公开(公告)号：US20090062958A1

公开(公告)日：2009-03-05

申请号：US12203082

申请日：2008-09-02

Applicant: Aaron C. Morris ,  William L. Whittaker ,  Warren C. Whittaker

Inventor： Aaron C. Morris ,  William L. Whittaker ,  Warren C. Whittaker

IPC: G06F19/00

CPC classification number: G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G05D2201/021

Abstract: An autonomous mobile robot. The robot includes a computing device and a modeling module. The modeling module is communicably connected to the computing device, and is configured for autonomously generating a model for each navigation mode of the robot.

Abstract translation: 自主移动机器人。 机器人包括计算设备和建模模块。 建模模块可通信地连接到计算设备，并被配置为自动生成机器人的每个导航模式的模型。

公开(公告)号：US20080294288A1

公开(公告)日：2008-11-27

申请号：US12186502

申请日：2008-08-05

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F17/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。

公开(公告)号：US07456596B2

公开(公告)日：2008-11-25

申请号：US11208091

申请日：2005-08-19

Applicant: David S. Goodall ,  Brian Hart

Inventor： David S. Goodall ,  Brian Hart

IPC: B25J5/00

CPC classification number: G05D1/0274 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/028 ,  G05D2201/0207 ,  H04W16/18

Abstract: A method, apparatus, and carrier medium carrying computer readable code. The apparatus includes a mobile robot arranged in operation to traverse an area, a first transceiver for a wireless network mounted on the robot and arranged in operation to communicate with a second transceiver to effect radio measurement operations for determining at each of a plurality of locations covering the area a measure indicative of the path loss between the first and second transceivers, and a location determining system at least a component of which is mounted on the robot and arranged in operation to determine the location of the first transceiver in the area.

Abstract translation: 一种携带计算机可读代码的方法，装置和载体介质。 该装置包括：移动机器人，其被布置成用于穿过区域;第一收发器，用于安装在机器人上的无线网络，并且被布置成与第二收发器进行通信，以实现无线电测量操作，以在覆盖 所述区域是指示所述第一和第二收发器之间的路径损耗的度量，以及位置确定系统，至少其一部分安装在所述机器人上并且被布置在操作中以确定所述区域中的所述第一收发器的位置。

公开(公告)号：US07283893B2

公开(公告)日：2007-10-16

申请号：US11440958

申请日：2006-05-24

Applicant: Keita Hara ,  Masaki Hamamoto ,  Yoshiji Ohta ,  Kenji Ohta

Inventor： Keita Hara ,  Masaki Hamamoto ,  Yoshiji Ohta ,  Kenji Ohta

IPC: G05B19/418

CPC classification number: G05D1/104 ,  B25J9/1682 ,  G05B2219/39155 ,  G05B2219/39168 ,  G05D2201/0207

Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract translation: 群组机器人系统的通信系统被分级制成，具有作为最上层的基站和由多个感测机器人形成的多个层，并且多个感测机器人被控制成使得属于上层的感测机器人 的分层结构具有比属于分层结构的较低层的感测机器人更高的感测分辨率。 因此，可以获得能够有效地搜索对象的组织机器人系统。

公开(公告)号：US20070156286A1

公开(公告)日：2007-07-05

申请号：US11618742

申请日：2006-12-30

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F19/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。

公开(公告)号：US20070150098A1

公开(公告)日：2007-06-28

申请号：US11591275

申请日：2006-11-01

Applicant: Min Su Jang ,  Joo Chan Sohn ,  Young Cheol Go ,  Sang Seung Kang ,  Young Jo Cho

Inventor： Min Su Jang ,  Joo Chan Sohn ,  Young Cheol Go ,  Sang Seung Kang ,  Young Jo Cho

IPC: G06F19/00

CPC classification number: G05D1/0246 ,  G05D2201/0207

Abstract: An apparatus for controlling a robot and a method thereof are provided. The apparatus includes: a state interpretation unit determining whether or not a current situation belongs to a preset unstable state by evaluating the current situation based on a plurality of perception information items; and a target generation unit setting a target action of the robot by comparing the current situation and the determination result with a predetermined value system, and then, modifying the target action by receiving a feedback of the action performance result of the robot as perception information. According to the method and apparatus, by inputting a processing procedure and a value system to solve a variety of unstable states that can occur in situations of a user and circumstances surrounding the robot, the robot can actively respond with actions.

Abstract translation: 提供了一种用于控制机器人的装置及其方法。 该装置包括：状态解释单元，通过基于多个感知信息项评估当前情况来确定当前情况是否属于预设的不稳定状态; 以及目标产生单元，通过将当前情况与确定结果与预定值系统进行比较来设定机器人的目标动作，然后通过接收作为感知信息的机器人的动作执行结果的反馈来修改目标动作。 根据该方法和装置，通过输入处理过程和值系统来解决在用户的情况下可能发生的各种不稳定状态和机器人周围的情况，机器人可以主动地响应于动作。

公开(公告)号：US07177737B2

公开(公告)日：2007-02-13

申请号：US10739581

申请日：2003-12-17

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

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

IPC: G05D1/00

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：US07120519B2

公开(公告)日：2006-10-10

申请号：US10978439

申请日：2004-11-02

Applicant: Keiju Okabayashi ,  Miwa Okabayashi ,  Yuichi Murase ,  Katsutoshi Shimizu ,  Sumihisa Iwashita ,  Naoyuki Sawasaki

Inventor： Keiju Okabayashi ,  Miwa Okabayashi ,  Yuichi Murase ,  Katsutoshi Shimizu ,  Sumihisa Iwashita ,  Naoyuki Sawasaki

IPC: G06F19/00

CPC classification number: G05D1/0038 ,  G05D1/0229 ,  G05D1/0242 ,  G05D1/0251 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06K9/00664 ,  G06T7/74 ,  G06T2200/32 ,  G06T2207/20021 ,  G06T2207/30244

Abstract: A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.

Abstract translation: 遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。 自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。 机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用 在机器人所在的房间中拍摄的照片和参考图片。

公开(公告)号：US20060069507A1

公开(公告)日：2006-03-30

申请号：US11224869

申请日：2005-09-13

Applicant: Wataru Kokubo

Inventor： Wataru Kokubo

IPC: G08G1/16

CPC classification number: G05D1/0272 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0207

Abstract: A mobile device includes a mobile section having left and right independently and concurrently driven wheels. The mobile device can rotate about the axis thereof by spinning the wheels in directions opposite to each other. The mobile device further includes a sensor to detect an obstacle in front. The mobile device activates the sensor while rotating 360 degrees by spinning the left and right wheels in opposite directions and determines the presence of an obstacle in the vicinity. The mobile device then determines an area determined as an area containing no obstacle to be an area where the mobile device is able to freely move around.

Abstract translation: 移动设备包括具有左右独立且同时驱动的车轮的移动部件。 移动装置可以通过沿彼此相反的方向旋转轮来绕其轴线旋转。 移动装置还包括用于检测前方的障碍物的传感器。 移动装置通过以相反方向旋转左右轮来旋转360度来激活传感器，并确定附近存在障碍物。 然后，移动设备确定被确定为不包含障碍物的区域作为移动设备能够自由移动的区域的区域。

公开(公告)号：US20060064286A1

公开(公告)日：2006-03-23

申请号：US11261549

申请日：2005-10-28

Applicant: Wolfgang Fink ,  James Dohm ,  Mark Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark Tarbell

IPC: G06F15/00

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.

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。