公开(公告)号：US20120011668A1

公开(公告)日：2012-01-19

申请号：US13245095

申请日：2011-09-26

Applicant: Mark Schnittman ,  Zivthan A. Dubrovsky ,  Jeffrey W. Mammen ,  Aaron Solochek

Inventor： Mark Schnittman ,  Zivthan A. Dubrovsky ,  Jeffrey W. Mammen ,  Aaron Solochek

IPC: A47L11/282

CPC classification number: A47L11/4025 ,  A47L9/00 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/2805 ,  A47L11/282 ,  A47L11/302 ,  A47L11/34 ,  A47L11/4011 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/408 ,  A47L2201/00 ,  A47L2201/04 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2220/44 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0215 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16

Abstract: An autonomous coverage robot includes a chassis having forward and rearward portions and a drive system carried by the chassis. The forward portion of the chassis defines a substantially rectangular shape. The robot includes a cleaning assembly mounted on the forward portion of the chassis and a bin disposed adjacent the cleaning assembly and configured to receive debris agitated by the cleaning assembly. A bin cover is pivotally attached to a lower portion of the chassis and configured to rotate between a first, closed position providing closure of an opening defined by the bin and a second, open position providing access to the bin opening. The robot includes a body attached to the chassis and a handle disposed on an upper portion of the body. A bin cover release is actuatable from substantially near the handle.

Abstract translation: 自主覆盖机器人包括具有前部和后部的底盘以及由底盘承载的驱动系统。 底盘的前部限定了大致矩形的形状。 机器人包括安装在底盘的前部的清洁组件和邻近清洁组件布置的垃圾箱，并且构造成接收由​​清洁组件搅动的碎屑。 仓盖可枢转地附接到底盘的下部，并且构造成在第一关闭位置和第二打开位置之间旋转，所述第一闭合位置提供由料仓限定的开口的关闭和提供通向箱开口的第二打开位置。 机器人包括附接到底盘的主体和设置在主体上部的手柄。 垃圾箱盖释放件可从基本上靠近手柄致动。

公开(公告)号：US20110077802A1

公开(公告)日：2011-03-31

申请号：US12959879

申请日：2010-12-03

Applicant: Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, JR. ,  Daniel N. Ozick

Inventor： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, JR. ,  Daniel N. Ozick

IPC: G05D1/00

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L15/2036 ,  B60L50/52 ,  B60L53/14 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Abstract translation: 省电机器人系统包括至少一个外围设备和移动机器人。 外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。 机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。 另一方面，机器人系统包括网络数据桥和移动机器人。 网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。 数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。 移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

公开(公告)号：US20110040437A1

公开(公告)日：2011-02-17

申请号：US12832060

申请日：2010-07-07

Applicant: James Lynch

Inventor： James Lynch

IPC: G05D1/00 ,  G02B27/00

CPC classification number: G05D1/0242 ,  A47L9/2805 ,  A47L2201/04 ,  G05D2201/0215

Abstract: A confinement device for a mobile robot. A confinement device for a mobile robot preventing the robot from entering a space or region in which the user would like to safeguard or to keep the robot bound within a given space eliminating travel into sensitive or dangerous areas. The confinement device comprises materials used to absorb

Abstract translation: 用于移动机器人的限制装置。 用于移动机器人的限制装置，其防止机器人进入用户想要保护的空间或区域，或者将机器人保持在给定空间内，从而消除进入敏感或危险区域。 限制装置包括用于吸收的材料

公开(公告)号：US07885738B2

公开(公告)日：2011-02-08

申请号：US11283831

申请日：2005-11-22

Applicant: Jun-ho Park ,  Jay-woo Kim ,  Jong-chan Won

Inventor： Jun-ho Park ,  Jay-woo Kim ,  Jong-chan Won

IPC: G01C22/00

CPC classification number: G05D1/0238 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A method, medium, and apparatus of a self-propelled mobile unit with obstacle avoidance during wall-following. In the self-propelled mobile unit, a carrying unit may move the mobile unit by using a transmitted power, and a sensor unit can detect an obstacle and a wall, which may be respectively placed in front of and to the side of the mobile unit, with respect to a moving direction of the carrying unit. A controller may direct the carrying unit by generating a path along which the carrying unit moves according to a detection result from the sensor unit. Accordingly, the controller can direct the carrying unit to move while maintaining a predetermined distance (within a predetermined range) from the wall. If the sensor unit detects an obstacle, the controller directs the carrying unit to move in an obstacle free direction.

Abstract translation: 一种自走式移动装置的方法，介质和装置，在隔墙期间避免障碍。 在自行式移动单元中，携带单元可以通过使用发送功率来移动移动单元，并且传感器单元可以检测可能分别放置在移动单元的前面和侧面的障碍物和墙壁 相对于承载单元的移动方向。 控制器可以通过根据来自传感器单元的检测结果产生携带单元移动的路径来引导承载单元。 因此，控制器可以在保持距离墙的预定距离（在预定范围内）的方式引导搬送单元移动。 如果传感器单元检测到障碍物，则控制器指示携带单元在无障碍方向移动。

公开(公告)号：US20100280754A1

公开(公告)日：2010-11-04

申请号：US12839793

申请日：2010-07-20

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

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

IPC: G01C21/00 ,  G01C21/12

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：US20100268384A1

公开(公告)日：2010-10-21

申请号：US12827016

申请日：2010-06-30

Applicant: Joseph L. Jones ,  Philip R. Mass

Inventor： Joseph L. Jones ,  Philip R. Mass

IPC: G05B19/04

CPC classification number: G05D1/028 ,  A47L9/009 ,  A47L2201/04 ,  G05D1/0214 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215

Abstract: A robot confinement system includes a portable housing and a mobile robot. The portable housing includes a first detector operable to detect a presence of the mobile robot in a field of detection, and an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection. The mobile robot is operable to move on a surface to clean the surface and includes a controller operable to control a movement path of the mobile robot on the surface. The mobile robot further includes a second detector operable to detect the first signal emitted by the portable housing. The controller of the mobile robot is operable to change the movement path of the mobile robot in response to detection of the first signal.

Abstract translation: 机器人限制系统包括便携式外壳和移动机器人。 便携式外壳包括第一检测器，其可操作以在检测领域中检测移动机器人的存在，以及当第一检测器检测到在检测领域中存在移动机器人时可发射第一信号的发射器。 移动机器人可操作以在表面上移动以清洁表面，并且包括可操作以控制移动机器人在表面上的移动路径的控制器。 移动机器人还包括可操作以检测由便携式外壳发射的第一信号的第二检测器。 移动机器人的控制器可操作以响应于第一信号的检测而改变移动机器人的移动路径。

公开(公告)号：US20100222925A1

公开(公告)日：2010-09-02

申请号：US11292069

申请日：2005-12-02

Applicant: Takashi Anezaki

Inventor： Takashi Anezaki

IPC: G05B19/04

CPC classification number: G05D1/0221 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0215

Abstract: In a robot control apparatus mounted on a mobile robot, movement of a human existing in front of the robot is detected, and the robot is moved in association with the movement of the human to thereby obtain path teaching data. When the robot moves autonomously according to the path teaching data, a robot movable area with respect to the path teaching data is calculated from positions of the ceiling and walls of the robot moving space or positions of obstacles detected by a surrounding object detection unit, whereby a moving path for autonomous movement is generated. The robot is controlled to move autonomously by a drive of a drive unit according to the moving path for autonomous movement.

Abstract translation: 在安装在移动机器人上的机器人控制装置中，检测存在于机器人前方的人的运动，并且机器人与人的移动相关联地移动，从而获得路径教学数据。 当机器人根据路径教学数据自动移动时，根据机器人移动空间的顶棚和墙壁或由周围物体检测单元检测到的障碍物的位置来计算相对于路径教学数据的机器人可移动区域，由此 产生用于自主运动的移动路径。 根据自动运动的移动路径，通过驱动单元的驱动来控制机器人自主移动。

公开(公告)号：US07774158B2

公开(公告)日：2010-08-10

申请号：US10739935

申请日：2003-12-17

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

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

IPC: G01C21/00

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：US07729803B2

公开(公告)日：2010-06-01

申请号：US11486284

申请日：2006-07-14

Applicant: Kwang-soo Lim ,  Sam-jong Jeung ,  Jeong-gon Song ,  Ju-sang Lee ,  Jang-youn Ko

Inventor： Kwang-soo Lim ,  Sam-jong Jeung ,  Jeong-gon Song ,  Ju-sang Lee ,  Jang-youn Ko

IPC: G06F19/00

CPC classification number: G05D1/0225 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A system for returning a robot to a charger includes: a homing signal transmitter, including at least first, second, and third signal transmitters, each adapted to be provided at a front side of the charger and to respectively transmit signals which are different from each other in at least one of a code and a transmission distance, and a fourth signal transmitter, adapted to be provided on at least one lateral side of the charger and to transmit a signal which is different from the signals of the first, second, and third transmitters in code; a homing signal receiver provided at the robot and to receive at least one signal transmitted from the homing signal transmitter; and a controller adapted to identify the at least one signal and to control the robot to return to the charger based at least in part on the at least one signal.

Abstract translation: 用于将机器人返回到充电器的系统包括：归属信号发射器，其包括至少第一，第二和第三信号发射器，每个信号发射器适于提供在充电器的前侧，并且分别传输与每个信号不同的信号 代码和传输距离中的至少一个以及第四信号发射机中的至少一个，适于提供在充电器的至少一个侧面上并且发送与第一，第二和第二信号的信号不同的信号， 代码中的第三个发送器; 设置在所述机器人处并且接收从所述归巢信号发送器发送的至少一个信号的归属信号接收器; 以及控制器，其适于识别所述至少一个信号并且至少部分地基于所述至少一个信号来控制所述机器人返回到所述充电器。

公开(公告)号：US20090306822A1

公开(公告)日：2009-12-10

申请号：US12469077

申请日：2009-05-20

Applicant: Joe AUGENBRAUN ,  Linda HIRSCHHORN ,  Pankaj SHAH ,  Nick DONALDSON ,  William JAYNE ,  Juan B. GOMEZ ,  Joseph PINZARRONE

Inventor： Joe AUGENBRAUN ,  Linda HIRSCHHORN ,  Pankaj SHAH ,  Nick DONALDSON ,  William JAYNE ,  Juan B. GOMEZ ,  Joseph PINZARRONE

IPC: G06F19/00

CPC classification number: B25J9/1679 ,  A47L5/225 ,  A47L9/009 ,  A47L2201/00 ,  A47L2201/04 ,  B25J9/0003 ,  B25J9/1664 ,  G05B2219/36513 ,  G05B2219/40095 ,  G05B2219/40423 ,  G05B2219/40506 ,  G05D1/0225 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0215

Abstract: A multi-function robotic device may have utility in various applications. In accordance with one aspect, a multi-function robotic device may be selectively configurable to perform a desired function in accordance with the capabilities of a selectively removable functional cartridge operably coupled with a robot body. Localization and mapping techniques may employ partial maps associated with portions of an operating environment, data compression, or both.

Abstract translation: 多功能机器人设备可以在各种应用中具有实用性。 根据一个方面，多功能机器人装置可以被选择性地配置为根据与机器人主体可操作地连接的选择性可移除的功能盒的能力来执行期望的功能。 本地化和映射技术可以采用与操作环境，数据压缩或两者相关的部分映射。