公开(公告)号：US09758305B2

公开(公告)日：2017-09-12

申请号：US14815246

申请日：2015-07-31

Applicant: Locus Robotics Corp.

Inventor： Mike Johnson ,  Bradley Powers ,  Bruce Welty ,  Sean Johnson

IPC: G06F7/00 ,  B65G1/137 ,  G05D1/00 ,  G05D1/02 ,  G06Q10/08

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J11/008 ,  B65G1/1378 ,  G05D1/0011 ,  G05D1/0234 ,  G05D1/0274 ,  G05D1/0276 ,  G05D2201/0211 ,  G05D2201/0216 ,  G06Q10/087

Abstract: A method for performing tasks on items located in a space using a robot, the items being located proximate fiducial markers, each fiducial marker having a fiducial identification. The method includes receiving an order to perform a task on at least one item and determining the fiducial identification associated with the at least one item. The method also includes obtaining, using the fiducial identification of the at least one item, a set of coordinates representing a position of the fiducial marker with the determined fiducial identification, in a coordinate system defined by the space. The method further includes navigating the robot to the coordinates of the fiducial marker associated with said determined fiducial identification.

公开(公告)号：US09689696B1

公开(公告)日：2017-06-27

申请号：US14861852

申请日：2015-09-22

Applicant: X Development LLC

Inventor： Jared Stephen Russell

IPC: G01C21/34 ,  B25J5/00 ,  B25J9/16 ,  B25J13/00

CPC classification number: B25J9/1666 ,  G05B2219/40437 ,  G05B2219/40444 ,  G05D1/0287 ,  G05D1/0297 ,  G05D2201/0211 ,  Y10S901/01

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining and assigning intermediate handoff checkpoints for low-resolution robot planning. In various implementations, a global path planner may identify a task to be performed by a robot in an environment. In various implementations, the global path planner may determine, based at least in part on one or more attributes of the environment or the task, an intermediate handoff checkpoint for the robot to reach by a scheduled time while the robot performs the task. In various implementations, the global path planner may determine that a measure of reactivity that would be attributable to the robot upon the robot being assigned the intermediate handoff checkpoint satisfies a reactivity threshold. In various implementations, the global path planner may provide, to a local path planner associated with the robot, data indicative of the intermediate handoff checkpoint.

公开(公告)号：US20170075348A1

公开(公告)日：2017-03-16

申请号：US14852246

申请日：2015-09-11

Applicant: FUJI XEROX CO., LTD.

Inventor： Sven KRATZ ,  James L. VAUGHAN

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0038 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/024 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/47

Abstract: Example implementations include a system and method for remotely controlling the motion of a robot. In example implementations, the user is presented with a display having video from a camera on the robot augmented with abstract sensor data, and facilitates the user to draw motion path commands directly on the camera view. Analysis of the scene for obstacles is performed, so that the drawing of commands is interactive, preventing the user from drawing impossible paths. The path sketch is then transformed into the coordinate system of the robot and used to generate commands that will move the robot to the desired location. Sensor data is also used to augment the camera view, in particular for highlighting dangers and obstacles.

Abstract translation: 示例实现包括用于远程控制机器人的运动的系统和方法。 在示例性实施方式中，向用户呈现具有来自机器人上的相机的视频的显示器，其具有抽象传感器数据，并且便于用户直接在相机视图上绘制运动路径命令。 执行障碍物的场景分析，使得命令的绘制是交互的，防止用户画出不可能的路径。 然后将路径草图转换为机器人的坐标系，并用于生成将使机器人移动到所需位置的命令。 传感器数据也用于增加摄像机视图，特别是突出显示危险和障碍物。

公开(公告)号：US09475195B2

公开(公告)日：2016-10-25

申请号：US14485526

申请日：2014-09-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Emrah Akin Sisbot ,  Akansel Cosgun

IPC: G05B19/18 ,  B25J9/16

CPC classification number: B25J9/1676 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05D1/0217 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0211

Abstract: The disclosure includes a system and method for using a robot to simulate user motions by detecting a user, estimating a first position and orientation of the user, determining a current position of the robot, generating an initial path from the current position of the robot to a goal position based on whether the robot affects the user while travelling on the initial path, determining whether the user will traverse in response to the robot when the robot travels on the initial path, responsive to the user traversing in response to the robot, estimating a second position where the user will move when the robot is near, and generating a new path from the current position of the robot to the goal position.

Abstract translation: 本公开包括一种用于使用机器人来通过检测用户来模拟用户运动，估计用户的第一位置和方向，确定机器人的当前位置，生成从机器人的当前位置到初始路径的初始路径的系统和方法 基于机器人在初始路径上行进时是否影响用户的目标位置，响应于用户响应于机器人行进，确定当机器人在初始路径上行进时响应于机器人的用户是否将横穿，估计 当机器人靠近时用户将移动的第二位置，并且产生从机器人的当前位置到目标位置的新路径。

公开(公告)号：US09149927B2

公开(公告)日：2015-10-06

申请号：US13776870

申请日：2013-02-26

Applicant: KUKA Systems GmbH

Inventor： Thomas Sturm

IPC: B25J5/00 ,  A61G7/10

CPC classification number: B25J5/00 ,  A61G7/1046 ,  B25J5/007 ,  G05D2201/0206 ,  G05D2201/0211

Abstract: A robot arrangement has a movable, programmable robot (2), which has a plurality of links (4, 5, 6, 7) and axes of motion (I-VII) and is arranged on a movable, drivable carrying device (15). The robot arrangement (1) has a robot arrangement drive (16), which can be actuated by the robot (2), for the carrying means (15).

Abstract translation: 机器人装置具有可移动的可编程机器人（2），其具有多个连杆（4,5,6,7）和运动轴（I-VII），并且布置在可移动的可驱动的运送装置（15）上， 。 机器人装置（1）具有可由机器人（2）致动的用于承载装置（15）的机器人布置驱动器（16）。

公开(公告)号：US20150158182A1

公开(公告)日：2015-06-11

申请号：US14625646

申请日：2015-02-19

Applicant: iRobot Corporation

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

IPC: B25J9/16

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。

公开(公告)号：US08958911B2

公开(公告)日：2015-02-17

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 ,  G05D1/02

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.

Abstract translation: 一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。 机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。 传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。 传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。 套环执行器将套环和体积点云传感器围绕套环轴线旋转。

公开(公告)号：US20140309835A1

公开(公告)日：2014-10-16

申请号：US14132154

申请日：2013-12-18

Applicant: FUJI XEROX CO., LTD.

Inventor： Kunitoshi YAMAMOTO

IPC: G05D1/02

CPC classification number: G05D1/0217 ,  G05D1/0274 ,  G05D2201/0211 ,  G06Q10/047 ,  G06Q10/10

Abstract: A path finding device includes a search unit, a calculation unit, and a selection unit. The search unit finds paths to reach a goal point from a start point while detouring around a stationary obstacle. The calculation unit calculates, for each of the found paths, an encounter probability that is a probability of encountering a non-stationary obstacle using previously accumulated non-stationary obstacle information. The selection unit selects a path with a lowest encounter probability among the found paths.

Abstract translation: 路径寻找装置包括搜索单元，计算单元和选择单元。 搜索单元找到从开始点到达目标点的路径，同时绕着固定障碍物迂回。 计算单元对于每个找到的路径，计算出使用先前累积的非稳定障碍物信息来遇到非稳定障碍物的概率的碰撞概率。 选择单元在所找到的路径中选择具有最低遇到概率的路径。

公开(公告)号：US08577501B2

公开(公告)日：2013-11-05

申请号：US13562315

申请日：2012-07-31

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 remote control unit configured to wirelessly control a mobile robot moving through an environment and having a robot camera. The remote control unit comprises a privacy button operable by a local user and configured to engage a privacy mode of the mobile robot, and a wireless transmitter configured to emit a wireless control signal to the mobile robot based on input from a keypad of the RC unit. The wireless control signal is configured to cause the robot camera to block the field of view of the robot camera such that the environment of the mobile robot is obscured when the privacy mode of the mobile robot is engaged.

Abstract translation: 远程控制单元，被配置为无线地控制移动机器人移动通过环境并具有机器人相机。 远程控制单元包括由本地用户操作并被配置为参与移动机器人的隐私模式的隐私按钮，以及被配置为基于来自RC单元的键盘的输入向移动机器人发送无线控制信号的无线发射器 。 无线控制信号被配置为使得机器人相机阻挡机器人相机的视野，使得当移动机器人的隐私模式被接合时移动机器人的环境被遮蔽。

公开(公告)号：US08467886B2

公开(公告)日：2013-06-18

申请号：US11420593

申请日：2006-05-26

Applicant: Tetsujiro Kondo

Inventor： Tetsujiro Kondo

IPC: G05B11/01

CPC classification number: H04N5/23203 ,  G05D1/0246 ,  G05D2201/0211 ,  G08C17/00 ,  H04N5/4403 ,  H04N5/64 ,  H04N7/0125 ,  H04N7/0145 ,  H04N2005/4428

Abstract: A mobile object apparatus is provided. The mobile object apparatus includes an object having a first function; a moving unit that is capable of moving so as to move the object; a driving unit configured to drive the moving unit; and a receiver configured to receive a command from outside. The driving unit controls the moving unit according to the command received so that a second function is achieved.

Abstract translation: 提供一种移动体装置。 移动体装置包括具有第一功能的物体; 能够移动以移动物体的移动单元; 构造成驱动所述移动单元的驱动单元; 以及被配置为从外部接收命令的接收器。 驱动单元根据接收到的命令来控制移动单元，从而实现第二功能。