公开(公告)号：EP3125063A1

公开(公告)日：2017-02-01

申请号：EP16181530.3

申请日：2016-07-27

Applicant: Westfield Labs Corporation

Inventor： Lowy, Joshua Lynton

IPC: G05D1/02 ,  G06Q10/08 ,  G06Q30/06

CPC classification number: B25J13/006 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/005 ,  B25J19/021 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G05D2201/0216 ,  G06F3/0488 ,  G06Q10/08 ,  G06Q30/0601 ,  G06Q30/0617 ,  G06T1/0014 ,  H04N5/225 ,  H04N5/23238 ,  Y10S901/01

Abstract: A robot having a base with a moving mechanism configured to move the robot according to control instructions, a controller configured to move the robot within a predetermined area along a pathway area, a body supported on the base, a camera mounted on the body and controlled to capture photo images while traveling along the pathway area, wherein the robot is controlled to rotate its body about a point in the pathway area and use the camera to take a 360 degree photo image of the surrounding at the location. The photo image is analyzed to identify information related to the location.

Abstract translation: 一种具有移动机构的基座的机器人，其构造成根据控制指令移动所述机器人;控制器，被配置为沿着路径区域移动所述机器人在预定区域内，所述主体被支撑在所述基座上;安装在所述主体上的照相机， 以在沿着路径区域行进时捕获照片图像，其中所述机器人被控制以围绕所述路径区域中的点旋转其身体，并且使用所述相机在所述位置处拍摄周围的360度照片图像。 分析照片图像以识别与位置相关的信息。

公开(公告)号：EP2993544A4

公开(公告)日：2017-01-25

申请号：EP14791873

申请日：2014-04-11

Applicant: MURATA MACHINERY LTD

Inventor： NAKANO TSUYOSHI ,  TANAKA SHOJI

IPC: G05D1/02

CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207

Abstract: An autonomous moving body whereby annular route issues in environment maps can be solved and division of environment maps can be automated. In a teaching travel mode, the autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; associates position information for obstructions to the time the position information for obstructions was obtained; stores same in the storage unit as data for environment map reconstruction; creates a travel schedule; and stores same in the storage unit. In a reproduction travel mode, the autonomous moving body: estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; reads data for environment map reconstruction that corresponds to the estimated position of the autonomous moving body; updates the environment map; creates a control amount for the motor, so as to travel on the updated environment map in accordance with the schedule; and inputs same to the travel unit.

Abstract translation: 自动移动体，可以解决环境地图中的环路问题，并可以自动划分环境地图。 在教学旅行模式中，自动移动体：从驾驶员输入的行驶命令中输出电动机控制量; 估计自动移动体在环境图上的位置; 获取自主移动体附近的障碍物的位置信息; 将障碍物的位置信息关联到获得障碍物的位置信息的时间; 在存储单元中存储与环境地图重建数据相同的数据; 创建旅行计划; 并将其存储在存储单元中。 在再生行驶模式中，自主移动体：自动移动体在环境地图上的位置的估计; 获取自主移动体附近的障碍物的位置信息; 读取与自动移动体的估计位置对应的环境地图重建的数据; 更新环境地图; 创建电动机的控制量，以便根据时间表在更新的环境地图上行驶; 并将其输入到旅行单元。

公开(公告)号：EP3118709A1

公开(公告)日：2017-01-18

申请号：EP16178601.7

申请日：2016-07-08

Applicant: The Boeing Company

Inventor： SKAGGS, Kirk Douglas ,  LEPPER, Lee Dwayne

IPC: G05D1/02

CPC classification number: G05B19/19 ,  G05B2219/32001 ,  G05D1/0234 ,  G05D1/0261 ,  G05D2201/0207

Abstract: A method of performing automated operations on a workpiece by at least one autonomous device is provided. The method includes sensing, by a first of the at least one autonomous devices, a guidance pattern positioned on the workpiece along a first path. The method also includes traversing, by the first autonomous device, along the first path by following the sensed guidance pattern, to a first path location that is within a detection distance of a first precision target indicator positioned on the workpiece.

Abstract translation: 提供了一种由至少一个自主装置上的工件进行自动化操作的方法。 该方法包括：感测由第一所述至少一个自主设备，定位在沿着第一路径的工件引导图案的。因此，该方法包括：横动，由所述第一自治设备，沿着第一路径通过继感测到的引导图案 到第一路径位置没有被定位在工件上的第一精度目标指示符的检测距离之内。

公开(公告)号：EP3109009A1

公开(公告)日：2016-12-28

申请号：EP16173968.5

申请日：2016-06-10

Applicant: Ricoh Company, Ltd.

Inventor： INABA, Daiki ,  HATANAKA, Wataru ,  SHIMURA, Hiroshi ,  KAWAGUCHI, Atsuo

IPC: B25J5/00 ,  G05D1/02 ,  G05D1/08

CPC classification number: B25J9/1697 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B62D55/075 ,  G05D1/0223 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D1/0891 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

Abstract: A robot (100, 100a) includes a three-dimensional shape detecting sensor (12) to detect a three dimensional shape of a travel surface existing in a forward travelling direction of the robot (100, 100a), a posture stabilizer (18) to stabilize a posture of a body (10) of the robot (100, 100a), a feature data generator (102) to generate feature data of the detected three dimensional shape, an inclination angle prediction generator (106) to generate a prediction value of an inclination angle of the body (10) when the robot (100, 100a) is to reach a position on the travel surface in the forward travelling direction at a future time point based on the feature data and a prediction model, and an overturn prevention controller (108) to control the posture stabilizer (18) to prevent an overturn of the robot (100, 100a) based on the prediction value.

Abstract translation: 机器人（100,100a）包括：三维形状检测传感器（12），用于检测存在于所述机器人（100,100a）的前进行进方向上的行进面的三维形状;姿势稳定器（18）， 稳定机器人（100,100a）的身体（10）的姿势，特征数据生成器（102），生成检测出的三维形状的特征数据;倾斜角度预测生成器（106），其生成预测值 当机器人（100,100a）基于特征数据和预测模型在将来的时间点到达行进表面上的行进表面上的位置时的主体（10）的倾斜角度，以及防止倒转 控制器（108），以根据预测值来控制姿势稳定器（18）以防止机器人（100a，100a）的翻转。

公开(公告)号：EP2776216A1

公开(公告)日：2014-09-17

申请号：EP12848273.4

申请日：2012-11-09

Applicant: Evolution Robotics, Inc. ,  iRobot Corporation

Inventor： GUTMANN, Jens-steffen ,  GOEL, Dhiraj ,  MUNICH, Mario, E. ,  FONG, Philip

IPC: B25J9/16 ,  B25J13/08 ,  G05D1/02

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

Abstract: 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.

公开(公告)号：EP2765469A2

公开(公告)日：2014-08-13

申请号：EP14000436.7

申请日：2014-02-06

Applicant: HARRIS CORPORATION

Inventor： Summer, Matthew D. ,  Bosscher, Paul Michael ,  Wilkinson, Loran J.

IPC: G05D1/02

CPC classification number: G05D1/0016 ,  B25J5/005 ,  B25J13/006 ,  B25J13/065 ,  B25J19/023 ,  G05D1/021 ,  G05D2201/0207

Abstract: Control units (10) for use with unmanned vehicles (12) include an input device (50) that moves in response to a user input, sensors (70) coupled to the input device (50), and a controller (16). The sensors (70) generate outputs related to the movement of the input device (50). The controller (16) determines a target displacement of the unmanned vehicle (12) based on the outputs of the sensors (70), and generates a control input related to the target displacement. The control input, when received by the unmanned vehicle (12), causes the unmanned vehicle (12) to substantially attain the target displacement. The position of the vehicle (12) is thus controlled by directly controlling the displacement of the vehicle (12).

Abstract translation: 与无人驾驶车辆（12）一起使用的控制单元（10）包括响应于用户输入而移动的输入设备（50），耦合到输入设备（50）的传感器（70）和控制器（16）。 传感器（70）产生与输入装置（50）的移动有关的输出。 控制器（16）基于传感器（70）的输出确定无人驾驶车辆（12）的目标位移，并且生成与目标位移有关的控制输入。 当由无人驾驶车辆（12）接收时，控制输入使得无人驾驶车辆（12）基本达到目标位移。 因此，通过直接控制车辆（12）的位移来控制车辆（12）的位置。

公开(公告)号：EP2449441A2

公开(公告)日：2012-05-09

申请号：EP10732564.9

申请日：2010-06-29

Applicant: Robert Bosch GmbH

Inventor： BECKER, Jan ,  KAMMEL, Soeren ,  PITZER, Benjamin

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207

Abstract: In one embodiment, an autonomously navigated mobile platform includes a support frame, a projector supported by the frame, a sensor supported by the frame, a memory including a plurality of program instructions stored therein for generating an encoded signal using a phase shifting algorithm, emitting the encoded signal with the projector, detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body, associating the detected signal with the emitted signal, identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal, identifying a present location of the mobile platform, navigating the mobile platform based upon the identified location, and a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions.

Abstract translation: 在一个实施例中，自主导航的移动平台包括支撑框架，由框架支撑的投影仪，由框架支撑的传感器，存储器，其包含存储在其中的多个程序指令，用于使用相移算法产生编码信号，发射 在发射信号被发射的信号反射后，用投影仪检测发射的信号与传感器的发射信号相关联，将检测到的信号与发射的信号相关联，识别x轴尺寸，y轴尺寸和z 基于相关联的信号，识别移动平台的当前位置，基于所识别的位置导航移动平台，以及检测到的身体的一个或多个范围和方位;以及 处理器可操作地连接到存储器，传感器和投影仪，用于执行程序指令。

公开(公告)号：EP2363775A1

公开(公告)日：2011-09-07

申请号：EP10184620.2

申请日：2001-05-01

Applicant: iRobot Corporation

Inventor： Allard, James R.

IPC: G05D1/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: G05D1/0272 ,  B25J9/1689 ,  G05B2219/35506 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0282 ,  G05D2201/0207

Abstract: Methods of remote control of a mobile robot and an intuitive user interface for remotely controlling a mobile robot are provided. Using a point-and-click device (405), the user is able to choose a target location (430) within a heads-up display (400) toward which to move a mobile robot. Additional graphical overlays (410, 412) are provided to aid the user in navigating even in systems with asynchronous communication.

Abstract translation: 提供了移动机器人的远程控制方法和用于远程控制移动机器人的直观用户界面。 使用点击设备（405），用户能够在抬头显示器（400）内选择移动移动机器人的目标位置（430）。 提供附加的图形叠加层（410,412）以帮助用户即使在具有异步通信的系统中进行导航。

公开(公告)号：EP2363774A1

公开(公告)日：2011-09-07

申请号：EP10184547.7

申请日：2001-05-01

Applicant: iRobot Corporation

Inventor： Allard, James R.

IPC: G05D1/00 ,  G05D1/02 ,  B25J9/16

CPC classification number: G05D1/0272 ,  B25J9/1689 ,  G05B2219/35506 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0282 ,  G05D2201/0207

Abstract: Methods of remote control of a mobile robot and an intuitive user interface for remotely controlling a mobile robot are provided. Using a point-and-click device (405), the user is able to choose a target location (430) within a heads-up display (400) toward which to move a mobile robot. Additional graphical overlays (410, 412) are provided to aid the user in navigating even in systems with asynchronous communication.

Abstract translation: 提供了远程控制移动机器人的方法和用于远程控制移动机器人的直观的用户界面。 使用点击式设备（405），用户能够选择朝向其移动移动机器人的平视显示器（400）内的目标位置（430）。 提供附加的图形叠加层（410,412）以帮助用户甚至在具有异步通信的系统中导航。

公开(公告)号：EP2050544B1

公开(公告)日：2011-08-31

申请号：EP09001727.8

申请日：2006-09-29

Applicant: iRobot Corporation

Inventor： Cross, Matthew ,  Vu, Clara ,  Bickmore, Tim ,  Bolton, Clive ,  Goetsch, John ,  Gruber, Amanda ,  Singlair, Ken ,  Wilde, Lorin ,  Williston, Pace ,  Campbell, Tony L.

IPC: B25J13/00

CPC classification number: B25J9/0003 ,  B25J5/007 ,  B25J9/1697 ,  B25J11/008 ,  B25J19/0091 ,  B25J19/023 ,  B25J19/06 ,  G05D1/021 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3462 ,  G06N3/008 ,  G16H20/00 ,  G16H20/13 ,  G16H40/63 ,  G16H40/67 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

Abstract: The invention relates to a robot system, including: a base station; and a robot, the base station including a wireless transceiver capable of communicating TCP/IP transmissions over a local wireless protocol, a wired Ethernet connector for communicating TCP/IP transmissions over a local wired Ethernet accessing the Internet, and an access point circuit for transferring TCP/IP transmissions between the local wired Ethernet and local wireless protocol limited to a predetermined IP address locked to the robot, predetermined shell level encryption locked to the robot, and predetermined ports to the Internet open only to the robot, the robot including a wireless transceiver capable of communicating TCP/IP transmissions over a local wireless protocol and a client circuit for transferring TCP/IP transmissions over the local wireless protocol.