公开(公告)号：US20110211731A1

公开(公告)日：2011-09-01

申请号：US13050459

申请日：2011-03-17

Applicant: Su-Jinn Lee ,  Hyeon Myeong ,  Yong-beom Lee ,  Seok-won Bang

Inventor： Su-Jinn Lee ,  Hyeon Myeong ,  Yong-beom Lee ,  Seok-won Bang

IPC: G06K9/00 ,  G06K9/34

CPC classification number: G06K9/00771 ,  G05D1/0274 ,  G05D2201/0203

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract translation: 提供了一种通过使用特征点来划分区域的装置，方法和介质，以及使用其的移动机器人清洁器。 一种方法包括通过使用通过检测移动机器人与障碍物的距离而获得的多个网格点来形成网格图; 从网格图中提取特征点; 从特征点提取位于区域分割元素的范围内的特征点的候选对; 从候选对特征点提取满足区域分割要素的最终特征点对; 通过连接最后一对特征点形成关键线; 并且根据连接关键线和网格图的闭合曲线形成的区域之间的尺寸关系形成最终区域。

公开(公告)号：US20110144850A1

公开(公告)日：2011-06-16

申请号：US12812773

申请日：2008-12-04

Applicant: Takashi Jikihara

Inventor： Takashi Jikihara

IPC: G05D1/02

CPC classification number: G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A moving apparatus includes a route preparing function unit, a moving function unit, an obstacle detecting function unit, an obstacle removal requesting function unit, an obstacle judging function unit, a request target detecting function unit and an obstacle selecting function unit. Here, the route preparing function unit prepares a route to a destination. The moving function unit moves along the route. The obstacle detecting function unit detects obstacles that interfere in the movement. Here, when the obstacles exist on the route, the route preparing function unit tries to prepare a different route from the route. When the different route exists, the moving function unit tries to move to the destination along the different route. The obstacle removal requesting function unit requests the outside to remove the obstacles outside the route, when the different route does not exist. The obstacle judging function unit judges existence of at least one removable obstacle that can be removed from the route among the obstacles detected by the obstacle detecting function unit. The request target detecting function unit detects at least one request capable target who is capable of being requested to remove the removable obstacle by the obstacle removal requesting function unit, in an outside. The obstacle selecting function unit, when there is a plurality of removable obstacles as the at least one removable obstacle, selectively determine a removal target obstacle that is an obstacle whose removal is requested by the obstacle removal requesting function unit from the plurality of removable obstacles.

Abstract translation: 移动设备包括路线准备功能单元，移动功能单元，障碍物检测功能单元，障碍物消除请求功能单元，障碍物判断功能单元，请求目标检测功能单元和障碍物选择功能单元。 这里，路线准备功能单元准备到目的地的路线。 移动功能单元沿路线移动。 障碍物检测功能单元检测妨碍运动的障碍物。 这里，当路线上存在障碍物时，路线准备功能单元尝试从路线准备不同的路线。 当存在不同的路由时，移动功能单元尝试沿着不同的路由移动到目的地。 当不同的路线不存在时，障碍物去除请求功能单元请求外部去除路线外的障碍物。 障碍物判断功能单元判断是否存在可以从由障碍物检测功能单元检测到的障碍物中的路线中去除的至少一个可移除障碍物。 在外部，请求目标检测功能单元检测能够被请求的至少一个可请求能力的目标人物被障碍物移除请求功能单元移除。 当存在多个可移除障碍物作为至少一个可移动障碍物时，障碍物选择功能单元选择性地确定作为障碍物移除请求功能单元从多个可移除障碍物中请求移除的障碍物的移除目标障碍物。

公开(公告)号：US20110098874A1

公开(公告)日：2011-04-28

申请号：US12911298

申请日：2010-10-25

Applicant: Sunglok CHOI ,  Jae-Yeong Lee ,  Wonpil Yu

Inventor： Sunglok CHOI ,  Jae-Yeong Lee ,  Wonpil Yu

IPC: G05D1/00 ,  B25J5/00 ,  B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/40506 ,  G05D1/0212 ,  G05D1/0238 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A method of navigating a robot includes creating a robot navigation map using a map database required for navigation of the robot; and creating a path on which no obstacle is located in the map database using the created robot navigation map. Further, the method of navigating the robot includes primarily controlling the robot so that the robot travels along the created path; and secondarily controlling the robot so that the robot avoids an obstacle on the path.

Abstract translation: 导航机器人的方法包括使用所述机器人的导航所需的地图数据库来创建机器人导航地图; 并使用创建的机器人导航图创建在地图数据库中没有障碍物的路径。 此外，导航机器人的方法主要包括控制机器人，使得机器人沿着所创建的路径行进; 并且二次控制机器人，使得机器人避免路径上的障碍物。

公开(公告)号：US20110082668A1

公开(公告)日：2011-04-07

申请号：US12899487

申请日：2010-10-06

Applicant: M. Teresa Escrig ,  Juan Carlos Peris

Inventor： M. Teresa Escrig ,  Juan Carlos Peris

IPC: G06F17/50 ,  G06F19/00

CPC classification number: G05D1/0246 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0211

Abstract: This invention relates generally to robotics, and more specifically, to systems and methods for establishing an environmental representation. In one embodiment, the invention includes a method of operations including determining quantitative data relating to one or more landmarks; determining qualitative data relating to the one or more landmarks; and establishing at least a portion of an environmental representation using the quantitative data and/or the qualitative data.

Abstract translation: 本发明一般涉及机器人技术，更具体地，涉及用于建立环境表示的系统和方法。 在一个实施例中，本发明包括一种操作方法，包括确定与一个或多个地标有关的定量数据; 确定与一个或多个地标相关的定性数据; 以及使用定量数据和/或定性数据建立至少一部分环境表示。

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：US20110054686A1

公开(公告)日：2011-03-03

申请号：US12662527

申请日：2010-04-21

Applicant: Hyoung-Ki Lee ,  Ki-wan Choi

Inventor： Hyoung-Ki Lee ,  Ki-wan Choi

IPC: B25J9/16

CPC classification number: G05D1/0272 ,  G05D1/0253 ,  G05D1/027 ,  G05D2201/0203

Abstract: Disclosed is an apparatus and method for detecting slip of a robot. The robot periodically repeats a pattern movement in the order of a uniform motion, a decelerating motion, and an accelerating motion, or in the order of a uniform motion, an accelerating motion, and a deceleration motion. The occurrence of slip of the robot performing a pattern movement is determined by comparing a first acceleration of the robot measured by an acceleration sensor and a second acceleration of the robot measured by an encoder.

Abstract translation: 公开了一种用于检测机器人滑动的装置和方法。 机器人按照均匀运动，减速运动和加速运动的顺序，或以均匀运动，加速运动和减速运动的顺序周期性地重复模式运动。 通过比较由加速度传感器测量的机器人的第一加速度和由编码器测量的机器人的第二加速度来确定执行图案移动的机器人的滑动的发生。

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：US20100292884A1

公开(公告)日：2010-11-18

申请号：US12464844

申请日：2009-05-12

Applicant: Rogelio Manfred Neumann ,  Robert Paul Roy

Inventor： Rogelio Manfred Neumann ,  Robert Paul Roy

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

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

Abstract: A device for controlling the reflection of incident beams to influence navigation of an autonomous device having a navigation sensor comprising a beam emitter and a beam detector for detecting reflected emitted beams. The device comprises at least one surface having a geometry configured to direct a reflection from the emitted beam in a predetermined direction so that a suitable amount of the reflected beam can be detected by the detector.

Abstract translation: 一种用于控制入射光束的反射以影响具有导光传感器的自主设备的导航的装置，该导航传感器包括用于检测反射的发射光束的光束发射器和光束检测器。 该装置包括至少一个具有几何形状的表面，所述几何形状被配置成沿着预定方向引导来自所发射的光束的反射，使得可以由检测器检测适当量的反射光束。

公开(公告)号：US07761954B2

公开(公告)日：2010-07-27

申请号：US11835363

申请日：2007-08-07

Applicant: Andrew Ziegler ,  Duane Gilbert ,  Christopher J. Morse ,  Scott Pratt ,  Paul Sandin ,  Nancy Dussault ,  Andrew Jones

Inventor： Andrew Ziegler ,  Duane Gilbert ,  Christopher J. Morse ,  Scott Pratt ,  Paul Sandin ,  Nancy Dussault ,  Andrew Jones

IPC: A47L7/00 ,  A47L5/00 ,  E01H1/08

CPC classification number: A47L11/302 ,  A47L5/14 ,  A47L7/0028 ,  A47L7/0038 ,  A47L7/0042 ,  A47L9/009 ,  A47L9/10 ,  A47L9/28 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2884 ,  A47L11/40 ,  A47L11/4005 ,  A47L11/4011 ,  A47L11/4016 ,  A47L11/4027 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4083 ,  A47L11/4088 ,  A47L2201/00 ,  A47L2201/022 ,  A47L2201/04 ,  B60B33/001 ,  B60B33/0021 ,  B60B33/0028 ,  B60B33/0039 ,  B60B33/0049 ,  B60B33/0057 ,  B60B33/0068 ,  B60B33/0073 ,  B60B33/028 ,  B60R19/483 ,  C11D1/62 ,  C11D1/75 ,  F04D29/4233 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0272 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/40

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract translation: 自动地板清洁机器人包括传送驱动和控制系统，其被布置成用于机器人在地板上的自动运动以执行清洁操作。 机器人机架运送第一清洁区，包括布置成从清洁表面向上抽吸松散颗粒的清洁元件，以及第二清洁区，包括布置成将清洁流体施加到表面上的清洁元件，并且此后从表面向上收集清洁流体 它已被用来清洁表面。 机器人底盘运送清洁液供应源和用于储存从清洁表面收集的废物的废物容器。

公开(公告)号：US20100174408A1

公开(公告)日：2010-07-08

申请号：US12602226

申请日：2008-06-02

Applicant: Hubert Gerard Jean Joseph Amaury Vroomen

Inventor： Hubert Gerard Jean Joseph Amaury Vroomen

IPC: G05B19/04

CPC classification number: G05D1/028 ,  B25J9/0003 ,  G05D1/0212 ,  G05D1/0225 ,  G05D1/0276 ,  G05D2201/0203

Abstract: A system provided with a base station (2) comprising a signal emitting module, a self movable robot comprising at least an energy storage, a sensor for sensing this signal emitted by signal emitting module of the base station and a processor for controlling the movement of the robot by means of the sensed signal to return the robot to the base station. The robot comprises means for controlling the movement of the robot to move the robot randomly over a surface, whereby the absolute position of the robot is not memorized, means for marking the interrupt location (5) where the movement of the robot is interrupted to return to the base station and means for returning the robot from the base station to the interrupt location (5) by means of said marking.

Abstract translation: 一种具有基站（2）的系统，包括信号发射模块，至少包括能量存储器的自动移动机器人，用于感测由基站的信号发射模块发射的该信号的传感器和用于控制基站的移动的处理器 机器人通过感测到的信号将机器人返回到基站。 机器人包括用于控制机器人移动机器人以使机器人在表面上随机移动的装置，由此不存储机器人的绝对位置，用于标记中断位置（5）的装置，其中机器人的运动被中断以返回 并且通过所述标记将机器人从基站返回到中断位置（5）的装置。