公开(公告)号：US09375843B2

公开(公告)日：2016-06-28

申请号：US12819127

申请日：2010-06-18

Applicant: Yulun Wang ,  Charles S. Jordan ,  Marco Pinter ,  Jonathan Southard

Inventor： Yulun Wang ,  Charles S. Jordan ,  Marco Pinter ,  Jonathan Southard

IPC: G06F19/00 ,  B25J9/16 ,  G05D1/00 ,  G05D1/02

CPC classification number: B25J9/1697 ,  G05D1/0038 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F19/00 ,  G06F19/3418 ,  G16H40/63 ,  Y10S901/47

Abstract: A robotic system that includes a robot and a remote station. The remote station can generate control commands that are transmitted to the robot through a broadband network. The control commands can be interpreted by the robot to induce action such as robot movement or focusing a robot camera. The robot can generate reporting commands that are transmitted to the remote station through the broadband network. The reporting commands can provide positional feedback or system reports on the robot.

Abstract translation: 包括机器人和远程站的机器人系统。 远程站可以生成通过宽带网络发送到机器人的控制命令。 控制命令可以由机器人解释为引起诸如机器人移动或聚焦机器人相机的动作。 机器人可以生成通过宽带网络传输到远程站的报告命令。 报告命令可以在机器人上提供位置反馈或系统报告。

公开(公告)号：US20160164976A1

公开(公告)日：2016-06-09

申请号：US15006036

申请日：2016-01-25

Applicant: Suitable Technologies, Inc.

Inventor： Scott W. Hassan

IPC: H04L29/08 ,  H04L29/06

CPC classification number: H04L67/125 ,  G05D1/0038 ,  G05D2201/0211 ,  H04L65/1083 ,  H04L67/104

Abstract: Remote presence systems and methods are presented. In one embodiment, a system may comprise a pilot workstation comprising a pilot computing station having a display, a microphone, a camera oriented to capture images of the pilot, a network connectivity subsystem, and a master input device such as a keyboard, mouse, or joystick. The pilot network connectivity subsystem may be operatively coupled to an electromechanically mobile workstation comprising a mobile base interconnected to a head component. The mobile workstation may comprise a display, a microphone, a camera oriented to capture images of nearby people and structures, and a workstation network connectivity subsystem that preferably is operatively coupled to the pilot network connectivity subsystem. Preferably by virtue of the system components, the pilot is able to remotely project a virtual presence of himself in the form of images, sound, and motion of the mobile workstation at the location of the mobile workstation.

Abstract translation: 提出了远程存在系统和方法。 在一个实施例中，系统可以包括导频工作站，该导频工作站包括具有显示器的导频计算站，麦克风，面向所述飞行员图像的网络摄像机，网络连接子系统以及主输入设备，例如键盘，鼠标， 或操纵杆。 导频网络连接子系统可以可操作地耦合到机电移动工作站，其包括互连到头部部件的移动基座。 移动工作站可以包括显示器，麦克风，定向为捕获附近人员和结构的图像的照相机，以及优选地可操作地耦合到导频网络连接子系统的工作站网络连接子系统。 优选地，凭借系统组件，飞行员能够以移动工作站的位置处的移动工作站的图像，声音和运动的形式远程地投射自己的虚拟存在。

公开(公告)号：US09296109B2

公开(公告)日：2016-03-29

申请号：US14512842

申请日：2014-10-13

Applicant: iRobot Corporation

Inventor： Matthew Cross ,  Tony L. Campbell

IPC: G06F19/00 ,  B25J11/00 ,  H04N7/15 ,  H04N21/4788 ,  H04L29/08 ,  H04W4/00

CPC classification number: B25J11/0005 ,  G05D1/0022 ,  G05D2201/0211 ,  H04L67/10 ,  H04N7/15 ,  H04N21/4788 ,  H04W4/70 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/17 ,  Y10S901/27 ,  Y10S901/47

Abstract: A system including a mobile telepresence robot, a to telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.

Abstract translation: 一种包括移动远程呈现机器人，与机器人无线通信的远程呈现计算设备的系统，以及与机器人和远程呈现计算设备无线通信的主计算设备。 主机计算设备通过防火墙中继机器人和远程呈现计算设备之间的用户数据报协议流量。

公开(公告)号：US09256852B1

公开(公告)日：2016-02-09

申请号：US13933109

申请日：2013-07-01

Applicant: GOOGLE INC.

Inventor： Jussi Myllymaki

IPC: G06Q40/00 ,  G06Q10/08 ,  G05D1/02 ,  G05D1/00

CPC classification number: G06Q10/083 ,  G05D1/0088 ,  G05D1/0242 ,  G05D1/0272 ,  G05D1/0278 ,  G05D1/028 ,  G05D1/0285 ,  G05D2201/0211 ,  G05D2201/0216 ,  Y10S901/01

Abstract: Package delivery platform. An autonomous road vehicle is operative to receive destination information, and to drive to a destination based on the destination information. A package securing subsystem is attached to the autonomous road vehicle and comprises at least one securable compartment. Each securable compartment is operative to secure at least one package therein. Each securable compartment is associated with compartment access information. An access subsystem comprising at least one access information interface. The access subsystem is operative, upon receipt through the access information interface of compartment access information, to permit access to the compartment associated with the received compartment access information.

Abstract translation: 包装送货平台。 自主道路车辆可操作以接收目的地信息，并且基于目的地信息来驱动到目的地。 包装固定子系统连接到自主道路车辆并且包括至少一个安全隔间。 每个安全隔间可操作以将至少一个包装固定在其中。 每个安全隔间与隔间访问信息相关联。 一种接入子系统，包括至少一个接入信息接口。 访问子系统在通过隔离间访问信息的访问信息界面接收到操作以允许访问与所接收的隔室访问信息相关联的隔间。

公开(公告)号：US20150212521A1

公开(公告)日：2015-07-30

申请号：US14685029

申请日：2015-04-13

Applicant: iRobot Corporation

Inventor： Robert Todd Pack ,  Scott R. Lenser ,  Justin H. Kearns ,  Orjeta Taka

IPC: G05D1/02

CPC classification number: G05D1/0231 ,  G01C21/20 ,  G01C21/30 ,  G05D1/0214 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0211 ,  G06T7/277 ,  G06T7/73 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/01 ,  Y10S901/47

Abstract: A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.

Abstract translation: 定位移动机器人的方法包括接收关于机器人的场景的传感器数据，并执行具有一组粒子的粒子滤波器。 每个粒子都具有表示机器人位置假设的关联图。 该方法还包括基于接收的传感器数据更新与每个粒子相关联的图，基于接收的传感器数据评估每个粒子的权重，基于其权重选择粒子，以及基于所选择的确定机器人的位置 粒子。

公开(公告)号：US20150202770A1

公开(公告)日：2015-07-23

申请号：US14269081

申请日：2014-05-03

Applicant: Anthony Patron ,  Youenn Colin ,  Blaise Bertrand ,  Vinh Pho ,  Raj Abhyanker

Inventor： Anthony Patron ,  Youenn Colin ,  Blaise Bertrand ,  Vinh Pho ,  Raj Abhyanker

IPC: B25J9/00 ,  B25J5/00 ,  G05D1/00

CPC classification number: B25J9/0003 ,  B25J5/007 ,  G05D1/0011 ,  G05D1/024 ,  G05D2201/0211 ,  G05D2201/0213 ,  G06Q30/0265 ,  G06Q50/01 ,  Y10S901/01 ,  Y10S901/47 ,  Y10S901/50

Abstract: A method, device and system of sidewalk messaging of an autonomous robot are disclosed. In one embodiment, an autonomous robot includes a motherboard comprising a processor communicatively coupled with a memory, a sensory fusion circuitry to execute a command of a sensory fusion algorithm, and a communication circuitry to bi-directionally communicate an instruction between a central server and the autonomous robot. A sidewalk lighting circuitry executes a projection command of a sidewalk messaging algorithm. The sidewalk lighting circuitry autonomously projects a relevant projection of at least one of an operational status message, a directional message, and an advertisement message on a ground of a sidewalk area immediately in front of a present trajectory of the autonomous robot based on the projection command generated by applying the sidewalk messaging algorithm to instructions of at least one of the sensory fusion circuitry, the central server, and the communication circuitry.

Abstract translation: 公开了一种自主机器人的人行道消息传递的方法，装置和系统。 在一个实施例中，自主机器人包括主板，其包括与存储器通信地耦合的处理器，用于执行感觉融合算法的命令的感觉融合电路，以及通信电路，用于在中央服务器和 自主机器人 人行道照明电路执行人行道消息传递算法的投影命令。 人行道照明电路基于投影命令自主地在自主机器人的当前轨迹的前方的人行道区域的地面上投射至少一个操作状态消息，定向消息和广告消息的相关投影 通过将人行道消息传递算法应用于感觉融合电路，中央服务器和通信电路中的至少一个的指令而产生。

公开(公告)号：US20150197011A1

公开(公告)日：2015-07-16

申请号：US14589429

申请日：2015-01-05

Applicant: iRobot Corporation

Inventor： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1694 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0208 ,  G05D2201/0211 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.

Abstract translation: 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

公开(公告)号：US09014848B2

公开(公告)日：2015-04-21

申请号：US13032406

申请日：2011-02-22

Applicant: Timothy S. Farlow ,  Michael Rosenstein ,  Michael Halloran ,  Chikyung Won ,  Steven V. Shamlian ,  Mark Chiappetta

Inventor： Timothy S. Farlow ,  Michael Rosenstein ,  Michael Halloran ,  Chikyung Won ,  Steven V. Shamlian ,  Mark Chiappetta

IPC: G05D1/02 ,  B25J5/00 ,  B25J11/00 ,  G05D1/00 ,  B25J13/00 ,  B25J19/02

CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J11/009 ,  B25J19/023 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0038 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  H04N7/142 ,  H04N7/144 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

Abstract translation: 机器人系统包括具有执行用于控制机器人的操作的控制系统的控制器的移动机器人，与机器人的控制器通信的云计算服务以及与云计算服务通信的远程计算设备。 远程计算设备通过云计算服务与机器人进行通信。

公开(公告)号：US20150100158A1

公开(公告)日：2015-04-09

申请号：US14568551

申请日：2014-12-12

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Toru TANIGAWA ,  Jun OZAWA ,  Yumi WAKITA ,  Katsuyoshi YAMAGAMI ,  Eiichi NAITO

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  G05B2219/39135 ,  G05B2219/40201 ,  G05D1/0212 ,  G05D1/0246 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: In a running control method of a running apparatus, person moving direction and speed are estimated based on a person position history for predetermined time. It is decided whether contact with a person is likely to be made based on the estimation and running information about the running apparatus. When it is decided that the contact is likely to be made, a first route where the running apparatus avoids the person is generated for controlling running of the running apparatus therealong. It is decided whether the person has the intention to contact with the running apparatus based on the decision in the contact possibility deciding unit after the running along the first route. When it is decided that the person has the contact intention, a second route where the running apparatus approaches the person is generated for controlling the running of the running apparatus therealong.

Abstract translation: 在运行装置的运行控制方法中，基于人员位置历史来预测人的移动方向和速度预定时间。 根据关于运行装置的估计和运行信息，决定是否可能进行与人的联系。 当决定可能进行接触时，生成运行装置避开人的第一路径，以便控制运行装置的运行。 基于在沿着第一路线行驶之后的接触可能性判定单元中的判定，决定该人是否有意与运行装置接触。 当决定该人具有接触意图时，生成运行装置接近人的第二路径，用于控制运行装置的运行。

公开(公告)号：US09002511B1

公开(公告)日：2015-04-07

申请号：US11584355

申请日：2006-10-20

Applicant: Kevin Hickerson ,  Luis Goncalves ,  Paolo Pirjanian ,  Nikolai Romanov

Inventor： Kevin Hickerson ,  Luis Goncalves ,  Paolo Pirjanian ,  Nikolai Romanov

IPC: G06F15/00 ,  G06F13/376 ,  G05D1/02

CPC classification number: G05D1/0248 ,  G01S7/483 ,  G01S17/023 ,  G01S17/026 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0038 ,  G05D1/0246 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0209 ,  G05D2201/0211 ,  Y10S901/01

Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.

Abstract translation: 公开了一种在机器人运动时用于移动机器人的障碍物检测器。 检测器优选地包括配置成在机器人的路径中投射脉冲光的至少一个光源; 用于捕获从机器人的路径反射的光的多个图像的视觉传感器; 处理单元，被配置为从图像中提取反射; 以及障碍物检测单元，被配置为基于所提取的反射来检测所述机器人的路径中的障碍物。 在优选实施例中，通过减去其中每对包括用至少一个光源捕获的第一图像和至少一个光源捕获的第二图像的图像对，提取投影光的反射，以及 然后组合两个或多个提取的反射的图像以抑制背景。