公开(公告)号：US20120232739A1

公开(公告)日：2012-09-13

申请号：US13510549

申请日：2010-11-10

Applicant: Masaki Takahashi ,  Takafumi Suzuki ,  Toshiki Moriguchi

Inventor： Masaki Takahashi ,  Takafumi Suzuki ,  Toshiki Moriguchi

IPC: G05D1/02

CPC classification number: B25J5/007 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0211

Abstract: An autonomous mobile body is configured to smoothly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. Using a model having two arcs, one at each end in a major axis direction, connected by line segments that lie in the major axis direction and containing the autonomous mobile body, the movement mechanism is driven with a combination of translation and rotation, without interference between the obstacle and the model.

Abstract translation: 自主移动体被配置成平滑地避免障碍物。 移动体具有移动机构，其构造成在水平面中平移并且围绕垂直轴旋转，并且使用障碍物传感器针对每个方向角导出与障碍物的距离。 使用具有两个弧的模型，在长轴方向的每一端一个，通过位于长轴方向并包含自主移动体的线段连接，移动机构以平移和旋转的组合而被驱动，无干扰 障碍物与模型之间。

公开(公告)号：US20120185095A1

公开(公告)日：2012-07-19

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: B25J13/08 ,  G05B15/00 ,  B25J19/02 ,  B25J19/04

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：US20120182392A1

公开(公告)日：2012-07-19

申请号：US13032228

申请日：2011-02-22

Applicant: Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Michael T. Rosenstein ,  Michael Halloran ,  Timothy S. Farlow ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Jasper Fourways Vicenti

Inventor： Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Michael T. Rosenstein ,  Michael Halloran ,  Timothy S. Farlow ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Jasper Fourways Vicenti

IPC: H04N13/02 ,  G06K9/00

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 method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.

Abstract translation: 一种用于移动机器人的物体检测方法包括：在操纵机器人的工作表面上操纵机器人时，将光散射到机器人的场景上，从场景中的目标物体的表面接收发射的斑点图案的反射，确定一个 目标对象的每个反射表面的距离，构建目标对象的三维深度图，并对目标对象进行分类。

公开(公告)号：US20120173018A1

公开(公告)日：2012-07-05

申请号：US13241765

申请日：2011-09-23

Applicant: Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

Inventor： Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

IPC: B25J9/16

CPC classification number: G05D1/0248 ,  B25J5/007 ,  B25J9/0003 ,  B25J11/008 ,  B25J13/006 ,  B25J13/06 ,  B25J19/023 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F1/1632

Abstract: A mobile human interface robot that includes a drive system, a controller in communication with the dive system, and an electronic display supported above the drive system and in communication with the controller. The controller includes a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.

Abstract translation: 一种移动人机接口机器人，其包括驱动系统，与潜水系统通信的控制器，以及支撑在驱动系统上方并与控制器通信的电子显示器。 控制器包括中央处理单元，通用图形处理单元和与中央处理单元和通用图形处理单元进行电通信的存储器。 此外，控制器具有显示操作状态和驾驶操作状态。 控制器在通用图形处理单元上执行图形计算，以在显示操作状态期间在电子显示器上显示图形; 并且控制器在通用图形处理单元上执行移动性计算，用于在驱动操作状态期间向驱动系统发出命令。

公开(公告)号：US20110071702A1

公开(公告)日：2011-03-24

申请号：US12820036

申请日：2010-06-21

Applicant: Yulun Wang ,  Charles S. Jordan ,  Marco Pinter ,  Jonathan Southard

Inventor： Yulun Wang ,  Charles S. Jordan ,  Marco Pinter ,  Jonathan Southard

IPC: G06F17/00

CPC classification number: B25J9/1697 ,  G05D1/0038 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F19/3418 ,  G16H40/63 ,  Y10S901/47

Abstract: A robotic system that includes a robot and a remote station. The remote station can generate control commands that are transmitted to the robot through a broadband network. The control commands can be interpreted by the robot to induce action such as robot movement or focusing a robot camera. The robot can generate reporting commands that are transmitted to the remote station through the broadband network. The reporting commands can provide positional feedback or system reports on the robot.

公开(公告)号：US20100241289A1

公开(公告)日：2010-09-23

申请号：US12308611

申请日：2007-07-21

Applicant: Roy Sandberg

Inventor： Roy Sandberg

IPC: G06F7/00 ,  G01C21/00

CPC classification number: B25J9/1689 ,  G05B2219/35506 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05D1/0038 ,  G05D2201/0211 ,  G06T1/0014

Abstract: New and Improved methods and apparatus for robotic path planning, selection, and visualization are described A path spline visually represents the current trajectory of the robot through a three dimensional space such as a room By altering a graphical representation of the trajectory—the path spline—an operator can visualize the path the robot will take, and is freed from real-time control of the robot Control of the robot is accomplished by periodically updating the path spline such that the newly updated spline represents the new desired path for the robot Also a sensor that may be located on the robot senses the presence of boundaries (obstacles) in the current environment and generates a path that circumnavigates the boundaries while still maintaining motion in the general direction selected by the operator The mathematical form of the path that circumnavigates the boundaries may be a spline

Abstract translation: 描述了用于机器人路径规划，选择和可视化的新的和改进的方法和装置。路径样条可视地表示通过诸如房间的三维空间的机器人的当前轨迹通过改变轨迹的图形表示 - 路径样条 - 操作者可以可视化机器人将采取的路径，并且从机器人的实时控制中免除机器人的控制通过周期性地更新路径样条来实现，使得新更新的样条表示机器人的新的期望路径。另外 可能位于机器人上的传感器感测当前环境中边界（障碍物）的存在，并产生循环边界的路径，同时仍保持由操作者选择的一般方向的运动。循环边界的路径的数学形式 可能是样条

公开(公告)号：US20090030569A1

公开(公告)日：2009-01-29

申请号：US12244633

申请日：2008-10-02

Applicant: Henry F. THORNE

Inventor： Henry F. THORNE

IPC: G05D1/02 ,  B60T7/16 ,  B62D1/28

CPC classification number: G05D1/0272 ,  G05D1/0242 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211

Abstract: A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a cart attaching post.

Abstract translation: 机器人牵引车辆包括用于减少推算导航系统中的累积误差的定位误差减小系统。 所述定位误差降低系统包括所述小车安装机构的低负载转移点中的至少一个，地板变形柔量结构，由此所述驱动轮在小的表面变化上保持基本均匀的负载分布，最小的轮接触面结构， 使用安装在机器人主体上的至少一个接近传感器的校准结构以及由推车连接柱形成的推车和机器人车辆之间的公共电气和机械连接。

公开(公告)号：US20070021871A1

公开(公告)日：2007-01-25

申请号：US11529108

申请日：2006-09-27

Applicant: Yulun Wang ,  Keith Laby ,  Charles Jordan ,  Steven Butner ,  Jonathan Southard

Inventor： Yulun Wang ,  Keith Laby ,  Charles Jordan ,  Steven 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.

公开(公告)号：US07142945B2

公开(公告)日：2006-11-28

申请号：US10913650

申请日：2004-08-06

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。

公开(公告)号：US20060112034A1

公开(公告)日：2006-05-25

申请号：US11293771

申请日：2005-12-02

Applicant: Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

Inventor： Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

IPC: G06F15/18

CPC classification number: G05D1/0255 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1697 ,  B65G2203/041 ,  G05B2219/39387 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A sensing unit, such as a camera, or the like, senses the conditions of articles and mobile existences, including humans, in a life space, such as a house of a household, or the like. An article management/operation server manages, on an article database, attribute information of the articles, which include operators, etc., according to the information from the sensing unit. The server receives a user's instruction input through a console unit and refers to the article database to convert this instruction to a control command, which is then transmitted to a life-support robot.