公开(公告)号：US20060079997A1

公开(公告)日：2006-04-13

申请号：US11130842

申请日：2005-05-17

Applicant: James McLurkin ,  Jennifer Smith

Inventor： James McLurkin ,  Jennifer Smith

IPC: G06F19/00

CPC classification number: G06N3/008 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0297 ,  G05D2201/0207

Abstract: The present invention features methods for operating, such as methods for dispersing and clustering, robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching, dispersion, and retrieval). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract translation: 本发明的特征是用于操作的方法，例如用于分散和聚集的方法，使用相对于相邻机器人的自适应行为和外部（例如，环境）条件的机器人装置（即，“机器人”）。 每个机器人能够接收，处理和作用于描述机器人响应于其他机器人和外部条件而执行的任务的一个或多个多装置原始命令。 这些命令便于分布式命令和控制结构，减轻了中央设备或操作人员监视每个机器人进度的需要。 这实际上消除了可以部署以执行任务（例如，数据收集，映射，搜索，分散和检索）的机器人的最大数量的相应约束。 通过增加机器人的数量，完成任务的效率也提高了。

公开(公告)号：US07015831B2

公开(公告)日：2006-03-21

申请号：US10739937

申请日：2003-12-17

Applicant: L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

Inventor： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

IPC: G08G1/123

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer system.

Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

公开(公告)号：US06990406B2

公开(公告)日：2006-01-24

申请号：US10625834

申请日：2003-07-22

Applicant: Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

IPC: G06F19/00 ,  G03B37/00

CPC classification number: G05D1/0297 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

公开(公告)号：US20050251457A1

公开(公告)日：2005-11-10

申请号：US11105107

申请日：2005-04-13

Applicant: Yoshihiro Kashiwagi

Inventor： Yoshihiro Kashiwagi

IPC: A47L9/00 ,  A47L9/04 ,  A47L9/28 ,  A47L11/40 ,  G05D1/02 ,  G06F17/60

CPC classification number: A47L11/4011 ,  A47L9/009 ,  A47L9/04 ,  A47L9/2805 ,  A47L9/2847 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L9/2894 ,  A47L11/4061 ,  A47L2201/00 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  G06Q30/0601 ,  G06Q30/0603

Abstract: A conventional automatic ordering system requires stock management, so it is useless unless it is used on the assumption that stock is in hand and managed. In a self-propelled cleaner according to this invention, based on the results of a series of self-diagnosis steps (step S400 and subsequent steps) and the cumulative duration of use and the cumulative traveled distance as accumulated during daily cleaning operations (step 270), the necessity for an order for a replacement is judged (steps S431 and S427 to S478) and if ordering is necessary, the user is asked to decide whether to approve ordering (steps S482 and S484) and through a wireless LAN, an order is placed and payment is made by prepaid electronic money (steps S488 and S490). This automatic ordering system can be used conveniently in the home where consumable stock management is impossible.

Abstract translation: 传统的自动订购系统需要库存管理，因此除非是在库存管理的假设下使用，否则是无用的。 在根据本发明的自走式清洁器中，基于一系列自诊断步骤（步骤S 400和随后的步骤）的结果以及在日常清洁操作期间累积的累积使用持续时间和累积行进距离（步骤 （步骤S 431和S 427至S 478），如果需要订购，则要求用户决定是否批准订购（步骤S482和S484），并通过 一个无线局域网，一个订单被放置，并通过预付电子货币付款（步骤S 488和S 490）。 这种自动订购系统可以方便地在家庭中方便地进行消费品库存管理是不可能的。

公开(公告)号：US20050159841A1

公开(公告)日：2005-07-21

申请号：US11028445

申请日：2005-01-04

Applicant: Yusuke Yasukawa ,  Masayasu Hino

Inventor： Yusuke Yasukawa ,  Masayasu Hino

IPC: B25J5/00 ,  B25J19/02 ,  G05D1/00 ,  G05D1/02 ,  G06F19/00 ,  G08B25/10

CPC classification number: B25J5/007 ,  B25J19/023 ,  G05D1/0038 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/0285 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: The present invention relates to a robot system which includes an autonomous mobile robot as well as to the autonomous mobile robot. In the system in which monitoring is performed using the autonomous mobile robot which travels along a predetermined path, the present invention can reduce the interval between the time when a user requests transmission of images or the like and the time when the user obtains the images. The autonomous mobile robot travels along a predetermined path at predetermined times, a camera takes photographs at predetermined locations during the travel along the predetermined path, images taken by the camera are stored, and the stored images are sent to a requesting cell phone or the like in response to a transmission request from the cell phone or the like.

Abstract translation: 本发明涉及一种包括自主移动机器人以及自主移动机器人的机器人系统。 在使用沿预定路径行进的自主移动机器人进行监视的系统中，本发明可以减少用户请求传送图像等的时间与用户获取图像的时间之间的间隔。 自主移动机器人在预定时间沿着预定路径行进，摄像机沿着预定路径行驶期间在预定位置拍摄照片，存储摄像机拍摄的图像，将存储的图像发送到请求手机等 响应于来自蜂窝电话的传输请求等。

公开(公告)号：US20050113987A1

公开(公告)日：2005-05-26

申请号：US10625834

申请日：2003-07-22

Applicant: Wolfgang Fink ,  James Dohm ,  Mark Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark Tarbell

IPC: G01C21/26 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0297 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Abstract translation: 用于勘探危险或无法进入的地点的多代理自治系统。 多代理自主系统包括简单的基于表面的代理或由机载跟踪和命令系统控制的工艺。 机载跟踪和指挥系统包括一个仪器套件，用于对操作区域进行成像和在操作区域内部署的任何工艺。 图像数据用于识别手术，探索目标和操作区域中的障碍物。 跟踪和命令系统使用识别的目标和障碍物来确定基于地面的飞行器的路径，并且使用简单的移动命令来命令飞行器通过操作区域移动到目标，同时避免障碍物。 每个工艺包括自己的仪器套件，用于收集有关操作区域的信息，并将其传送回跟踪和指挥系统。 跟踪和命令系统可以进一步耦合到卫星系统以提供关于操作区域的附加图像信息，并向跟踪和命令系统提供操作和位置命令。

公开(公告)号：US20040256474A1

公开(公告)日：2004-12-23

申请号：US10814283

申请日：2004-04-01

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Ki-cheol Park ,  Yeon-taek Oh ,  Won-jun Koh ,  Yong-jae Kim

IPC: G05D023/00

CPC classification number: G05D1/0246 ,  F24F11/30 ,  F24F11/56 ,  F24F2110/00 ,  F24F2110/10 ,  F24F2110/50 ,  F24F2221/12 ,  G05D1/0274 ,  G05D23/1905 ,  G05D2201/0207

Abstract: An indoor environmental control system having an indoor environmental control device to control at least one indoor environment, including a mobile sensor being movable, and a wireless transmitting/receiving part to wirelessly transmit/receive information, an indoor environmental sensor to sense the indoor environment, and a controller to transmit the information on the indoor environment sensed by the indoor environmental sensor through the wireless transmitting/receiving part; and a control server receiving the information transmitted from the mobile sensor so as to control the indoor environmental control device on the basis of the received information. Therefore, the present invention provides an indoor environment control system and a method of controlling the same, which can optimize indoor environments through a home network.

Abstract translation: 一种具有室内环境控制装置的室内环境控制装置，其具有至少一个室内环境，包括可移动的移动式传感器，以及无线发送/接收信息的无线发送/接收部，室内环境感测器， 以及控制器，通过无线发送/接收部分发送由室内环境传感器感测的室内环境的信息; 以及控制服务器，接收从移动传感器发送的信息，以便根据接收到的信息来控制室内环境控制装置。 因此，本发明提供一种室内环境控制系统及其控制方法，能够通过家庭网络优化室内环境。

公开(公告)号：US20040199289A1

公开(公告)日：2004-10-07

申请号：US10826440

申请日：2004-04-17

Inventor： Susan J. Glenn ,  Gregory A. Shreve

IPC: G06F019/00

CPC classification number: G05D1/0282 ,  B25J9/1689 ,  G05B2219/33192 ,  G05B2219/40161 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A system and method are described that use impulse radio technology to enhance the capabilities of a robot. In one embodiment, a system, a robot and a method are provided that use the communication capabilities of impulse radio technology to help a control station better control the actions of the robot. In another embodiment, a system, a robot and a method are provided that use the communication, position and/or radar capabilities of impulse radio technology to help a control station better control the actions of a robot in order to, for example, monitor and control the environment within a building.

Abstract translation: 描述了使用脉冲无线电技术增强机器人能力的系统和方法。 在一个实施例中，提供了使用脉冲无线电技术的通信能力来帮助控制站更好地控制机器人的动作的系统，机器人和方法。 在另一个实施例中，提供了使用脉冲无线电技术的通信，位置和/或雷达能力的系统，机器人和方法来帮助控制站更好地控制机器人的动作，以便例如监视和 控制建筑物内的环境。

公开(公告)号：US20040167670A1

公开(公告)日：2004-08-26

申请号：US10739927

申请日：2003-12-17

Inventor： Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  L. Niklas Karlsson

IPC: G05B015/00

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

公开(公告)号：US20040167667A1

公开(公告)日：2004-08-26

申请号：US10739919

申请日：2003-12-17

Inventor： Luis Filipe Domingues Goncalves ,  L. Niklas Karlsson ,  Paolo Pirjanian ,  Enrico Di Bernardo

IPC: G06F019/00

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。