公开(公告)号：US20140031980A1

公开(公告)日：2014-01-30

申请号：US13673935

申请日：2012-11-09

申请人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

发明人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

IPC分类号： G01C21/12 ,  G01S17/06

CPC分类号： G01C21/12 ,  G01S17/06 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/47

摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

摘要翻译： 矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。 公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。 这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。 一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化​​图解耦，以保持内存和运行时间要求较低。 还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。 这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。 本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

公开(公告)号：US20130138246A1

公开(公告)日：2013-05-30

申请号：US13673926

申请日：2012-11-09

申请人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

发明人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

IPC分类号： G05D1/02

CPC分类号： G01C21/12 ,  G01S17/06 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/47

摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

摘要翻译： 矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。 公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。 这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。 一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化​​图解耦，以保持内存和运行时间要求较低。 还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。 这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。 本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

公开(公告)号：US20110125323A1

公开(公告)日：2011-05-26

申请号：US12940937

申请日：2010-11-05

申请人： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

发明人： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

IPC分类号： G05B19/00 ,  G06F15/00 ,  G06F19/00

CPC分类号： B25J9/1664 ,  B25J9/1694 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0208 ,  G05D2201/0211 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

摘要： A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.

摘要翻译： 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

公开(公告)号：US20060064202A1

公开(公告)日：2006-03-23

申请号：US10525431

申请日：2003-08-22

申请人： Steffen Gutmann ,  Masaki Fukuchi

发明人： Steffen Gutmann ,  Masaki Fukuchi

IPC分类号： G06F19/00

CPC分类号： G06K9/00664 ,  G05D1/0221 ,  G05D1/0234 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0214 ,  G05D2201/0217

摘要： An environment identifying apparatus (400) is adapted to be mounted in a robot apparatus that moves in an identifiable unique environment in which a plurality of landmarks are located so as to identify the current environment by means of a plurality of registered environments. The environment identifying apparatus comprises an environment map building section (402) for recognizing the landmarks in the current environment, computing the movement/state quantity of the robot apparatus itself and building an environment map of the current environment containing information on the positions of the landmarks in the current environment on the basis of the landmarks and the movement/state quantity, an environment map storage section (403) having a data base of registered environment maps containing positional information on the landmarks and environment IDs, an environment identifying section (404) for identifying the current environment on the basis of the degree of similarity between the environment map of the current environment and each of the registered environment maps and an environment exploring section (405) for exploring a new environment.

摘要翻译： 环境识别装置（400）适于安装在机器人装置中，该机器人装置在可识别的独特环境中移动多个地标，以便通过多个注册环境识别当前环境。 环境识别装置包括用于识别当前环境中的地标的环境地图建立部分（402），计算机器人装置自身的移动/状态量并构建包含关于地标位置的信息的当前环境的环境地图 在当前环境中，基于地标和移动/状态量，具有包含有关地标和环境ID的位置信息的注册环境地图的数据库的环境地图存储部（403），环境识别部（404） 用于基于当前环境的环境地图和每个注册环境地图之间的相似程度以及用于探索新环境的环境探索部分（405）来识别当前环境。

公开(公告)号：US09250081B2

公开(公告)日：2016-02-02

申请号：US13673926

申请日：2012-11-09

申请人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

发明人： Jens-Steffen Gutmann ,  Dhiraj Goel ,  Mario E. Munich

IPC分类号： G05B19/18 ,  G01C21/12 ,  G05D1/02 ,  G01S17/06

CPC分类号： G01C21/12 ,  G01S17/06 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/47

摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

摘要翻译： 矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。 公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。 这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。 一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化​​图解耦，以保持内存和运行时间要求较低。 还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。 这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。 本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

公开(公告)号：US07865267B2

公开(公告)日：2011-01-04

申请号：US10941813

申请日：2004-09-16

申请人： Kohtaro Sabe ,  Steffen Gutmann

发明人： Kohtaro Sabe ,  Steffen Gutmann

IPC分类号： G06F19/00

CPC分类号： G06K9/00691 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00201

摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.

摘要翻译： 环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以 使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。 机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别 包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和 路线规划部404，其适于基于环境图来规划路线。 路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

公开(公告)号：US20060025888A1

公开(公告)日：2006-02-02

申请号：US11165047

申请日：2005-06-24

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

IPC分类号： G06F19/00

CPC分类号： G06K9/00664 ,  G06T7/593

摘要： An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.

摘要翻译： 环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。 本发明提供了一种用于构建三维环境图的环境地图构建装置，其用于三维地确定允许移动体根据外部环境条件在其中移动的区域，该外部环境条件包括外部环境条件检测部分，其检测 外部环境条件，基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部，相对于 - 基平面高度图构建部，其基于由外部环境条件检测部检测到的外部环境条件，构建从二维基面显示高度的相对基准面高度图，以及高度图 信息修改部分，其修改相对于基站的信息， 平面高度图基于三维地图上的信息。

公开(公告)号：US08961695B2

公开(公告)日：2015-02-24

申请号：US12930260

申请日：2010-12-30

申请人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

发明人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

IPC分类号： B08B7/04 ,  B08B5/04 ,  E01H1/08 ,  B25J5/00 ,  G05B19/416 ,  A47L11/40 ,  G05D1/02

CPC分类号： B25J5/00 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4091 ,  A47L2201/00 ,  A47L2201/04 ,  B25J13/08 ,  G05D1/0219 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

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。

公开(公告)号：US20070257910A1

公开(公告)日：2007-11-08

申请号：US10593150

申请日：2005-03-17

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kotaro Sabe ,  Kenta Kawamoto

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kotaro Sabe ,  Kenta Kawamoto

IPC分类号： G06T17/00

CPC分类号： G06K9/00664 ,  B62D57/024 ,  G06K9/00201 ,  G06T7/13 ,  G06T7/73 ,  G06T2207/30252

摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.

摘要翻译： 在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线， 区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。 线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L 1最大的距离的兴趣点brk，将数据点组划分为兴趣点brk 当距离大于预定阈值时，并且当距离小于预定阈值时，通过最小二乘法确定线路L 2。 在线L2的一侧存在比预定数量多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点分割 。 这些操作重复完成。 因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

公开(公告)号：US20060241827A1

公开(公告)日：2006-10-26

申请号：US11363178

申请日：2006-02-28

申请人： Masaki Fukuchi ,  Steffen Gutmann

发明人： Masaki Fukuchi ,  Steffen Gutmann

IPC分类号： G08G1/16

CPC分类号： G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0217

摘要： The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles. The obstacle avoiding apparatus, to be used for a mobile robot apparatus to avoid obstacles, includes an obstacle environment map drawing section that divides the range of height from the reference surface for the mobile robot apparatus to move thereon to the height of the mobile robot apparatus into a plurality of layers corresponding to predetermined respective ranges of height and draws obstacle environment maps, each showing the condition of being occupied by one or more than one obstacles existing in the corresponding layer, and a route planning section that plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps as a function of the cross sectional profile of the mobile robot apparatus in each of the layers.

摘要翻译： 本发明提供一种能够精确地建模机器人装置并设计用于避免障碍物的机器人装置的高精度移动路线的障碍物避障装置，障碍物避障方法，障碍物避免程序和移动机器人装置。 用于移动机器人装置以避免障碍物的障碍物避免装置包括障碍物环境地图绘制部分，其将与移动机器人装置的参考表面的高度范围分开以移动到移动机器人装置的高度 分成对应于预定的各个高度范围的多个层，并且绘制各自示出由相应层中存在的一个或多个障碍物占据的状况的障碍物环境图;以及路线规划部，其计划机器人的路线 根据通过在障碍物环境地图中扩大障碍物或障碍物所占据的面积而制定的放大的环境地图作为每个层中的可移动机器人装置的横截面轮廓的函数来移动的装置。