公开(公告)号：US20140195049A1

公开(公告)日：2014-07-10

申请号：US14017718

申请日：2013-09-04

Applicant: Electronics and Telecommunications Research Institute

Inventor： Hyun-Ja IM ,  Chang-Eun LEE ,  Min-Su JANG ,  Dae-Ha LEE ,  Seo-Hyun JEON ,  Young-Jo CHO ,  Sung-Hoon KIM ,  Jong-Hyun PARK

IPC: G01S5/02

CPC classification number: G01S5/0252 ,  G05D1/0274 ,  G05D1/0291 ,  G05D2201/0207 ,  Y10S901/01

Abstract: An apparatus for creating a radio map includes a radio signal acquiring unit that acquires information on radio signals between one or more cooperative intelligent robots, a radio environment modeling unit that estimates radio strength for each cell configuring the radio map from the information on radio signals acquired by the radio signal acquiring unit, and a radio map creating unit that classifies a communication region of each cell and models the radio map according to the radio strength for each cell estimated by the radio environment modeling unit.

Abstract translation: 用于创建无线电地图的装置包括：无线电信号获取单元，其获取关于一个或多个协作智能机器人之间的无线电信号的信息;无线电环境建模单元，从获取的无线电信号的信息中估计配置无线电图的每个小区的无线电强度 通过无线电信号获取单元，以及无线电图创建单元，对每个小区的通信区域进行分类，并且根据由无线电环境建模单元估计的每个小区的无线电强度对无线电图进行建模。

公开(公告)号：US08676425B2

公开(公告)日：2014-03-18

申请号：US13287612

申请日：2011-11-02

Applicant: Joseph L. Jones ,  Clara Vu ,  Paul E. Sandin ,  Charles M. Grinnell

Inventor： Joseph L. Jones ,  Clara Vu ,  Paul E. Sandin ,  Charles M. Grinnell

IPC: G01C22/00 ,  G05D1/02

CPC classification number: B65G43/00 ,  A01C21/00 ,  B25J9/1602 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0276 ,  G05D1/0287 ,  G05D2201/0201 ,  G05D2201/0207 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/30

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract translation: 提供了一种用于处理位于给定区域中的容器生长植物的系统。 该系统包括位于该区域中用于处理容器生长​​植物的处理站。 它还包括一个或多个自主移动容器处理机器人，其被配置为：（i）前往该区域中的源位置并拾取容器生长的设备，（ii）将容器生长的设备运送到处理站， 在容器生长的植物上进行，（iii）将容器生长的植物从处理站运送到该地区的目的地，（iv）将容器生长的植物存放在目的地，以及（v）重复（ i）通过（iv）在源位置的一组容器生长的植物。

公开(公告)号：US20140067160A1

公开(公告)日：2014-03-06

申请号：US13601169

申请日：2012-08-31

Applicant: Royce A. Levien ,  Richard T. Lord ,  Robert W. Lord ,  Mark A. Malamud ,  John D. Rinaldo, JR. ,  Lowell L. Wood, JR.

Inventor： Royce A. Levien ,  Richard T. Lord ,  Robert W. Lord ,  Mark A. Malamud ,  John D. Rinaldo, JR. ,  Lowell L. Wood, JR.

IPC: G05D1/00

CPC classification number: G05D1/0202 ,  A61M5/002 ,  A61M5/20 ,  A63H27/12 ,  B64C39/02 ,  G05B19/00 ,  G05D1/0011 ,  G05D1/0027 ,  G05D1/005 ,  G05D1/102 ,  G05D2201/0207 ,  G06Q10/08

Abstract: Structures and protocols are presented for configuring an unmanned aerial device to participate in the performance of tasks, for using data resulting from such a configuration or performance, or for facilitating other interactions with such devices.

公开(公告)号：US20130331987A1

公开(公告)日：2013-12-12

申请号：US13964979

申请日：2013-08-12

Applicant: iRobot Corporation

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

IPC: G05D1/02

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：US08508388B2

公开(公告)日：2013-08-13

申请号：US13615174

申请日：2012-09-13

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 systems.

公开(公告)号：US08467902B2

公开(公告)日：2013-06-18

申请号：US12155552

申请日：2008-06-05

Applicant: Hyeon Myeong ,  Woo-Yeon Jeong ,  Seok-Won Bang

Inventor： Hyeon Myeong ,  Woo-Yeon Jeong ,  Seok-Won Bang

IPC: G05B15/00 ,  G05B19/00

CPC classification number: G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207

Abstract: A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.

公开(公告)号：US08290619B2

公开(公告)日：2012-10-16

申请号：US12909707

申请日：2010-10-21

Applicant: James McLurkin ,  Jennifer Smith

Inventor： James McLurkin ,  Jennifer Smith

IPC: G05D1/00

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: 本发明具有用于操作的方法，例如用于分散和聚类的方法，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：US08195333B2

公开(公告)日：2012-06-05

申请号：US12842314

申请日：2010-07-23

Applicant: Andrew Ziegler ,  Andrew Jones ,  Clara Vu ,  Matthew Cross ,  Ken Sinclair ,  Tony L. Campbell

Inventor： Andrew Ziegler ,  Andrew Jones ,  Clara Vu ,  Matthew Cross ,  Ken Sinclair ,  Tony L. Campbell

IPC: G06F19/00 ,  G05B15/00

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: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Abstract translation: 与居民进行交互的移动机器人客人在与居民进行交互之前执行房间遍历搜索过程，并且可以口头地询问所寻求的居民是否存在。 在找到居民时，移动机器人可以促进与远程第三方的电话会议会话，或者以多种方式与居民进行交互。 例如，机器人可以与居民进行对话，加强对药物或其他时间表的遵守等。此外，机器人包括用于防止与居民碰撞的安全特征; 并且机器人可以可听见地宣布和/或可视地指示其存在，以避免成为危险的障碍物。 此外，移动机器人的行为符合整体的隐私政策，使得任何传感器记录或传输都必须得到居民的批准。

公开(公告)号：US20120072052A1

公开(公告)日：2012-03-22

申请号：US13105883

申请日：2011-05-11

Applicant: Aaron Powers ,  Justin Kearns ,  Robert Todd Pack ,  Orjeta Taka ,  Eben Rauhut ,  Marshall Vale

Inventor： Aaron Powers ,  Justin Kearns ,  Robert Todd Pack ,  Orjeta Taka ,  Eben Rauhut ,  Marshall Vale

IPC: G05D1/00 ,  G06F3/00

CPC classification number: G06F3/04815 ,  G05D1/0044 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207

Abstract: An operator control unit has a user interface that allows a user to identify a mode of display and interaction that narrows the user's options for his next interaction with the user interface. The user interface utilizes portals to transition between environments such as indoors to outdoors, outdoors to indoors, different rooms of a building, and different floors of a building, the portals representing one or more of stairways and doors, and being used in remote vehicle path planning as waypoints that may require execution of predetermined behaviors.

Abstract translation: 操作员控制单元具有允许用户识别显示和交互的模式的用户界面，该模式缩小用户下一次与用户界面交互的选项。 用户界面利用门户在诸如室内到户外，室外到室内，建筑物的不同房间以及建筑物的不同楼层之间的过渡，代表一个或多个楼梯和门的门户，并被用于远程车辆路径 计划可能需要执行预定行为的路标。

公开(公告)号：US20110246551A1

公开(公告)日：2011-10-06

申请号：US12665869

申请日：2008-06-20

Applicant: Carlo Giancaspro ,  Francesco Fedi ,  Roeeo De Matteis ,  Sante Candia

Inventor： Carlo Giancaspro ,  Francesco Fedi ,  Roeeo De Matteis ,  Sante Candia

IPC: G06F15/16

CPC classification number: G05B15/02 ,  G05D1/0297 ,  G05D2201/0207

Abstract: The present invention concerns a mission system that comprises at least an operator station suitable for being operated by a human operator, at least a mission agent suitable, in use, for being used to carry out an operational mission and a mission control system. The mission control system comprises a server mission software module operatively coupled to the operator station and a client mission software module operatively coupled to the mission agent. The server mission software module is suitable, in use, for being operated by a human operator to define the operational mission by means of a mission plan comprising at least one mission activity to be carried out and at least one operating rule for carrying out the mission activity. The server mission software module is also able, in use, to communicate the mission plan to the mission agent. The client mission software module comprises at least a behaviour rule to be respected in order to carry out the mission activity and is able, in use, to receive the mission plan and to make the mission agent carry out the mission activity according to the operating rule and the behaviour rule.

Abstract translation: 本发明涉及一个任务系统，其至少包括适合于由操作人员操作的操作员站，至少一个适用于使用中的任务代理人用于执行操作任务和任务控制系统。 任务控制系统包括可操作地耦合到操作员站的服务器任务软件模块和可操作地耦合到任务代理的客户端任务软件模块。 服务器任务软件模块在使用中适用于由操作人员操作以通过包括要执行的至少一个任务活动的任务计划和用于执行任务的至少一个操作规则来定义操作任务 活动。 服务器任务软件模块也可以在使用中将任务计划传达给任务代理。 客户任务软件模块至少包括一个要遵守的行为规则，以执行任务活动，并且能够在使用中接收任务计划，并使任务代理人根据操作规则执行任务活动 和行为规则。