公开(公告)号：US20140350839A1

公开(公告)日：2014-11-27

申请号：US13900767

申请日：2013-05-23

Applicant: iRobot Corporation

Inventor： Robert Todd Pack ,  Scott R. Lenser ,  Justin H. Kearns ,  Orjeta Taka

IPC: G01C21/30

CPC classification number: G05D1/0231 ,  G01C21/20 ,  G01C21/30 ,  G05D1/0214 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0211 ,  G06T7/277 ,  G06T7/73 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/01 ,  Y10S901/47

Abstract: A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.

Abstract translation: 定位移动机器人的方法包括接收关于机器人的场景的传感器数据，并执行具有一组粒子的粒子滤波器。 每个粒子都具有表示机器人位置假设的关联图。 该方法还包括基于接收的传感器数据更新与每个粒子相关联的图，基于接收的传感器数据评估每个粒子的权重，基于其权重选择粒子，以及基于所选择的确定机器人的位置 粒子。

公开(公告)号：US08886385B2

公开(公告)日：2014-11-11

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: G01C22/00 ,  G05D1/00 ,  B25J5/00 ,  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：US08565923B2

公开(公告)日：2013-10-22

申请号：US12654169

申请日：2009-12-11

Applicant: Miwa Okabayashi ,  Keiju Okabayashi

Inventor： Miwa Okabayashi ,  Keiju Okabayashi

IPC: G05B15/00 ,  G05B19/00

CPC classification number: B25J5/00 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0211 ,  G06Q90/00

Abstract: A robot includes: a moving mechanism; a position recognition section that recognizes a current position of the robot within a guide zone having at least one guide location; and a movement control section that moves the robot to each of guide locations in the guide zone by using the moving mechanism, while causing the position recognition section to recognize the current position. The robot further includes a transmission section that transmits, every time the robot moves to each of the guide locations, contents information corresponding to the guide location to a mobile receive terminal held by a person to be guided near the robot.

Abstract translation: 机器人包括：移动机构; 位置识别部，其识别在具有至少一个引导位置的引导区域内的所述机器人的当前位置; 以及移动控制部，其通过使用所述移动机构将所述机器人移动到所述引导区域中的每个引导位置，同时使所述位置识别部识别当前位置。 机器人还包括发送部，其每当机器人移动到每个引导位置时，将与引导位置相对应的内容信息发送到由被引导在机器人附近的人所持有的移动接收终端。

公开(公告)号：US20130261964A1

公开(公告)日：2013-10-03

申请号：US13839512

申请日：2013-03-15

Applicant: David Allan Goldman ,  Nirav Balkrishna Patel

Inventor： David Allan Goldman ,  Nirav Balkrishna Patel

IPC: G01C21/20 ,  G01B7/14

CPC classification number: G01C21/206 ,  G01C21/005 ,  G01C21/12 ,  G01C21/165 ,  G01C21/265 ,  G05D1/0259 ,  G05D1/0268 ,  G05D1/0272 ,  G05D1/0276 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: An indoor navigational system determines a location of a moveable object in an indoor area and displays this location to a user. The system includes an absolute position sensor coupled to a case attached to a moveable object including a motion sensor coupled to a case including a first magnetic field sensor configured to detect a polarity of a magnet as the magnet passes in proximity to the first magnetic field sensor, a code wheel having two or more magnets alternately oriented with north and south polarities facing toward the first magnetic sensor, the code wheel positioned to rotate in unison with a wheel of the moveable object, and encoder circuitry configured to determine an amount of rotation of the wheel of the moveable object based on an output of the first magnetic field sensor.

Abstract translation: 室内导航系统确定可移动对象在室内区域中的位置，并将该位置显示给用户。 该系统包括耦合到附接到可移动物体的壳体的绝对位置传感器，该绝对位置传感器包括耦合到壳体的运动传感器，运动传感器包括第一磁场传感器，该第一磁场传感器配置成当磁体接近第一磁场传感器时检测磁体的极性 具有两个或更多个磁体的代码轮，其交替地朝向与北极和南极性朝向第一磁传感器的方向，所述代码轮被定位成与所述可移动物体的轮一致地旋转;以及编码器电路，被配置为确定 基于第一磁场传感器的输出的可移动物体的车轮。

公开(公告)号：US20130035806A1

公开(公告)日：2013-02-07

申请号：US13562315

申请日：2012-07-31

Applicant: Matthew Cross ,  Tony Campbell

Inventor： Matthew Cross ,  Tony Campbell

IPC: G05D1/02 ,  B25J13/08 ,  B25J19/04

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：US08296005B2

公开(公告)日：2012-10-23

申请号：US12565264

申请日：2009-09-23

Applicant: Makoto Sekiya

Inventor： Makoto Sekiya

IPC: G01C22/00

CPC classification number: G05D1/0246 ,  G05D1/0242 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0211 ,  G05D2201/0217

Abstract: Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a first classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The second moving condition is a condition that the robot is capable of moving in according to a current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The first classification is a classification of the object as an object capable of recognizing an action pattern of the robot and capable of moving autonomously.

Abstract translation: 即使当不满足第一移动条件时，当确定满足第二移动条件并且同时对象属于第一分类时，控制机器人的操作以便使对象按照 到第一模式或任意模式。 第二移动条件是当根据第一图案移动物体时，机器人能够根据当前目标位置轨迹移动而不被物体阻碍的条件。 第一分类是作为能够识别机器人的动作模式并能够自主移动的对象的对象的分类。

公开(公告)号：US08036775B2

公开(公告)日：2011-10-11

申请号：US11396643

申请日：2006-04-04

Applicant: Kosei Matsumoto ,  Toshio Moriya ,  Kazuo Yano

Inventor： Kosei Matsumoto ,  Toshio Moriya ,  Kazuo Yano

IPC: G05D1/02 ,  G05D1/12 ,  G05D1/00 ,  G06F19/00

CPC classification number: G06N3/008 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0211

Abstract: The system includes a mobile apparatus that moves after receiving an input of a path. The system has a path-setting unit for setting the path of a mobile apparatus according to the inputted path, a measuring unit for measuring an environment in which the mobile apparatus exists, an extracting unit for extracting an object existence region in the environment according to the values measured by the measuring unit, a judging unit that judges the validity of the path according to (1) the path set by the path setting unit and (2) the object existence region extracted by the extracting unit, a position determining unit that determines a target position to which the mobile apparatus is to move by selecting it from the portions of the path judged as valid, and a movement controller for controlling the mobile apparatus to move to the target position.

Abstract translation: 该系统包括在接收到路径的输入之后移动的移动装置。 该系统具有路径设定单元，用于根据输入路径设定移动装置的路径，测量单元，用于测量移动装置存在的环境;提取单元，用于根据所述环境中的对象存在区域提取根据 由测量单元测量的值，根据（1）由路径设置单元设置的路径和（2）由提取单元提取的对象存在区域来判断路径的有效性的判断单元，位置确定单元， 通过从被判定为有效的路径的部分中选择移动装置来移动的目标位置，以及移动控制器，用于控制移动装置移动到目标位置。

公开(公告)号：US20110082668A1

公开(公告)日：2011-04-07

申请号：US12899487

申请日：2010-10-06

Applicant: M. Teresa Escrig ,  Juan Carlos Peris

Inventor： M. Teresa Escrig ,  Juan Carlos Peris

IPC: G06F17/50 ,  G06F19/00

CPC classification number: G05D1/0246 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0211

Abstract: This invention relates generally to robotics, and more specifically, to systems and methods for establishing an environmental representation. In one embodiment, the invention includes a method of operations including determining quantitative data relating to one or more landmarks; determining qualitative data relating to the one or more landmarks; and establishing at least a portion of an environmental representation using the quantitative data and/or the qualitative data.

Abstract translation: 本发明一般涉及机器人技术，更具体地，涉及用于建立环境表示的系统和方法。 在一个实施例中，本发明包括一种操作方法，包括确定与一个或多个地标有关的定量数据; 确定与一个或多个地标相关的定性数据; 以及使用定量数据和/或定性数据建立至少一部分环境表示。

公开(公告)号：US07756614B2

公开(公告)日：2010-07-13

申请号：US10789669

申请日：2004-02-27

Applicant: Norman Paul Jouppi

Inventor： Norman Paul Jouppi

IPC: G05D1/02 ,  G06N3/00

CPC classification number: G05D1/0011 ,  G05D2201/0211

Abstract: A system of mobile device control is provided, which includes moving a surrogate under wireless control, and autonomously moving the surrogate to regain wireless control when the wireless control is lost.

Abstract translation: 提供了一种移动设备控制系统，其包括在无线控制下移动代理，并且在无线控制丢失时自动移动代理以重新获得无线控制。

公开(公告)号：US07634336B2

公开(公告)日：2009-12-15

申请号：US11508716

申请日：2006-08-23

Applicant: Heesung Chae ,  Won Pil Yu ,  Jae Young Lee ,  Young Jo Cho

Inventor： Heesung Chae ,  Won Pil Yu ,  Jae Young Lee ,  Young Jo Cho

IPC: G05D1/00

CPC classification number: G05D1/0234 ,  G05D1/0274 ,  G05D2201/0211

Abstract: A localization system and method of a mobile robot using a camera and artificial landmarks in a home and a general office environment (or working zone) is provided. The localization system includes artificial landmarks having an LED flash function in an invisible wavelength band, a camera with a wide-angle lens, a module flashing landmarks attached at the ceiling and identifying positions and IDs of the landmarks from an image photographed by the camera having a filter, a module calculating position and orientation of the robot using two landmarks of the image in a stop state, a module, when a ceiling to which the landmarks are attached has different heights, a position of the robot, and a module, when a new landmark is attached in the working zone, calculating a position of the new landmark on an absolute coordinate.

Abstract translation: 提供了一种在家庭和一般办公环境（或工作区域）中使用照相机和人造地标的移动机器人的定位系统和方法。 本地化系统包括具有不可见波长带中的LED闪光功能的人造地标，具有广角镜头的相机，在天花板附近闪烁地标的模块，以及由相机拍摄的图像识别地标的位置和ID， 一个过滤器，一个模块，当停止状态下图像的两个地标的模块计算机器人的位置和方向时，模块，当附着地标的天花板具有不同的高度，机器人的位置和模块时，当 在工作区附加了一个新的地标，在绝对坐标上计算新地标的位置。