公开(公告)号：US09026302B2

公开(公告)日：2015-05-05

申请号：US12940871

申请日：2010-11-05

申请人： Michael S. Stout ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

发明人： Michael S. Stout ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

IPC分类号： B08B7/00 ,  G05D1/02 ,  G05D1/00 ,  G05D3/12

CPC分类号： B25J9/1684 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B25J9/163 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0263 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

公开(公告)号：US20110167574A1

公开(公告)日：2011-07-14

申请号：US12940871

申请日：2010-11-05

申请人： MICHAEL S. STOUT ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

发明人： MICHAEL S. STOUT ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

IPC分类号： B08B7/00 ,  G05D1/00 ,  G05D3/12

CPC分类号： B25J9/1684 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B25J9/163 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0263 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

摘要翻译： 一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖，使得映射 模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。

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

IPC分类号： A47L11/00 ,  B25J5/00 ,  G05D3/00 ,  G06F19/00 ,  B60L11/00

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.

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。

公开(公告)号：US08632376B2

公开(公告)日：2014-01-21

申请号：US12234565

申请日：2008-09-19

申请人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

发明人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

IPC分类号： A63H30/04 ,  A63F13/00 ,  A63H17/00

CPC分类号： A63F13/213 ,  A63F9/143 ,  A63F13/10 ,  A63F13/12 ,  A63F13/216 ,  A63F13/803 ,  A63F2300/1087 ,  A63F2300/69 ,  A63F2300/8017 ,  A63H30/04 ,  G05D1/0234 ,  G05D2201/0214

摘要： A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.

摘要翻译： 车追逐游戏包括第一游戏对象和第二游戏对象。 第二个游戏对象扫描架空表面上的投影点。 第二游戏对象检测架空表面上的投影点，并根据检测到的投影点收集位置信息。 第二游戏对象基于位置信息生成第一游戏对象的位置。 第二游戏对象将第一游戏对象的位置传送到追逐游戏应用程序。 追逐游戏应用程序基于第一游戏对象的位置选择行为，其中行为的目标是驱动第二游戏对象截取第一游戏对象。 追逐游戏应用程序向第二游戏对象的机电系统发送指令以执行所选择的行为。

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

IPC分类号： A47L11/00 ,  B25J5/00 ,  G05D3/00 ,  G06F19/00 ,  B60L11/00

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。

公开(公告)号：US08393971B2

公开(公告)日：2013-03-12

申请号：US12234565

申请日：2008-09-19

申请人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

发明人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

IPC分类号： A63F13/00

摘要： A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.

公开(公告)号：US20090081923A1

公开(公告)日：2009-03-26

申请号：US12234565

申请日：2008-09-19

申请人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

发明人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian ,  Lihu Chiu ,  Enrico Di Bernardo

IPC分类号： A63H30/04 ,  A63F9/24

CPC分类号： A63F13/213 ,  A63F9/143 ,  A63F13/10 ,  A63F13/12 ,  A63F13/216 ,  A63F13/803 ,  A63F2300/1087 ,  A63F2300/69 ,  A63F2300/8017 ,  A63H30/04 ,  G05D1/0234 ,  G05D2201/0214

摘要： A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.

摘要翻译： 车追逐游戏包括第一游戏对象和第二游戏对象。 第二个游戏对象扫描架空表面上的投影点。 第二游戏对象检测架空表面上的投影点，并根据检测到的投影点收集位置信息。 第二游戏对象基于位置信息生成第一游戏对象的位置。 第二游戏对象将第一游戏对象的位置传送到追逐游戏应用程序。 追逐游戏应用程序基于第一游戏对象的位置选择行为，其中行为的目标是驱动第二游戏对象截取第一游戏对象。 追逐游戏应用程序向第二游戏对象的机电系统发送指令以执行所选择的行为。

公开(公告)号：US08508388B2

公开(公告)日：2013-08-13

申请号：US13615174

申请日：2012-09-13

申请人： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

发明人： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

IPC分类号： G08G1/123

CPC分类号： G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

公开(公告)号：US20100280754A1

公开(公告)日：2010-11-04

申请号：US12839793

申请日：2010-07-20

申请人： Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  L. Niklas Karlsson

发明人： Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  L. Niklas Karlsson

IPC分类号： G01C21/00 ,  G01C21/12

CPC分类号： G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

摘要翻译： 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。