公开(公告)号：US20170312916A1

公开(公告)日：2017-11-02

申请号：US15646551

申请日：2017-07-11

Applicant: Discovery Robotics

Inventor： Larry J. Williams ,  Vivek Rajendran ,  Hardik Shah ,  Dharmateja Kadem ,  Jeffrey Blum ,  Ishit Shah ,  Manomit Bal ,  Britta Kathleen Ulm ,  David Callen

IPC: B25J9/08 ,  G05D1/02

CPC classification number: B25J9/08 ,  G01C21/20 ,  G01C21/206 ,  G05D1/0219 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to perform a wide variety of tasks utilizing the plurality of interchangeable service modules, and navigating through the service area utilizing a plurality of sensors and guided through a stored service plan for the service area.

公开(公告)号：US20160193729A1

公开(公告)日：2016-07-07

申请号：US14590597

申请日：2015-01-06

Applicant: Discovery Robotics

Inventor： Larry J. WILLIAMS

IPC: B25J9/10 ,  H04B1/00

CPC classification number: G01S5/0289 ,  B25J5/007 ,  B25J13/089 ,  G01C21/00 ,  G01C21/20 ,  G01S13/0209 ,  G01S19/42 ,  G05D1/0274 ,  G05D1/028 ,  H04B1/0092 ,  Y10S901/01

Abstract: A method and system for determining position and/or pose of an object. A robotic device moves throughout an environment and includes a master transceiver tag and, optionally, additional tags. The environment includes a plurality of anchor nodes that are configured to form a network. A master anchor node is in communication with at least a portion of the plurality of anchor nodes and is configured to transmit a ranging message as a UWB signal, receive a ranging message response from each other anchor node in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the other anchor nodes. The master transceiver tag receives the reference grid information and, based upon further calculations, determines a specific position and pose of the robotic device within the environment.

Abstract translation: 一种用于确定物体的位置和/或姿态的方法和系统。 机器人设备在整个环境中移动，并且包括主收发器标签和可选地附加的标签。 环境包括被配置为形成网络的多个锚节点。 主锚节点与多个锚节点的至少一部分进行通信，并且被配置为发送测距消息作为UWB信号，从网络中的每个其他锚节点接收测距消息响应，生成表示 基于所接收的测距消息响应，网络内的多个锚节点的物理位置，并将参考网格分配给每个其他锚节点。 主收发器标签接收参考网格信息，并且基于进一步的计算确定机器人设备在环境内的具体位置和姿势。