公开(公告)号：WO2010138707A3

公开(公告)日：2011-03-31

申请号：PCT/US2010036389

申请日：2010-05-27

Applicant: ANKI INC ,  SOFMAN BORIS ,  TAPPEINER HANNS W ,  PALATUCCI MARK

Inventor： SOFMAN BORIS ,  TAPPEINER HANNS W ,  PALATUCCI MARK

IPC: A63H17/39 ,  A63H18/16

CPC classification number: A63H30/04 ,  A63H17/26 ,  A63H17/32 ,  A63H17/40 ,  A63H17/44 ,  A63H18/02 ,  A63H18/12 ,  A63H18/16

Abstract: A toy system includes a drivable surface that includes location encoding markings. A toy vehicle or mobile agent is provided that includes a drive motor, an imaging system for taking images of the markings, a vehicle wireless transceiver, and a microcontroller operatively coupled to the motor, the imaging system, and the vehicle wireless transceiver. A basestation is provided that includes a controller operatively coupled to a basestation wireless transceiver. Via wireless communication between the wireless transceivers of the toy vehicle and the basestation, an action to be implemented by the toy vehicle can be determined by the basestation and communicated to the toy vehicle, whereupon the microcontroller of the toy vehicle controls detailed movement of the toy vehicle on the drivable surface based on images taken of the markings of the drivable surface by the imaging system to cause the toy vehicle to implement the action on the drivable surface.

Abstract translation: 玩具系统包括可驱动的表面，其包括位置编码标记。 提供了一种玩具车辆或移动代理，其包括驱动马达，用于拍摄标记的图像的成像系统，车辆无线收发器和可操作地耦合到马达，成像系统和车辆无线收发器的微控制器。 提供了一种基站，其包括可操作地耦合到基站无线收发器的控制器。 通过玩具车的无线收发器与基站之间的无线通信，由玩具车执行的动作可以由基站确定并传送给玩具车，于是玩具车的微控制器控制玩具的详细移动 基于通过成像系统拍摄的可驱动表面的标记的图像在可驱动表面上的车辆，以使玩具车辆在可驱动表面上执行动作。

公开(公告)号：WO2011026119A3

公开(公告)日：2011-06-16

申请号：PCT/US2010047358

申请日：2010-08-31

Applicant: NEATO ROBOTICS INC ,  SOFMAN BORIS ,  ERMAKOV VLADIMIR ,  EMMERICH MARK ,  MONSON NATHANIEL DAVID ,  ALEXANDER STEVE

Inventor： SOFMAN BORIS ,  ERMAKOV VLADIMIR ,  EMMERICH MARK ,  MONSON NATHANIEL DAVID ,  ALEXANDER STEVE

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  B25J9/0003 ,  B25J9/1602 ,  B25J11/0085 ,  G05D1/024 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: Techniques that optimize performance of simultaneous localization and mapping (SLAM) processes for mobile devices, typically a mobile robot. In one embodiment, erroneous particles are introduced to the particle filtering process of localization. Monitoring the weights of the erroneous particles relative to the particles maintained for SLAM provides a verification that the robot is localized and detection that it is no longer localized. In another embodiment, cell-based grid mapping of a mobile robot's environment also monitors cells for changes in their probability of occupancy. Cells with a changing occupancy probability are marked as dynamic and updating of such cells to the map is suspended or modified until their individual occupancy probabilities have stabilized. In another embodiment, mapping is suspended when it is determined that the device is acquiring data regarding its physical environment in such a way that use of the data for mapping will incorporate distortions into the map, as for example when the robotic device is tilted.

Abstract translation: 优化移动设备（通常为移动机器人）的同步定位和映射（SLAM）流程性能的技术。 在一个实施例中，错误的颗粒被引入到定位的颗粒过滤过程中。 监测相对于为SLAM维护的颗粒的错误颗粒的重量提供了机器人被定位并且检测到其不再局部化的验证。 在另一个实施例中，移动机器人的环境的基于小区的网格映射还监视小区的占用概率的变化。 具有不断变化的占用概率的单元被标记为动态的，并且将这些单元格更新到地图被暂停或修改，直到其各自的占用概率已经稳定。 在另一个实施例中，当确定设备以这样的方式获取关于其物理环境的数据的方式时，例如当机器人设备倾斜时，映射的数据将使用映射的失真将并入到映射中。