公开(公告)号：US10539647B2

公开(公告)日：2020-01-21

申请号：US15632718

申请日：2017-06-26

Applicant: Discovery Robotics

Inventor： Larry J. Williams

IPC: B25J9/10 ,  G01S5/02 ,  H04B1/00 ,  G05D1/02 ,  G01C21/00 ,  B25J5/00 ,  B25J13/08 ,  G01S13/02 ,  G01S19/42

Abstract: A method and system for determining position and/or pose of an object. A robotic device moves throughout an environment and includes a master transceiver tag and, optionally, additional tags. The environment includes a plurality of anchor nodes that are configured to form a network. A master anchor node is in communication with at least a portion of the plurality of anchor nodes and is configured to transmit a ranging message as a UWB signal, receive a ranging message response from each other anchor node in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the other anchor nodes. The master transceiver tag receives the reference grid information and, based upon further calculations, determines a specific position and pose of the robotic device within the environment.

公开(公告)号：US10518407B2

公开(公告)日：2019-12-31

申请号：US15646551

申请日：2017-07-11

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Hardik Shah ,  Dharmateja Kadem ,  Jeffrey Blum ,  Ishit Shah ,  Manomit Bal ,  Britta Kathleen Ulm ,  David Callen ,  Sujith Vijaya Kumar ,  Naman Kumar

IPC: B25J9/08 ,  G05D1/02 ,  G01C21/20

Abstract: A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to perform a wide variety of tasks utilizing the plurality of interchangeable service modules, and navigating through the service area utilizing a plurality of sensors and guided through a stored service plan for the service area.

公开(公告)号：USD865830S1

公开(公告)日：2019-11-05

申请号：US29660928

申请日：2018-08-23

Applicant: Discovery Robotics

Designer： Larry J. Williams ,  Vivek Rajendran ,  Naman Kumar ,  Hardik Shah

公开(公告)号：US20180364045A1

公开(公告)日：2018-12-20

申请号：US16110036

申请日：2018-08-23

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Dharmateja Kadem ,  Jeffrey Blum ,  Manomit Bal ,  Britta Kathleen Ulm ,  Hardik Shah ,  Ishit Shah ,  David Callen ,  Sujith Vijaya Kumar

IPC: G01C21/00 ,  G06F17/30 ,  B25J9/16 ,  G01S17/89 ,  G06T1/00

Abstract: A method and system for a robotic device comprising a propulsion mechanism, a sensor for sensing objects, a localization and mapping system, a processing facility comprising a processor and a memory, the processing facility configured to store a set of instructions that, when executed, cause the robotic device to upon selection by a user, place the robotic device in a mapping mode, wherein the mapping mode causes the robotic device to move through the service area and create a digital map, and upon selection by the user, place the robotic device in a service task mode, wherein while in service task mode the robotic device performs a service task in the service area based on sensing the service area with the sensor and utilizing the created digital map.

公开(公告)号：US20180361581A1

公开(公告)日：2018-12-20

申请号：US16109993

申请日：2018-08-23

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Dharmateja Kadem ,  Jeffrey Blum ,  Manomit Bal ,  Britta Kathleen Ulm ,  Ishit Shah ,  David Callen ,  Sujith Vijaya Kumar

IPC: B25J9/16 ,  G06K9/00 ,  G06T1/00

Abstract: A method and system for a robotic device comprising a propulsion mechanism to move the robotic device, a sensor, and a processing facility comprising a processor and a memory, the processing facility storing a set of instructions that, when executed, cause the robotic device to utilize data from the sensor to distinguish a user of the robotic device, identify movements of the user along a path traveled by the user, and cause the propulsion mechanism to move the robotic device along the path.

公开(公告)号：US20200047343A1

公开(公告)日：2020-02-13

申请号：US16660161

申请日：2019-10-22

Applicant: Discovery Robotics

Inventor： Manomit Bal ,  Dharmateja Kadem

IPC: B25J9/16

Abstract: A method and system for a robotic device comprising a propulsion mechanism to move the robotic device, a sensor, and a processing facility comprising a processor and a memory, the processing facility storing a set of instructions that, when executed, cause the robotic device to scan a service area with the sensor, communicate the scanned data to a remote server-based mapping application, receive a service plan from the remote server-based mapping application, execute the stored service plan, sense an unplanned obstacle in the planned path during the execution of the service plan, enter a local navigation mode and process a development of an alternate path to navigate around the unplanned obstacle, navigate around the unplanned obstacle along the processed alternate path, and return to the planned path after the robotic device navigates around the unplanned obstacle to complete the service plan.

公开(公告)号：US20180361583A1

公开(公告)日：2018-12-20

申请号：US16110004

申请日：2018-08-23

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Dharmateja Kadem ,  Jeffrey Blum ,  Manomit Bal ,  Britta Kathleen Ulm ,  Hardik Shah ,  Ishit Shah ,  David Callen ,  Sujith Vijaya Kumar

IPC: B25J9/16 ,  G06K9/00 ,  G06F17/30

Abstract: A method and system for a robotic device comprising a propulsion mechanism to move the robotic device, a sensor, a user interface for entering service area dimension information to establish a service area proximate the robotic device, and a processing facility comprising a processor and a memory, the processing facility configured to store a set of instructions that, when executed, cause the robotic device to receive service area dimension information for the service area through the user interface, wherein the service area is determined by the service area dimension information entered into the user interface, and utilize the propulsion mechanism to move the robotic device through the service area and to perform a service task in the service area.

公开(公告)号：US20180339410A1

公开(公告)日：2018-11-29

申请号：US16051871

申请日：2018-08-01

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Hardik Shah ,  Dharmateja Kadem ,  Jeffrey Blum ,  Ishit Shah ,  Manomit Bal ,  Britta Kathleen Ulm ,  David Callen ,  Sujith Vijaya Kumar ,  Naman Kumar

IPC: B25J9/08 ,  G05D1/02 ,  G01C21/20

Abstract: A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to execute a stored service plan for a service area, the service plan comprising a service plan sequence comprising a service treatment to a surface of the service area, identify a special treatment area utilizing the surface sensor, alter the service plan sequence based on identifying the special treatment area in the service area, wherein the altering of the service plan sequence includes providing an additional service to the special treatment area, and resume execution of the service plan.

公开(公告)号：US10328573B2

公开(公告)日：2019-06-25

申请号：US16110082

申请日：2018-08-23

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Dharmateja Kadem ,  Jeffrey Blum ,  Manomit Bal ,  Britta Kathleen Ulm ,  Hardik Shah ,  Ishit Shah ,  David Callen ,  Sujith Vijaya Kumar

IPC: B25J9/16 ,  A47L11/20 ,  G06F16/29 ,  A47L11/00 ,  A47L11/40 ,  E01H1/00 ,  G01S17/93 ,  G01S5/02 ,  G01S15/93

Abstract: A method and system for a robotic device comprising a propulsion mechanism, an orientation sensor, a stored digital map of a service area, a sensor for sensing objects, a navigation and orientation system, and a processing facility comprising a processor and a memory, the processing facility causing the robotic device to determine and store a pose position of the robotic device at a plurality of sequential locations as the robotic device is guided by a user along a path from a start location to an end location through the service area, and as commanded by the user and utilizing the navigation and orientation system, re-trace the path from the start location to the end location replicating the stored pose position of the robotic device at the plurality of sequential locations.

公开(公告)号：US20180361577A1

公开(公告)日：2018-12-20

申请号：US16110082

申请日：2018-08-23

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Dharmateja Kadem ,  Jeffrey Blum ,  Manomit Bal ,  Britta Kathleen Ulm ,  Hardik Shah ,  Ishit Shah ,  David Callen ,  Sujith Vijaya Kumar

IPC: B25J9/16 ,  G06F17/30 ,  A47L11/20

CPC classification number: B25J9/163 ,  A47L11/00 ,  A47L11/20 ,  A47L11/4002 ,  A47L11/4008 ,  A47L11/4011 ,  A47L2201/04 ,  A47L2201/06 ,  B25J9/1664 ,  B25J9/1679 ,  E01H1/053 ,  E01H1/103 ,  G01S5/02 ,  G01S15/931 ,  G01S17/936 ,  G06F16/29

Abstract: A method and system for a robotic device comprising a propulsion mechanism, an orientation sensor, a stored digital map of a service area, a sensor for sensing objects, a navigation and orientation system, and a processing facility comprising a processor and a memory, the processing facility causing the robotic device to determine and store a pose position of the robotic device at a plurality of sequential locations as the robotic device is guided by a user along a path from a start location to an end location through the service area, and as commanded by the user and utilizing the navigation and orientation system, re-trace the path from the start location to the end location replicating the stored pose position of the robotic device at the plurality of sequential locations.