公开(公告)号：WO2017123761A1

公开(公告)日：2017-07-20

申请号：PCT/US2017/013195

申请日：2017-01-12

Applicant: IROBOT CORPORATION

Inventor： DOOLEY, Michael J. ,  ROMANOV, Nikolai ,  TAKA, Orjeta ,  KEARNS, Justin H.

IPC: G05B19/04

CPC classification number: B25J19/023 ,  G05D1/0038 ,  G05D1/0088 ,  G05D2201/0209 ,  G06K9/00664 ,  G06K9/52 ,  H04N5/2252 ,  H04N5/2257 ,  H04N5/23206 ,  H04N5/23216 ,  H04N5/23293 ,  H04N7/185

Abstract: An autonomous mobile robot includes a chassis, a drive supporting the chassis above a floor surface in a home and configured to move the chassis across the floor surface, a variable height member being coupled to the chassis and being vertically extendible, a camera supported by the variable height member, and a controller. The controller is configured to operate the drive to navigate the robot to locations within the home and to adjust a height of the variable height member upon reaching a first of the locations. The controller is also configured to, while the variable height member is at the adjusted height, operate the camera to capture digital imagery of the home at the first of the locations.

Abstract translation: 自主移动机器人包括底盘，将底盘支撑在家中的地板表面上方的驱动器，并且被配置为跨地板表面移动底盘，可变高度构件联接到底盘并且是 可垂直延伸，由可变高度部件支撑的相机和控制器。 控制器被配置为操作驱动器以将机器人导航到家中的位置并且在到达第一位置时调节可变高度构件的高度。 控制器还被配置成当可变高度构件处于调整后的高度时操作摄像机以在第一位置处捕捉家庭的数字图像。

公开(公告)号：WO2012142587A1

公开(公告)日：2012-10-18

申请号：PCT/US2012/033790

申请日：2012-04-16

Applicant: IROBOT CORPORATION ,  HUANG, Wesley ,  PHILLIPS, Emilie

Inventor： HUANG, Wesley ,  PHILLIPS, Emilie

IPC: B25J19/02

CPC classification number: B25J5/005 ,  B25J9/162 ,  B25J9/1697 ,  B25J11/002 ,  B25J19/023 ,  G05B2219/39391 ,  G05B2219/40003 ,  G05B2219/40062 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/09 ,  Y10S901/47

Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

Abstract translation: 本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。 该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及 沿着确定的射线移动末端执行器以接近对象。

公开(公告)号：WO2012021192A2

公开(公告)日：2012-02-16

申请号：PCT/US2011/036352

申请日：2011-05-12

Applicant: IROBOT CORPORATION ,  PACK, Robert, Todd ,  ALLIS, Daniel

Inventor： PACK, Robert, Todd ,  ALLIS, Daniel

IPC: G06F17/00 ,  G05D1/00

CPC classification number: G05D1/0011 ,  G01C21/26 ,  G05D1/0038 ,  G05D2201/0209

Abstract: A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.

Abstract translation: 当操作员控制远程车辆时，系统增加操作者的情境意识。 该系统包括具有点对点接口的操作员控制单元，其被配置为允许操作者观看围绕远程车辆的环境并控制远程车辆，以及附接到远程车辆的有效载荷，并与至少一个 远程车辆和操作员控制单元。 有效载荷包括一个包括GPS，惯性测量单元，立体视觉摄像机和距离传感器的集成传感器套件，以及从GPS，惯性测量单元，立体视觉摄像机和距离传感器接收数据的计算模块，以及 向CPU提供包括使用来自集成传感器套件的数据的自主行为和半自主行为中的至少一个的数据。

公开(公告)号：WO2008135978A3

公开(公告)日：2010-02-25

申请号：PCT/IL2008000585

申请日：2008-05-01

Applicant: WAVE GROUP LTD ,  ODF OPTRONICS LTD ,  GAL EHUD ,  BERINSKY GENNADIY ,  WOLF YOSI

Inventor： GAL EHUD ,  BERINSKY GENNADIY ,  WOLF YOSI

IPC: B62B5/02

CPC classification number: H04N5/232 ,  F41H7/005 ,  F41H7/03 ,  F41H11/16 ,  F41H13/00 ,  F42B12/365 ,  G05D1/0038 ,  G05D2201/0209 ,  H04N5/23216 ,  H04N7/185

Abstract: The present invention is a robotic mobile platform vehicle that can be thrown into hostile or hazardous environments for gathering information and transmitting that information to a remotely located control station and a system comprising the robotic mobile platform. One of the key features of the invention is that at least four imaging assemblies are mounted on the robotic platform and that the system has the processing ability to stitch the views taken by the four imaging devices together into an omni-directional image. Another feature is that the user can steer the robotic platform simply by touching an object in one of the images displayed in the graphic interface. The robotic platform can then either point its sensors towards that object or, if so instructed, compute the direction to the object and travel to it without any further input from the user

Abstract translation: 本发明是一种机器人移动平台车辆，其可以被投掷到敌对或危险环境中，用于收集信息并将该信息发送到位于远程的控制站以及包括机器人移动平台的系统。 本发明的主要特征之一是至少四个成像组件安装在机器人平台上，并且系统具有将四个成像装置拍摄的视图拼接成全方位图像的处理能力。 另一个特征是用户可以简单地通过触摸在图形界面中显示的图像之一上的对象来引导机器人平台。 然后，机器人平台可以将其传感器指向该物体，或者如果这样指示，则计算物体的方向并行进到该物体，而无需用户的任何进一步的输入

公开(公告)号：WO2008134514A3

公开(公告)日：2008-12-18

申请号：PCT/US2008061581

申请日：2008-04-25

Applicant: DEAN JASON

Inventor： DEAN JASON

IPC: B25J9/22 ,  B25J13/00

CPC classification number: G01C21/00 ,  G05D1/0259 ,  G05D1/0272 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0209 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robotic apparatus for use in construction that is capable of traversing a selected area autonomously. The robotic apparatus is provided in two models, a master that can record directive and "environmental signal" readings, or that can record received location information, to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is to perform a task, such as marking locations in construction of a building for installation of services such as wiring and plumbing.

Abstract translation: 用于建筑的机器人设备，能够自主穿越选定的区域。 机器人设备以两种模式提供，即可以记录指令和“环境信号”读数的主机，或者可以记录接收到的位置信息，以提供记录在机器可读介质上的至少一个命令，该机器可读介质表示用于遍历区域 的兴趣，和一个缺乏记录能力的奴隶。 主模型和从模型都可以重放记录的命令，并将命令的预期方向与自主操作期间检测到的实际方向进行比较。 如果观察到超过预定值的错误，则采取纠正措施。 机器人装置将执行诸如在建筑物的建筑中标记位置以安装诸如布线和管道之类的服务的任务。

公开(公告)号：WO2008060690A3

公开(公告)日：2008-10-30

申请号：PCT/US2007068911

申请日：2007-05-14

Applicant: IROBOT CORP ,  HUDSON EDISON ,  PACK ROBERT TODD

Inventor： HUDSON EDISON ,  PACK ROBERT TODD

IPC: H04B10/00

CPC classification number: G08C23/00 ,  A63H30/04 ,  G05D1/0033 ,  G05D2201/0209 ,  H04Q9/00 ,  H04Q2209/40 ,  H04Q2209/75

Abstract: A system and method for controlling a remote vehicle (2) comprises a hand-held controller (4) including a laser generator (5) for generating a laser beam (6). The hand-held controller (4) is manipulate to aim and actuate the laser beam to designate a destination for the remote vehicle (2). The remote vehicle senses a reflection of the laser beam and moves toward the designated destination. The hand-held controller allows single-handed control of the remote vehicle and one or more of its payloads. A method for controlling a remote vehicle (2) via a laser beam (6) comprises encoding control signals for a remote vehicle into a laser beam that is aimed and sent to a designated destination for the remote vehicle, and sensing a reflection of the laser beam, decoding the control signals for the remote vehicle, and moving toward the designated destination.

Abstract translation: 用于控制远程车辆（2）的系统和方法包括：手持控制器（4），包括用于产生激光束（6）的激光发生器（5）。 操纵手持控制器（4）以瞄准和致动激光束以指定远程车辆（2）的目的地。 远程车辆感测激光束的反射并朝向指定的目的地移动。 手持控制器允许单手控制远程车辆及其有效载荷中的一个或多个。 一种用于经由激光束（6）控制远程车辆（2）的方法包括将远程车辆的控制信号编码成瞄准并发送到远程车辆的指定目的地的激光束，以及感测激光器的反射 对远程车辆的控制信号进行解码，并朝向指定的目的地移动。

公开(公告)号：WO2008070205A2

公开(公告)日：2008-06-12

申请号：PCT/US2007070918

申请日：2007-06-11

Applicant: UNIV CARNEGIE MELLON

Inventor： WHITTAKER WILLIAM L ,  JOHNSTON JOSH ,  ZIGLAR JASON

IPC: G05D1/00 ,  G05D13/00

CPC classification number: G08G1/22 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209 ,  G08G1/161

Abstract: An arrangement for obstacle detection in autonomous vehicles wherein two significant data manipulations are employed in order to provide a more accurate read of potential obstacles and thus contribute to more efficient and effective operation of an autonomous vehicle. A first data manipulation involves distinguishing between those potential obstacles that are surrounded by significant background scatter in a radar diagram and those that are not, wherein the latter are more likely to represent binary obstacles that are to be avoided. A second data manipulation involves updating a radar image to the extent possible as an object comes into closer range. Preferably, the first aforementioned data manipulation may be performed via context filtering, while the second aforementioned data manipulation may be performed via blob-based hysteresis.

Abstract translation: 在自主车辆中进行障碍物检测的装置，其中采用两个重要数据操作，以便提供对潜在障碍物的更准确的读取，从而有助于自主车辆的更有效和有效的操作。 第一个数据操作涉及区分雷达图中显着的背景散射所包围的那些潜在的障碍物和那些在雷达图中不显着的背景散射的潜在障碍，其中后者更有可能代表要避免的二进制障碍物。 第二个数据操作涉及在对象进入更近的范围内尽可能地更新雷达图像。 优选地，可以经由上下文过滤来执行上述第一数据操作，而可以通过基于Blob的滞后执行第二上述数据操作。

公开(公告)号：WO2006113104A2

公开(公告)日：2006-10-26

申请号：PCT/US2006/012137

申请日：2006-04-03

Applicant: HONEYWELL INC. ,  ARIYUR, Kartik, B. ,  DHARMASHANKAR, Subramanian

Inventor： ARIYUR, Kartik, B. ,  DHARMASHANKAR, Subramanian

IPC: G01S19/48

CPC classification number: G05D1/0223 ,  G01C21/005 ,  G01C21/165 ,  G05D1/0217 ,  G05D1/0274 ,  G05D2201/0209

Abstract: A mobile vehicle navigation system includes a polygon rasterization module configured to perform a polygon rasterization process on one or more maps of an obstacle field to identify obstacle-free regions within the obstacle field. The navigation system further includes a shortest path module configured to select an optimal trajectory along which the mobile vehicle can safely traverse the obstacle field and a control module configured to ensure that the mobile vehicle can successfully traverse the optimal trajectory selected by the shortest path module. The navigation system can advantageously generate obstacle-free trajectories through an obstacle field in substantially real time in response to user requests.

Abstract translation: 移动车辆导航系统包括：多边形光栅化模块，被配置为对障碍物场的一个或多个地图执行多边形光栅化处理，以识别障碍物区域内的无障碍区域。 导航系统还包括最短路径模块，其被配置为选择移动车辆可以安全地穿过障碍物场的最佳轨迹;以及控制模块，被配置为确保移动车辆能够成功地穿过由最短路径模块选择的最佳轨迹。 响应于用户请求，导航系统可以基本实时地有利地通过障碍物场产生无障碍轨迹。

公开(公告)号：WO2006080996A2

公开(公告)日：2006-08-03

申请号：PCT/US2005045111

申请日：2005-12-13

Applicant: DEERE & CO ,  FLANN NICHOLAS SIMON ,  HANSEN SHANE LYNN ,  GRAY SARAH ANN

Inventor： FLANN NICHOLAS SIMON ,  HANSEN SHANE LYNN ,  GRAY SARAH ANN

IPC: G01C21/28 ,  A01B69/04 ,  G01C21/00

CPC classification number: G01C21/005 ,  A01B69/008 ,  B60K6/48 ,  B60W2510/244 ,  B60W2520/10 ,  B60W2550/402 ,  G01C21/00 ,  G01C21/20 ,  G05D1/0217 ,  G05D1/024 ,  G05D2201/0201 ,  G05D2201/0209 ,  Y02T10/6221

Abstract: A path planner (10) and a method for determining a path for a vehicle comprises defining a starting point for the vehicle. A termination point is defined. An obstacle detector (14) detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined about each corresponding obstacle. Candidate paths are identified between the starting point and the termination point. Each candidate path only intersects each boundary zone once for each corresponding obstacle. An economic cost is estimated for traversing each candidate path or a portion thereof between the starting point and the termination point. A preferential path is selected from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost.

Abstract translation: 路径规划器（10）和用于确定车辆的路径的方法包括定义车辆的起点。 定义终止点。 障碍物检测器（14）检测起始点和终止点之间的工作区域中的一个或多个障碍物。 对每个相应的障碍物定义边界区域。 在起始点和终止点之间标识候选路径。 每个候选路径只对每个对应的障碍物与每个边界区域相交一次。 估计用于遍历每个候选路径或其起始点和终止点之间的一部分的经济成本。 基于与最低估计经济成本相关联的优选路径，从所识别的候选路径中选择优先路径。

公开(公告)号：WO0205142A3

公开(公告)日：2002-05-30

申请号：PCT/US0121849

申请日：2001-07-10

Applicant: HRL LAB LLC ,  HOWARD MIKE ,  PAYTON DAVID ,  HOFF BRUCE ,  LEE CRAIG ,  DAILY MIKE

Inventor： HOWARD MIKE ,  PAYTON DAVID ,  HOFF BRUCE ,  LEE CRAIG ,  DAILY MIKE

IPC: G08C17/00 ,  G05D1/02 ,  G06Q50/00 ,  G08G1/123 ,  G08G1/16 ,  G06F17/50 ,  H04L12/56

CPC classification number: G08G1/207 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0295 ,  G05D2201/0209 ,  G08G1/164

Abstract: A method and apparatus for computing properties of a physical environment is provided, using a plurality of agents forming a distributed network embedded within the environment. The method comprises determining an initiating agent (200), transmitting a signal including a cumulative cost value to neighboring agents (202), and processing the signal at each neighboring agent to augment the cumulative cost value with local information (204). If multiple signals are received, determining which has the best cumulative cost value for generating a new signal (206), then treating the neighboring agent as an initiating agent (208) and transmitting the new signal to neighboring agents (208) and retaining the best augmented cost value in memory (210). Methods further include determining paths using shortest path computations, using dual gradients for aligning agents on a path between two reference agents, and discovering and converging agents on choke points.

Abstract translation: 提供了一种用于计算物理环境的性质的方法和设备，其使用形成嵌入环境内的分布式网络的多个代理。 该方法包括确定发起代理（200），将包括累积成本值的信号发送到邻近代理（202），并且在每个邻近代理处处理信号以用本地信息增加累积成本值（204）。 如果接收到多个信号，则确定哪个具有用于生成新信号的最佳累积成本值（206），然后将相邻代理视为发起代理（208）并将该新信号发送给相邻代理（208）并保留最佳 增加内存中的成本值（210）。 方法进一步包括使用最短路径计算来确定路径，使用双梯度来对准两个参考代理之间的路径上的代理，以及在阻塞点上发现和收敛代理。