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    Robotic cart pulling vehicle
    61.
    发明授权
    Robotic cart pulling vehicle 有权
    机器人车牵引车

    公开(公告)号：US07431115B2

    公开(公告)日：2008-10-07

    申请号：US11498952

    申请日：2006-08-03

    Applicant: Henry F. Thorne

    Inventor： Henry F. Thorne

    IPC: B60T7/16

    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。

    Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof
    62.
    发明申请
    Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof 审中-公开
    用于位置自我控制机器人的导航系统和用于提供绝对坐标的地板材料

    公开(公告)号：US20070276558A1

    公开(公告)日：2007-11-29

    申请号：US10594183

    申请日：2004-10-04

    Applicant: Kyeong-Keun Kim

    Inventor： Kyeong-Keun Kim

    IPC: G05D1/02

    CPC classification number: G01S13/825 ,  G05D1/0236 ,  G05D1/0272 ,  G05D2201/0211

    Abstract: A navigation system for a position self control robot including a main body having a locomotion unit is provided. The navigation system includes two-dimensional (2D) barcodes, a barcode reader, and a control unit. The 2D barcodes are formed at predetermined intervals on a floor having a predetermined size and respectively have different unique coordinate values. The barcode reader is installed at a predetermined position in a lower portion of the main body to read a 2D barcode on the floor. The control unit is installed at the main body to be electrically connected with the barcode reader, recognizes absolute coordinates within a predetermined area, which are stored in memory, based on a unique coordinate value of the 2D barcode read by the barcode reader, applies the absolute coordinates to a programmed locomotion algorithm, and controls the locomotion unit to move the main body.

    Abstract translation: 提供了一种用于位置自我控制机器人的导航系统，其包括具有移动单元的主体。 导航系统包括二维（2D）条形码，条形码读取器和控制单元。 2D条形码以预定的间隔形成在具有预定尺寸的地板上，并且分别具有不同的唯一坐标值。 条形码读取器安装在主体的下部的预定位置，以读取地板上的2D条形码。 控制单元安装在主体上以与条形码读取器电连接，基于由条形码读取器读取的2D条形码的唯一坐标值，识别存储在存储器中的预定区域内的绝对坐标， 绝对坐标到编程运动算法，并控制运动单元移动主体。

    Mobile apparatus
    63.
    发明授权
    Mobile apparatus 失效
    移动设备

    公开(公告)号：US07277559B2

    公开(公告)日：2007-10-02

    申请号：US10702478

    申请日：2003-11-07

    Applicant: Shinichi Matsunaga ,  Nobuo Higaki

    Inventor： Shinichi Matsunaga ,  Nobuo Higaki

    IPC: G06K9/00 ,  H04N13/02

    CPC classification number: G05D1/0251 ,  B25J5/00 ,  B25J9/1676 ,  G05D1/0274 ,  G05D2201/0211

    Abstract: A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.

    Abstract translation: 提供了一种移动装置，其包括多个成像装置，用于测量成像装置的当前位置和方向的测量装置，地图数据存储部分，其存储至少包括关于静止物体的位置的登记信息的地图数据， 获取多个图像的视差的识别距离计算部，计算从成像装置到各静止物体的前方边界的基准距离的基准距离计算部，确定图像处理范围的缩回部， 要处理的像素的集合以产生缩回图像，用于从缩回图像中检测对象的检测部分，传送装置和传送控制器，用于根据关于由所述缩回图像检测到的对象的信息来控制传送装置的移动 检测部分。

    MOBILE OBJECT APPARATUS, MOBILE OBJECT SYSTEM, IMAGING DEVICE AND METHOD, AND ALERTING DEVICE AND METHOD
    64.
    发明申请
    MOBILE OBJECT APPARATUS, MOBILE OBJECT SYSTEM, IMAGING DEVICE AND METHOD, AND ALERTING DEVICE AND METHOD 有权
    移动对象装置，移动对象系统，成像装置和方法，以及指令装置和方法

    公开(公告)号：US20070185587A1

    公开(公告)日：2007-08-09

    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。

    Method for recognition determination and localisation of at least one arbitrary object or space
    70.
    发明申请
    Method for recognition determination and localisation of at least one arbitrary object or space 失效
    用于识别确定和定位至少一个任意对象或空间的方法

    公开(公告)号：US20030156493A1

    公开(公告)日：2003-08-21

    申请号：US10204507

    申请日：2002-12-09

    Inventor： Thomas Bayer

    IPC: G05D001/03 ,  H04B001/59

    CPC classification number: B25J5/007 ,  G05D1/0261 ,  G05D1/0282 ,  G05D2201/0211 ,  Y10T29/53048

    Abstract: The invention relates to a method for recognition, determination and localisation of at least one arbitrary object or space and the picking up of said object, by means of at least one robot, in particular, a service robot, which operates independently on a base surface. Said method is achieved, whereby the robot is orientated within at least one room by means of room co-ordinates and/or co-ordinates of arbitrary objects in the room, transmitted to the robot by means of at least one sensor element, in particular, a transponder or transmitter.

    Abstract translation: 本发明涉及一种用于通过至少一个机器人，特别是在基面上独立地操作的服务机器人来识别，确定和定位至少一个任意物体或空间并拾取所述物体的方法 。 所述方法被实现，借此借助于至少一个传感器元件，通过室内任意物体的室内坐标和/或任意物体的坐标来将机器人定位在至少一个房间内，传送到机器人，特别是 转发器或发射机。

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