坦的形状，和/或表面可重构以便更简单的清洁。

公开(公告)号：US09014848B2

公开(公告)日：2015-04-21

申请号：US13032406

申请日：2011-02-22

Applicant: Timothy S. Farlow ,  Michael Rosenstein ,  Michael Halloran ,  Chikyung Won ,  Steven V. Shamlian ,  Mark Chiappetta

Inventor： Timothy S. Farlow ,  Michael Rosenstein ,  Michael Halloran ,  Chikyung Won ,  Steven V. Shamlian ,  Mark Chiappetta

IPC: G05D1/02 ,  B25J5/00 ,  B25J11/00 ,  G05D1/00 ,  B25J13/00 ,  B25J19/02

CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J11/009 ,  B25J19/023 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0038 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  H04N7/142 ,  H04N7/144 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

Abstract translation: 机器人系统包括具有执行用于控制机器人的操作的控制系统的控制器的移动机器人，与机器人的控制器通信的云计算服务以及与云计算服务通信的远程计算设备。 远程计算设备通过云计算服务与机器人进行通信。