公开(公告)号：US20120097783A1

公开(公告)日：2012-04-26

申请号：US13279962

申请日：2011-10-24

申请人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

发明人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

IPC分类号： B65H59/00 ,  H02H7/085 ,  B65H43/00

CPC分类号： H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  F41H7/005 ,  F41H11/16 ,  F42B15/04

摘要： A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

摘要翻译： 安装到移动机器人以在零张力下分配和恢复电缆的电缆处理系统包括电缆卷筒驱动器和包括惰轮的下游张力辊驱动器。 当电缆穿过张紧辊驱动器时，沿着电缆长度的位置和/或电缆速度由安装在惰轮上的传感器精确地监测。 与传感器通信的系统控制器控制电缆卷轴驱动器和张紧辊驱动器，用于在张力辊驱动器的下游分配和回收电缆。

公开(公告)号：US07331436B1

公开(公告)日：2008-02-19

申请号：US10811316

申请日：2004-03-26

申请人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

发明人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

IPC分类号： H02G11/02

CPC分类号： H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  F41H7/005 ,  F41H11/16 ,  F42B15/04

摘要： A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

摘要翻译： 安装到移动机器人以在零张力下分配和恢复电缆的电缆处理系统包括电缆卷筒驱动器和包括惰轮的下游张力辊驱动器。 当电缆穿过张紧辊驱动器时，沿着电缆长度的位置和/或电缆速度由安装在惰轮上的传感器精确地监测。 与传感器通信的系统控制器控制电缆卷轴驱动器和张紧辊驱动器，用于在张力辊驱动器的下游分配和回收电缆。

公开(公告)号：US08042663B1

公开(公告)日：2011-10-25

申请号：US11965348

申请日：2007-12-27

申请人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

发明人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

IPC分类号： H02G11/02

CPC分类号： H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  F41H7/005 ,  F41H11/16 ,  F42B15/04

摘要： A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

摘要翻译： 安装到移动机器人以在零张力下分配和恢复电缆的电缆处理系统包括电缆卷筒驱动器和包括惰轮的下游张力辊驱动器。 当电缆穿过张紧辊驱动器时，沿着电缆长度的位置和/或电缆速度由安装在惰轮上的传感器精确地监测。 与传感器通信的系统控制器控制电缆卷轴驱动器和张紧辊驱动器，用于在张力辊驱动器的下游分配和回收电缆。

公开(公告)号：US07546912B1

公开(公告)日：2009-06-16

申请号：US11648445

申请日：2006-12-29

申请人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

发明人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

IPC分类号： H02G11/02

CPC分类号： H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  F41H7/005 ,  F41H11/16 ,  F42B15/04

摘要： A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

摘要翻译： 安装到移动机器人以在零张力下分配和恢复电缆的电缆处理系统包括电缆卷轴驱动器和包括惰轮的下游张紧辊驱动器。 当电缆穿过张紧辊驱动器时，沿着电缆长度的位置和/或电缆速度由安装在惰轮上的传感器精确地监测。 与传感器通信的系统控制器控制电缆卷轴驱动器和张紧辊驱动器，用于在张力辊驱动器的下游分配和回收电缆。

公开(公告)号：US08485330B2

公开(公告)日：2013-07-16

申请号：US13279962

申请日：2011-10-24

申请人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

发明人： Robert Todd Pack ,  Tyson Sawyer ,  Chikyung Won ,  Grinnell More

IPC分类号： H02G11/02

CPC分类号： H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  F41H7/005 ,  F41H11/16 ,  F42B15/04

摘要： A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

公开(公告)号：US20130226344A1

公开(公告)日：2013-08-29

申请号：US13555529

申请日：2012-07-23

申请人： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

发明人： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1694 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46 ,  Y10S901/47

摘要： A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

公开(公告)号：US08930019B2

公开(公告)日：2015-01-06

申请号：US13241765

申请日：2011-09-23

申请人： Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

发明人： Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

IPC分类号： B25J9/16 ,  G05D1/02 ,  B25J5/00 ,  B25J9/00 ,  B25J11/00 ,  B25J13/00 ,  B25J13/06 ,  B25J19/02 ,  G06F1/16

CPC分类号： G05D1/0248 ,  B25J5/007 ,  B25J9/0003 ,  B25J11/008 ,  B25J13/006 ,  B25J13/06 ,  B25J19/023 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F1/1632

摘要： A mobile human interface robot that includes a drive system, a controller in communication with the dive system, and an electronic display supported above the drive system and in communication with the controller. The controller includes a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.

摘要翻译： 一种移动人机接口机器人，其包括驱动系统，与潜水系统通信的控制器，以及支撑在驱动系统上方并与控制器通信的电子显示器。 控制器包括中央处理单元，通用图形处理单元和与中央处理单元和通用图形处理单元进行电通信的存储器。 此外，控制器具有显示操作状态和驾驶操作状态。 控制器在通用图形处理单元上执行图形计算，以在显示操作状态期间在电子显示器上显示图形; 并且控制器在通用图形处理单元上执行移动性计算，用于在驱动操作状态期间向驱动系统发出命令。

公开(公告)号：US08958911B2

公开(公告)日：2015-02-17

申请号：US13555529

申请日：2012-07-23

申请人： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

发明人： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

IPC分类号： B25J9/16 ,  G05D1/02

CPC分类号： B25J9/1697 ,  B25J9/1694 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46 ,  Y10S901/47

摘要： A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

摘要翻译： 一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。 机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。 传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。 传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。 套环执行器将套环和体积点云传感器围绕套环轴线旋转。

公开(公告)号：US20120182392A1

公开(公告)日：2012-07-19

申请号：US13032228

申请日：2011-02-22

申请人： Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Michael T. Rosenstein ,  Michael Halloran ,  Timothy S. Farlow ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Jasper Fourways Vicenti

发明人： Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Michael T. Rosenstein ,  Michael Halloran ,  Timothy S. Farlow ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Jasper Fourways Vicenti

IPC分类号： H04N13/02 ,  G06K9/00

CPC分类号： G05D1/0246 ,  B25J5/007 ,  B25J9/1694 ,  B25J11/009 ,  B25J13/08 ,  B25J19/023 ,  G02B13/22 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06K9/00664 ,  G06T7/248 ,  G06T7/521 ,  H04N13/243 ,  H04N13/271 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

摘要： A method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.

摘要翻译： 一种用于移动机器人的物体检测方法包括：在操纵机器人的工作表面上操纵机器人时，将光散射到机器人的场景上，从场景中的目标物体的表面接收发射的斑点图案的反射，确定一个 目标对象的每个反射表面的距离，构建目标对象的三维深度图，并对目标对象进行分类。

公开(公告)号：US20120173018A1

公开(公告)日：2012-07-05

申请号：US13241765

申请日：2011-09-23

申请人： Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

发明人： Thomas P. Allen ,  Justin H. Kearns ,  Orjeta Taka ,  Timothy S. Farlow ,  Robert Todd Pack ,  Chikyung Won ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Mark Chiappetta

IPC分类号： B25J9/16

CPC分类号： G05D1/0248 ,  B25J5/007 ,  B25J9/0003 ,  B25J11/008 ,  B25J13/006 ,  B25J13/06 ,  B25J19/023 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F1/1632

摘要： A mobile human interface robot that includes a drive system, a controller in communication with the dive system, and an electronic display supported above the drive system and in communication with the controller. The controller includes a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.

摘要翻译： 一种移动人机接口机器人，其包括驱动系统，与潜水系统通信的控制器，以及支撑在驱动系统上方并与控制器通信的电子显示器。 控制器包括中央处理单元，通用图形处理单元和与中央处理单元和通用图形处理单元进行电通信的存储器。 此外，控制器具有显示操作状态和驾驶操作状态。 控制器在通用图形处理单元上执行图形计算，以在显示操作状态期间在电子显示器上显示图形; 并且控制器在通用图形处理单元上执行移动性计算，用于在驱动操作状态期间向驱动系统发出命令。