公开(公告)号：US20160132056A1

公开(公告)日：2016-05-12

申请号：US14898530

申请日：2014-06-17

Applicant: SHARP KABUSHIKI KAISHA

Inventor： Shoki YOSHINO

IPC: G05D1/00 ,  G01S17/08

CPC classification number: G05D1/0088 ,  A47L11/4008 ,  A47L11/4011 ,  A47L2201/04 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/42 ,  G01S17/88 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0203

Abstract: According to an autonomous mobile body of the present invention, a self-position recognizing section (42a) of a cleaning robot (1) includes a clustering section (42ab) for (i) grouping distance measurement points of each of a plurality of obstacles into clusters, the distance measurement points having been measured by use of a beam emitted from the sensor section (41) and (ii) recognizing the each of the plurality of obstacles.

Abstract translation: 根据本发明的自主移动体，清洁机器人（1）的自身位置识别部（42a）包括聚类部（42ab），用于（i）将多个障碍物中的每一个的距离测量点分组成 通过使用从传感器部分（41）发射的光束测量距离测量点，并且（ii）识别多个障碍物中的每一个。

公开(公告)号：US09323250B2

公开(公告)日：2016-04-26

申请号：US13958413

申请日：2013-08-02

Applicant: IROBOT CORPORATION ,  INTOUCH TECHNOLOGIES, INC.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Tim Wright ,  Michael Chan ,  Marco Pinter ,  Kevin Hanrahan ,  Daniel Sanchez ,  James Ballantyne ,  Cody Herzog ,  Blair Whitney ,  Fuji Lai ,  Kelton Temby ,  Eben Christopher Rauhut ,  Justin H. Kearns ,  Cheuk Wah Wong ,  Timothy Sturtevant Farlow

IPC: G05D1/02 ,  B25J9/16 ,  B25J11/00 ,  G06T11/00 ,  G06F19/00

CPC classification number: G05D1/0217 ,  B25J9/1689 ,  B25J11/009 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06F19/3418 ,  G06T11/00

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract translation: 远程呈现机器人可以包括驱动系统，控制系统，成像系统和映射模块。 映射模块可以访问与该区域相关联的区域和标签的平面图。 在各种实施例中，每个标签可以包括标签坐标和标签信息，其可以包括标签注释。 标签识别系统可以识别当前位置的预定范围内的标签，并且控制系统可以基于识别的标签来执行动作，其标签信息包括远程呈现机器人动作修改器。 远程呈现机器人可以独立于下部旋转上部部分。 远程终端可以允许操作者使用任何控制方法的组合来控制远程呈现机器人，包括通过在平面视图中选择目的地，或者通过使用操纵杆或其它外围设备来选择实况视频馈送中的目的地。

公开(公告)号：US09317035B2

公开(公告)日：2016-04-19

申请号：US14432598

申请日：2013-03-15

Applicant: Hitachi, Ltd.

Inventor： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

IPC: G05D1/02 ,  G05D1/00 ,  G06T1/00 ,  B25J9/16 ,  G06K9/00 ,  G06T7/00 ,  G06T7/20

CPC classification number: G05D1/0038 ,  B25J9/1689 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D2201/0207 ,  G06K9/00577 ,  G06K9/00805 ,  G06T1/0014 ,  G06T7/20 ,  G06T2207/10004 ,  G06T2207/10024 ,  G06T2207/30261

Abstract: When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.

Abstract translation: 当移动体被远程操作时，图像的传输延迟和从移动体获得的信息成为一个问题，因为不能期待对移动体的操作的立即传送。 当帧速率降低或分辨率降低以减少图像数据量以防止图像数据的传输延迟时，难以掌握其他移动体的运动。 结果，当需要一定时间来传送照相机图像和移动障碍物时，估计障碍物的移动和移动体的移动。 基于当前图像生成估计图像，并通过监视器将其呈现给操作者。 因此，可以减少与传输延迟相关联的不稳定性和风险以安全地操作移动体。

公开(公告)号：US09302678B2

公开(公告)日：2016-04-05

申请号：US11867306

申请日：2007-10-04

Applicant: Karl Murphy ,  Alberto Lacaze ,  Mark Del Giorno

Inventor： Karl Murphy ,  Alberto Lacaze ,  Mark Del Giorno

IPC: G06F19/00 ,  G06G7/70 ,  G06G7/76 ,  G06G1/00 ,  B60W50/14 ,  G05D1/02

CPC classification number: B60W50/14 ,  B60W2550/20 ,  B60W2550/402 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213

Abstract: A system that enables a vehicle to follow a traffic rule when traveling in a road network includes a database that stores data relating to at least one feature of the road network, a location detector that detects a location of the vehicle relative to the road network, a sensor that senses at least one object in a vicinity of the vehicle, and a processing system that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, data retrieved from the database relating to at least one feature of the road network, and data relating to at least one object sensed by the sensor.

Abstract translation: 一种能够在道路网络中行驶时使车辆遵循交通规则的系统包括存储与道路网络的至少一个特征相关的数据的数据库，检测车辆相对于道路网络的位置的位置检测器， 感测车辆附近的至少一个物体的传感器，以及控制车辆自主地服从至少一个交通规则的处理系统，或向车辆的驾驶员提供通知以使司机至少服从 基于检测到的车辆位置的一个交通规则，从数据库检索的与道路网络的至少一个特征相关的数据，以及与由传感器感测的至少一个对象相关的数据。

公开(公告)号：US09283670B2

公开(公告)日：2016-03-15

申请号：US14035109

申请日：2013-09-24

Applicant: LG ELECTRONICS INC.

Inventor： Changwha Sun ,  Dongmyung Shin

IPC: A47L11/00 ,  B25J9/00 ,  G05D1/02

CPC classification number: B25J9/0003 ,  A47L2201/04 ,  G05D1/024 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot cleaner includes a main body, a light transmitting unit, an image sensor, a base, a rotation drive unit, and an elevation drive unit. The light transmitting unit emits light. The light reflected or scattered by an obstacle is sensed by the image sensor. The base supports the light transmitting unit and the image sensor and is rotatably and vertically movably disposed in the main body. The rotation drive unit rotates the base. The elevation drive unit allows the base to retract or protract from the main body.

Abstract translation: 机器人清洁器包括主体，透光单元，图像传感器，基座，旋转驱动单元和升降驱动单元。 光发射单元发光。 由障碍物反射或散射的光被图像传感器感测。 基座支撑光发射单元和图像传感器，并且可旋转和垂直地可移动地设置在主体中。 旋转驱动单元旋转底座。 升降驱动单元允许基座从主体缩回或伸出。

公开(公告)号：US20160059411A1

公开(公告)日：2016-03-03

申请号：US14837046

申请日：2015-08-27

Applicant: Handhabungs-, Automatisierungs- und Praezisionstechnik GmbH

Inventor： Stefan RICHTER ,  Carsten GRUNERT ,  Steffen POLLACK ,  Sven SCHIRMER ,  Siegfried ICKERT ,  Wilfried KRAUSE

IPC: B25J9/16 ,  G05D1/00 ,  B25J19/02 ,  B25J5/00 ,  B25J19/00

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1666 ,  B25J19/005 ,  B25J19/022 ,  B25J19/027 ,  B25J19/063 ,  G05D1/0236 ,  G05D1/024 ,  G05D2201/0216 ,  Y10S901/01

Abstract: The present invention relates to an apparatus for manipulating articles in which a multiaxial industrial robot (1) is arranged on a travel unit (2) and the industrial robot (1) and the travel unit (2) can be supplied with electrical energy via an energy storage unit (4). The travel unit (2) has a control unit (23) and at least three wheels (5) having at least one drive unit (6), wherein the control unit (23) is configured to rotate at least one of the wheels (5) by the drive unit (6) about an axis of rotation standing perpendicular on a symmetrical axis of rotation (7) of the wheel (5) and to rotate it about the symmetrical axis of rotation (7) by the respective drive unit (6) so that the apparatus is travelable in any directions by the travel unit (2). In addition, area monitoring sensors (11) are arranged at at least two sides of the travel unit (2).

Abstract translation: 本发明涉及一种用于操纵物品的装置，其中多轴工业机器人（1）布置在行进单元（2）上，并且工业机器人（1）和行进单元（2）可以经由 储能装置（4）。 行驶单元（2）具有控制单元（23）和至少三个具有至少一个驱动单元（6）的轮（5），其中控制单元（23）构造成使至少一个车轮 ）通过驱动单元（6）围绕围绕所述轮（5）的对称旋转轴线（7）垂直的旋转轴线旋转，并且通过相应的驱动单元（6）围绕对称旋转轴线（7）旋转 ），使得该装置可以通过行进单元（2）在任何方向上行驶。 此外，区域监视传感器（11）布置在行进单元（2）的至少两侧。

公开(公告)号：US09268332B2

公开(公告)日：2016-02-23

申请号：US14324470

申请日：2014-07-07

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/08 ,  B60W30/186 ,  B60W50/029 ,  G06K9/00 ,  G06K9/32

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

公开(公告)号：US09255989B2

公开(公告)日：2016-02-09

申请号：US13556802

申请日：2012-07-24

Applicant: Avdhut S. Joshi ,  Michael R. James ,  Michael E. Samples

Inventor： Avdhut S. Joshi ,  Michael R. James ,  Michael E. Samples

IPC: G01S13/93 ,  G01S13/86 ,  G05D1/02 ,  G08G1/16

CPC classification number: G01S13/931 ,  G01S7/2955 ,  G01S13/865 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/0274 ,  G05D2201/0213 ,  G08G1/166

Abstract: A vehicle system includes a first sensor and a second sensor, each having, respectively, different first and second modalities. A controller includes a processor configured to: receive a first sensor input from the first sensor and a second sensor input from the second sensor; detect, synchronously, first and second observations from, respectively, the first and second sensor inputs; project the detected first and second observations onto a graph network; associate the first and second observations with a target on the graph network, the target having a trajectory on the graph network; select either the first or the second observation as a best observation based on characteristics of the first and second sensors; and estimate a current position of the target by performing a prediction based on the best observation and a current timestamp.

Abstract translation: 车辆系统包括第一传感器和第二传感器，每个具有不同的第一和第二模态。 控制器包括处理器，其被配置为：从第一传感器接收第一传感器输入和从第二传感器输入的第二传感器; 分别从第一和第二传感器输入端检测，同步，第一和第二观测值; 将检测到的第一和第二观测项目投影到图形网络上; 将第一和第二观察结果与图形网络上的目标相关联，目标在图形网络上具有轨迹; 基于第一和第二传感器的特性，选择第一或第二观察作为最佳观察; 并且通过基于最佳观察和当前时间戳执行预测来估计目标的当前位置。

公开(公告)号：US09242378B2

公开(公告)日：2016-01-26

申请号：US13375669

申请日：2010-05-27

Applicant: Kosei Matsumoto ,  Toshio Moriya

Inventor： Kosei Matsumoto ,  Toshio Moriya

IPC: G01C21/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1664 ,  G05B2219/40424 ,  G05B2219/40506 ,  G05B2219/40516 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207

Abstract: The invention notifies a robot controller of the need to re-create map data. A robot control system (1) includes a robot (2) that moves along a path while detecting obstacles, and a robot control terminal (3) that records map data (321) and specifies the path of said robot (2), whereby said robot (2) uses lasers to make measurements while in motion and sends the results as sensor data (324) to said robot control terminal (3), which uses said sensor data to generate simulated sensor data (325) along the future path of said robot, and if the proportion of sections for which simulated sensor data and said map data (321) do not coincide exceeds a threshold value, the user is notified of a reconstruction of said map data (321).

Abstract translation: 本发明通知机器人控制器需要重新创建地图数据。 机器人控制系统（1）包括在检测障碍物的同时沿路径移动的机器人（2）和记录地图数据（321）并指定所述机器人（2）的路径的机器人控制终端（3），由此所述机器人 机器人（2）使用激光器在运动中进行测量，并将结果作为传感器数据（324）发送到所述机器人控制终端（3），所述机器人控制终端使用所述传感器数据沿着所述机器人控制终端（3）的未来路径生成模拟传感器数据（325） 机器人，并且如果模拟传感器数据和所述地图数据（321）不一致的部分的比例超过阈值，则向用户通知所述地图数据的重建（321）。

公开(公告)号：US09187095B2

公开(公告)日：2015-11-17

申请号：US13879031

申请日：2010-10-12

Applicant: Philip Gerdt

Inventor： Philip Gerdt

IPC: G06F17/10 ,  G05B23/02 ,  B60W30/165 ,  G05D1/00 ,  G08G1/017 ,  G08G1/16 ,  B60W30/16 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G05D1/02

CPC classification number: B60W30/165 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/16 ,  B60W2550/408 ,  B60W2600/00 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0257 ,  G05D2201/0213 ,  G08G1/017 ,  G08G1/163

Abstract: A method for entering a preceding vehicle autonomous following mode includes the steps of registering and identifying at least one preceding vehicle in front of a host vehicle by at least a first and a second sensor device, comparing the preceding vehicle with vehicle data in a remote database system, and upon a match establishing a communication channel between the preceding vehicle and the host vehicle, identifying to an operator of the host vehicle preceding vehicles with which the communication channel has been established, and obtaining from the operator a selection of a target vehicles to engage following of. Finally, autonomous following mode of the target vehicle is engaged, wherein a vehicle control system automatically controls at least the following three main functions of the host vehicle: forward propulsion, steering, and braking.

Abstract translation: 一种用于进入前一车辆自主跟随模式的方法包括以下步骤：通过至少第一和第二传感器装置在主车辆前面登记和识别至少一个在前车辆，将前一车辆与远程数据库中的车辆数据进行比较 系统，并且在建立前一车辆和主车辆之间的通信信道的匹配上，向已经建立了通信信道的前一个车辆的主车辆的操作者识别，并且从操作者获取目标车辆的选择， 参与其中。 最后，目标车辆的自主跟随模式被接合，其中车辆控制系统至少自动控制主车辆的以下三个主要功能：向前推进，转向和制动。