公开(公告)号：US20140365258A1

公开(公告)日：2014-12-11

申请号：US14370383

申请日：2013-02-08

Applicant: Adept Technology, Inc.

Inventor： Matthew Vestal ,  Matthew LaFary ,  Peter Stopera

IPC: G06Q10/06

CPC classification number: G06Q10/063114 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0211 ,  G05D2201/0216 ,  Y10S901/01

Abstract: The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.

Abstract translation: 本发明的作业管理系统（JMS）在诸如工厂，医院，订单处理设施或办公楼的自动化物理环境中处理作业请求，其中作业请求由自动导航的移动机器人的机器人来处理。 JMS包括定义平面图的映射，一组虚拟作业位置以及与虚拟作业位置相关联的一组或多个虚拟作业操作的集合。 JMS自动确定作业请求的实际位置和实际作业操作，并根据所选移动机器人的当前状态和/或当前配置，智能地选择合适的移动机器人来处理每个作业请求。 JMS还向选定的移动机器人发送命令，使移动机器人自动驱动实际的作业位置，自动执行实际的作业操作，或两者兼而有之。

公开(公告)号：US08807428B2

公开(公告)日：2014-08-19

申请号：US13253827

申请日：2011-10-05

Applicant: Michael Morgan

Inventor： Michael Morgan

IPC: G05D3/00

CPC classification number: G05D1/0234 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A method is provided for navigation of a mobile device. Spatial information of at least one beacon detected in an image relative to the image is determined. The image includes an image of the at least one beacon within at least part of an environment surrounding the mobile device. A position of the mobile device based on said spatial information is determined using encoded visual information of the at least one beacon.

Abstract translation: 提供了一种用于移动设备的导航的方法。 确定在图像中相对于图像检测到的至少一个信标的空间信息。 图像包括在移动设备周围环境的至少一部分内的至少一个信标的图像。 使用所述至少一个信标的编码视觉信息来确定基于所述空间信息的移动设备的位置。

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：US08483876B2

公开(公告)日：2013-07-09

申请号：US12747094

申请日：2008-11-13

Applicant: Nobuyuki Ohno

Inventor： Nobuyuki Ohno

IPC: B25J13/00 ,  G05D1/02

CPC classification number: G05D1/0246 ,  G05B2219/40088 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0211 ,  G05D2201/0217

Abstract: A controller for a mobile robot which carries out task of moving an object so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms is made to contact a portion adjacent to one end of the object, which variably sets the position of the representative point of the object in an object coordinate system when the object is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.

Abstract translation: 一种用于移动机器人的控制器，其执行移动对象的任务，以使得物体的代表点的位置和物体的姿势遵循期望的位置轨迹和期望的姿势轨迹，在远端部分 使臂部接触与物体的一端相邻的部分，当至少按照偏转轴方向观察物体时，将物体的代表点的位置可变地设定在物体坐标系中 在期望的姿势轨迹中围绕偏转轴线改变期望姿势。 通过这样做，执行适合于对象的期望姿势的改变模式的对象的移动。

公开(公告)号：US20130035790A1

公开(公告)日：2013-02-07

申请号：US13195871

申请日：2011-08-02

Applicant: Charles F. Olivier, III ,  Jean Sebastien Fouillade ,  Malek Chalabi ,  Nathaniel T. Clinton ,  Russell Sanchez ,  Adrien Felon ,  Graham Wheeler ,  Francois Burianek

Inventor： Charles F. Olivier, III ,  Jean Sebastien Fouillade ,  Malek Chalabi ,  Nathaniel T. Clinton ,  Russell Sanchez ,  Adrien Felon ,  Graham Wheeler ,  Francois Burianek

IPC: B25J13/08 ,  B25J19/04 ,  B25J5/00

CPC classification number: G05D1/0246 ,  G05D1/0238 ,  G05D1/0274 ,  G05D2201/0211 ,  G06K9/00228 ,  H04N7/185

Abstract: A method is provided for initiating a telepresence session with a person, using a robot. The method includes receiving a request to host a telepresence session at the robot and receiving an identification for a target person for the telepresence session by the robot. The robot then searches a current location for a person. If a person is found, a determination is made regarding whether the person is the target person. If the person found is not the target person, the person is prompted for a location for the target person. The robot moves to the location given by the person in response to the prompt.

Abstract translation: 提供了一种使用机器人发起与人的远程呈现会话的方法。 该方法包括接收在机器人处主办远程呈现会话的请求，并且由机器人接收用于远程呈现会话的目标人员的标识。 机器人然后在当前位置搜索一个人。 如果找到一个人，则确定该人是否是目标人。 如果找到的人不是目标人，则该人被提示为目标人员的位置。 机器人响应于提示，移动到人员给出的位置。

公开(公告)号：US20120316680A1

公开(公告)日：2012-12-13

申请号：US13158465

申请日：2011-06-13

Applicant: Charles F. Olivier, III ,  Jean Sebastien Fouillade ,  Adrien Felon ,  Jeffrey Cole ,  Nathaniel T. Clinton ,  Russell Sanchez ,  Francois Burianek ,  Malek M. Chalabi ,  Harshavardhana Narayana Kikkeri

Inventor： Charles F. Olivier, III ,  Jean Sebastien Fouillade ,  Adrien Felon ,  Jeffrey Cole ,  Nathaniel T. Clinton ,  Russell Sanchez ,  Francois Burianek ,  Malek M. Chalabi ,  Harshavardhana Narayana Kikkeri

IPC: B25J13/08

CPC classification number: G05D1/0246 ,  G05D2201/0211

Abstract: A robot tracks objects using sensory data, and follows an object selected by a user. The object can be designated by a user from a set of objects recognized by the robot. The relative positions and orientations of the robot and object are determined. The position and orientation of the robot can be used so as to maintain a desired relationship between the object and the robot. Using the navigation system of the robot, during its movement, obstacles can be avoided. If the robot loses contact with the object being tracked, the robot can continue to navigate and search the environment until the object is reacquired.

Abstract translation: 机器人使用感觉数据跟踪对象，并遵循用户选择的对象。 对象可以由用户从由机器人识别的一组对象中指定。 确定机器人和物体的相对位置和方位。 可以使用机器人的位置和方向，以便保持物体和机器人之间的期望的关系。 使用机器人的导航系统，在运动过程中可以避免障碍物。 如果机器人与被跟踪对象失去联系，则机器人可以继续导航并搜索环境，直到重新获取对象。

公开(公告)号：US08265793B2

公开(公告)日：2012-09-11

申请号：US11862197

申请日：2007-09-27

Applicant: Matthew Cross ,  Tony Campbell

Inventor： Matthew Cross ,  Tony Campbell

IPC: G05B19/00

CPC classification number: B25J11/0005 ,  G05D1/0022 ,  G05D2201/0211 ,  H04L67/10 ,  H04N7/15 ,  H04N21/4788 ,  H04W4/70 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/17 ,  Y10S901/27 ,  Y10S901/47

Abstract: A mobile robot provides telecommunication service between a remote user at a remote terminal and a local user in proximity to the mobile robot. The remote user can connect to the mobile robot via the Internet using a peer-to-peer VoIP protocol, and control the mobile robot to navigate about the mobile robot's environment. The mobile robot includes a microphone, a video camera and a speaker for providing telecommunication functionality between the remote user and the local user. Also, a hand-held RC unit permits the local user to navigate the mobile robot locally or to engage privacy mode for the mobile robot. When NAT or a firewall obstructs connection from the remote terminal to the mobile robot, an Internet server facilitates connection using methods such as STUN, TURN, or relaying.

Abstract translation: 移动机器人在远程终端的远程用户和接近移动机器人的本地用户之间提供电信服务。 远程用户可以使用点对点VoIP协议通过因特网连接到移动机器人，并且控制移动机器人来浏览移动机器人的环境。 移动机器人包括麦克风，摄像机和用于在远程用户和本地用户之间提供电信功能的扬声器。 此外，手持RC单元允许本地用户在本地导航移动机器人，或者为移动机器人引入隐私模式。 当NAT或防火墙阻止从远程终端到移动机器人的连接时，因特网服务器便利用诸如STUN，TURN或中继之类的方法进行连接。

公开(公告)号：US08239084B2

公开(公告)日：2012-08-07

申请号：US12377692

申请日：2007-09-10

Applicant: Kenjiro Yamamoto ,  Saku Egawa ,  Takashi Tsubouchi ,  Jae Hoon Lee

Inventor： Kenjiro Yamamoto ,  Saku Egawa ,  Takashi Tsubouchi ,  Jae Hoon Lee

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/024 ,  G05D1/0255 ,  G05D1/0257 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0207 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A moving device (70) determines an obstacle virtual existence region (72) of a simple graphic approximating a detected obstacle (71) to detect the obstacle (71) in a real time and determine a smooth avoidance path by calculation, thereby performing collision prediction.

Abstract translation: 移动装置（70）确定近似检测到的障碍物（71）的简单图形的障碍物虚拟存在区域（72），以实时检测障碍物（71），并通过计算确定平滑回避路径，从而进行碰撞预测 。

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：US08209051B2

公开(公告)日：2012-06-26

申请号：US11529108

申请日：2006-09-27

Applicant: Yulun Wang ,  Keith Phillip Laby ,  Charles S. Jordan ,  Steven Edward Butner ,  Jonathan Southard

Inventor： Yulun Wang ,  Keith Phillip Laby ,  Charles S. Jordan ,  Steven Edward Butner ,  Jonathan Southard

IPC: G06F19/00

CPC classification number: G06F19/3418 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1602 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1689 ,  B25J9/1692 ,  B25J11/0005 ,  B25J19/022 ,  B25J19/023 ,  G05D1/0038 ,  G05D1/0225 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F19/00 ,  G06F19/3456 ,  G16H10/60 ,  H04N7/142 ,  H04N7/185

Abstract: A robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.

Abstract translation: 包括遥控机器人的机器人系统。 机器人可以包括相机，监视器和全部连接到机器人壳体的完整平台。 机器人可以由也具有相机和监视器的远程控制台控制。 远程控制站可以链接到无线地耦合到机器人的基站。 照相机和监视器允许远程位置的护理人员通过机器人监视和照顾病人。 整体平台允许机器人围绕家庭或设施移动以定位和/或跟随患者。