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    METHODS AND APPARATUS FOR POSITION ESTIMATION USING REFLECTED LIGHT SOURCES
    1.
    发明申请
    METHODS AND APPARATUS FOR POSITION ESTIMATION USING REFLECTED LIGHT SOURCES 有权
    使用反射光源的位置估计的方法和装置

    公开(公告)号：US20130245937A1

    公开(公告)日：2013-09-19

    申请号：US13651080

    申请日：2012-10-12

    申请人： EVOLUTION ROBOTICS, INC.

    发明人： Enrico DiBernardo ,  Paolo Pirjanian

    IPC分类号： G01C3/06

    CPC分类号： G01B11/002 ,  G01C3/06 ,  G01S5/163 ,  G01S17/06 ,  G01S17/48 ,  G05D1/0234

    摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

    摘要翻译： 本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。 所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。 其他应用包括用于位置感知，普遍存在的设备的对象的估计和跟踪。 其他应用包括追踪人或宠物在室内环境中的位置。 该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向 从表面反射的一个或多个发射光源。

    SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER
    5.
    发明申请
    SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER 有权
    使用普通接收机进行本地化和异常检测的系统

    公开(公告)号：US20110166707A1

    公开(公告)日：2011-07-07

    申请号：US12985194

    申请日：2011-01-05

    申请人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    发明人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    IPC分类号： B25J13/08

    CPC分类号： G05D1/0242 ,  G01S5/16 ,  G05D2201/0203

    摘要： A localization and obstacle detection system comprising a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot comprises a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.

    摘要翻译： 一种定位和障碍物检测系统，包括配置成将第一信号投影到环境中的第一信号投影仪和被配置为在环境中移动的机器人。 机器人包括被配置为将第二信号投射到环境中的第二信号投影仪; 信号接收器，被配置为接收第一信号和第二信号; 定位器，其被配置为至少部分地基于所接收的第一信号来确定所述机器人在所述环境中的位置; 以及检测器，被配置为至少部分地基于接收的第二信号的强度和方位确定环境中的障碍物的存在并且不接触障碍物; 其中所述第二信号在至少一个特征中与所述第一信号不同。

    System and method of integrating optics into an IC package
    7.
    发明授权
    System and method of integrating optics into an IC package 有权
    将光学元件集成到IC封装中的系统和方法

    公开(公告)号：US07535071B2

    公开(公告)日：2009-05-19

    申请号：US11090432

    申请日：2005-03-25

    申请人： Steve Schell ,  Robert Witman ,  Joe Brown

    发明人： Steve Schell ,  Robert Witman ,  Joe Brown

    IPC分类号： H01L31/113

    CPC分类号： H01L27/14618 ,  H01L31/0203 ,  H01L31/02164 ,  H01L2224/48137

    摘要： An apparatus and method of integrating optics into an IC package is for detecting light from at least one light source is disclosed. The apparatus has a housing, which has a predetermined spectral transmittance. A sensor is positioned within the housing. An opaque mask is applied to the housing, where the opaque mask has a hole aligned with the sensor such that the light's centroid is detected by the sensor. In one embodiment, the apparatus further comprises a substrate for positioning and stabilizing the sensor in the housing, an analog filter and amplification module (“AFA”) for filtering and amplifying signals from the sensor and generating a second signal, and a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the AFA output signal.

    摘要翻译： 将光学元件集成到IC封装中的装置和方法是用于检测来自至少一个光源的光。 该装置具有预定的光谱透射率的外壳。 传感器位于外壳内。 将不透明掩模施加到壳体，其中不透明掩模具有与传感器对准的孔，使得传感器检测到光的质心。 在一个实施例中，该装置还包括用于定位和稳定壳体中的传感器的基板，用于滤波和放大来自传感器的信号并产生第二信号的模拟滤波器和放大模块（“AFA”），以及数字信号处理器 （“DSP”），用于通过从AFA输出信号中提取频率分量来产生坐标系。

    Systems and methods for merchandise automatic checkout
    8.
    发明授权
    Systems and methods for merchandise automatic checkout 有权
    商品自动结帐的系统和方法

    公开(公告)号：US07337960B2

    公开(公告)日：2008-03-04

    申请号：US10554516

    申请日：2005-02-28

    申请人： Jim Ostrowski ,  Mario Munich ,  John Wiseman

    发明人： Jim Ostrowski ,  Mario Munich ,  John Wiseman

    IPC分类号： G06K15/00

    CPC分类号： G07G1/0054 ,  A47F9/048 ,  A47F11/10 ,  A47F2009/041 ,  G06K9/00 ,  G06K2209/17

    摘要： Systems and methods for automatically checking out items located on a moving conveyor belt for the purpose of increasing the efficiency of a checkout process and revenue at a point-of-sale. The system includes a conveyor subsystem for moving the items, a housing that enclosed a portion of the conveyor subsystem, a lighting subsystem that illuminates an area within the housing, visual sensors that can take images of the items including UPCs, and a checkout system that receives the images from the visual sensors and automatically identifies the items. The system may include a scale subsystem located under the conveyor subsystem to measure the weights of the items, where the weight of each item is used to check if the corresponding item is identified correctly. The system relies on matching visual features from images stored in a database to match against features extracted from images taken by the visual sensors.

    摘要翻译： 用于自动检查位于移动的传送带上的物品的系统和方法，以提高结算过程的效率和销售点的收入。 该系统包括用于移动物品的输送机子系统，封闭输送机子系统的一部分的壳体，照亮壳体内的区域的照明子系统，可以拍摄包括UPC的物品的图像的视觉传感器以及检查系统， 从视觉传感器接收图像并自动识别物品。 该系统可以包括位于输送机子系统下面的比例子系统，用于测量物品的重量，其中每个物品的重量用于检查相应物品是否被正确识别。 该系统依赖于存储在数据库中的图像的匹配视觉特征，以匹配从视觉传感器拍摄的图像中提取的特征。