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公开(公告)号：US20050119783A1
公开(公告)日：2005-06-02
申请号：US10876204
申请日：2004-06-24
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2017/32007 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.
摘要翻译： 一种用于提供控制的方法和系统，包括提供包括目标形状的工件，提供切割工具，提供与工件相关联的3-D图像，识别工件图像内的目标形状，提供与3D相关联的3D图像 利用切割工具，将工件与工件图像对准，将切割工具与切割工具图像对准，跟踪至少一个工件和切割工具，基于图像坐标转换跟踪数据，以确定工件之间的关系 和切割工具，并且基于该关系向切割工具提供控制。 在一个实施例中，工件图像可以表示为可以基于目标形状，废物和/或工件分类和/或重新分类的体积像素（体素）。
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2.发明授权公开(公告)号：US08290622B2
公开(公告)日：2012-10-16
申请号：US12429963
申请日：2009-04-24
申请人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
发明人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
摘要： A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
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公开(公告)号：US06757582B2
公开(公告)日：2004-06-29
申请号：US10427093
申请日：2003-04-30
IPC分类号： G06F1900
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/320068 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G06F19/00 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.
摘要翻译： 一种用于提供控制的方法和系统，包括提供包括目标形状的工件，提供切割工具，提供与工件相关联的3-D图像，识别工件图像内的目标形状，提供与3D相关联的3D图像 利用切割工具，将工件与工件图像对准，将切割工具与切割工具图像对准，跟踪至少一个工件和切割工具，基于图像坐标转换跟踪数据，以确定工件之间的关系 和切割工具，并且基于该关系向切割工具提供控制。 在一个实施例中，工件图像可以表示为可以基于目标形状，废物和/或工件分类和/或重新分类的体积像素（体素）。
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4.发明申请APPLICATION OF LOCALIZATION, POSITIONING & NAVIGATION SYSTEMS FOR ROBOTIC ENABLED MOBILE PRODUCTS 有权本地化，定位和导航系统在机动车启动移动产品中的应用公开(公告)号：US20090281661A1
公开(公告)日：2009-11-12
申请号：US12429963
申请日：2009-04-24
申请人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
发明人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
IPC分类号： G06F19/00
CPC分类号： B60L15/2036 , A47L11/24 , A47L11/4011 , A47L11/4036 , A47L11/4061 , A47L2201/022 , A47L2201/04 , B60L1/003 , B60L3/106 , B60L11/1805 , B60L11/1816 , B60L11/1864 , B60L11/1877 , B60L15/20 , B60L2200/40 , B60L2220/44 , B60L2240/14 , B60L2240/32 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/465 , B60L2240/62 , B60L2250/16 , B60L2260/32 , G05D1/0219 , G05D1/0234 , G05D2201/0203 , Y02T10/645 , Y02T10/7005 , Y02T10/7061 , Y02T10/7072 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/14 , Y02T90/16 , Y02T90/162
摘要： A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
摘要翻译： 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。
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5.发明授权Application of localization, positioning and navigation systems for robotic enabled mobile products 有权本地化，定位和导航系统应用于机器人支持的移动产品公开(公告)号：US08452450B2
公开(公告)日：2013-05-28
申请号：US12429963
申请日：2009-04-24
申请人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
发明人： Michael Dooley , Paolo Pirjanian , Nikolai Romanov , Lihu Chiu , Enrico Di Bernardo , Michael Stout , Gabriel Brisson
CPC分类号： B60L15/2036 , A47L11/24 , A47L11/4011 , A47L11/4036 , A47L11/4061 , A47L2201/022 , A47L2201/04 , B60L1/003 , B60L3/106 , B60L11/1805 , B60L11/1816 , B60L11/1864 , B60L11/1877 , B60L15/20 , B60L2200/40 , B60L2220/44 , B60L2240/14 , B60L2240/32 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/465 , B60L2240/62 , B60L2250/16 , B60L2260/32 , G05D1/0219 , G05D1/0234 , G05D2201/0203 , Y02T10/645 , Y02T10/7005 , Y02T10/7061 , Y02T10/7072 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/14 , Y02T90/16 , Y02T90/162
摘要： A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
摘要翻译： 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。
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