公开(公告)号：US20070230772A1

公开(公告)日：2007-10-04

申请号：US11754370

申请日：2007-05-29

Applicant: Zhenya Yourlo ,  Paul Lapstun ,  Kia Silverbrook

Inventor： Zhenya Yourlo ,  Paul Lapstun ,  Kia Silverbrook

IPC: G06K1/00

CPC classification number: G05D1/0234 ,  A63F3/00643 ,  A63F2003/00826 ,  A63H2200/00 ,  B41J3/28 ,  B43L13/00 ,  G05B2219/45084 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0214

Abstract: A robot for marking an encoded surface is provided. The encoded surface has coded data identifying a plurality of locations thereon. The robot has an image sensor for sensing the coded data, and a processor for generating indicating data using the coded data sensed by the image sensor. The indicating data has data regarding a position of the robot on the encoded surface. The robot uses a communication means to transmit the indicating data to a computer system and receiving instructions from the computer system. A steerable drive system moves the robot over the encoded surface in response to movement instructions received from the computer system and a marking device selectively marks the encoded surface in response to marking instructions received from the computer system.

Abstract translation: 提供了用于标记编码表面的机器人。 编码表面具有识别其上的多个位置的编码数据。 机器人具有用于感测编码数据的图像传感器，以及处理器，用于使用由图像传感器感测的编码数据产生指示数据。 指示数据具有关于编码表面上的机器人的位置的数据。 机器人使用通信装置将指示数据发送到计算机系统并从计算机系统接收指令。 响应于从计算机系统接收到的移动指令，可操纵的驱动系统将机器人移动到编码表面上，并且标记装置响应于从计算机系统接收的标记指令，有选择地标记编码表面。

公开(公告)号：US20070063834A1

公开(公告)日：2007-03-22

申请号：US11203780

申请日：2005-08-15

Applicant: Stephen Bozzone ,  Alan Beatty ,  Sybren Smith

Inventor： Stephen Bozzone ,  Alan Beatty ,  Sybren Smith

IPC: G08B1/08 ,  H04Q7/00

CPC classification number: A63H30/04 ,  G05D1/0022 ,  G05D2201/0214 ,  H04L67/125 ,  H04L67/36

Abstract: A remote controlling device (12) having a first transceiver (9) and first processor (16) for controlling a remote controlled apparatus (18) having a second wireless transceiver (20) and a second processor (24). The processors can be programmed to measure a signal quality level of signals transmitted by the wireless transceiver(s) to redirect the remote controlled apparatus if the signal quality level falls below a predetermined threshold. The processor(s) can be further programmed to transmit control signals to redirect (56) the remote controlled apparatus toward the remote controlling device or to safely stop the remote controlled apparatus or to cause the remote controlled apparatus to meander so long as the signal quality level stays above the predetermined threshold.

Abstract translation: 一种具有第一收发器（9）和第一处理器（16）的远程控制设备（12），用于控制具有第二无线收发器（20）和第二处理器（24）的远程受控设备（18）。 如果信号质量水平低于预定阈值，则处理器可被编程为测量由无线收发器发射的信号的信号质量水平以重定向远程受控设备。 处理器可以被进一步编程以发送控制信号以将远程受控设备重定向（56）朝向远程控制设备，或者安全地停止远程受控设备，或者使遥控设备蜿蜒，只要信号质量 电平保持在预定阈值以上。

公开(公告)号：US07193384B1

公开(公告)日：2007-03-20

申请号：US10629475

申请日：2003-07-29

Applicant: David A. Norman ,  Robert H. Mimlitch, III ,  Paul S. Adams

Inventor： David A. Norman ,  Robert H. Mimlitch, III ,  Paul S. Adams

IPC: B25J9/16

CPC classification number: A63H30/04 ,  A63F7/06 ,  A63F7/0664 ,  A63F2009/2489 ,  A63H11/00 ,  A63H33/04 ,  G05D1/0022 ,  G05D1/0287 ,  G05D2201/0214

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract translation: 一种在机器人竞赛中操作机器人的系统和方法。 系统的一个实施例可以包括操作者界面，其中每个操作者界面可操作以控制相应的机器人的移动。 相应的操作员接口可以与相关联的运营商无线电通信，其中每个无线电装置可以具有低功率RF输出信号。 在机器人竞赛中，机器人控制器可以耦合到每个机器人。 机器人无线电可以耦合到相应的机器人并且与相应的机器人控制器和操作者无线电通信。 当与相应的操作员无线电通信时，机器人无线电装置可以具有低功率RF输出信号。 或者，无线电设备可以是短距离无线电，其中通信距离可以是最大约500英尺。

公开(公告)号：US07071648B2

公开(公告)日：2006-07-04

申请号：US11108046

申请日：2005-04-14

Applicant: Shingo Tsurumi

Inventor： Shingo Tsurumi

IPC: B25J9/22 ,  B05B19/04

CPC classification number: B25J19/005 ,  B25J19/023 ,  G05D1/0225 ,  G05D1/0234 ,  G05D2201/0214 ,  H02J7/00

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

公开(公告)号：US07068004B2

公开(公告)日：2006-06-27

申请号：US11107668

申请日：2005-04-14

Applicant: Shingo Tsurumi

Inventor： Shingo Tsurumi

IPC: B25J5/00

CPC classification number: B25J19/005 ,  B25J19/023 ,  G05D1/0225 ,  G05D1/0234 ,  G05D2201/0214 ,  H02J7/00

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

Abstract translation: 机器人装置1将被自动地充电。 电气充电装置100设置有两个标记，即主标记118和子标记119，并且标记的高度预先存储在机器人装置中。 当机器人装置1找到与充电装置100的方向和距离时，CCD照相机20从拍摄图像中求出标记的方向矢量。 将该方向矢量变换为摄像机坐标系{c}的位置矢量，并进一步变换为机器人坐标系{b}的位置矢量。 将机器人坐标系{b}中的高度方向上的坐标与预先存储的高度进行比较，以找到标记与机器人装置之间的距离以及机器人装置的方向。

公开(公告)号：US07065430B2

公开(公告)日：2006-06-20

申请号：US10960928

申请日：2004-10-12

Applicant: Yoji Naka ,  Hiroshi Endo ,  Yoshihiro Ito

Inventor： Yoji Naka ,  Hiroshi Endo ,  Yoshihiro Ito

IPC: G06F19/00

CPC classification number: G06N3/008 ,  G05D1/0225 ,  G05D1/0246 ,  G05D2201/0214 ,  G06F1/26 ,  G06F1/263

Abstract: A receiving apparatus includes a receiving section for receiving image data output from an autonomously traveling robot at a predetermined output position and a storage section for storing the image data received from the robot at the receiving section.

Abstract translation: 接收装置包括：接收部分，用于接收从预定输出位置处的自主行进的机器人输出的图像数据;以及存储部分，用于存储从机器人接收的图像数据在接收部分。

公开(公告)号：US06965211B2

公开(公告)日：2005-11-15

申请号：US11107664

申请日：2005-04-14

Applicant: Shingo Tsurumi

Inventor： Shingo Tsurumi

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  G05D1/02 ,  H02J7/00 ,  B25J9/22

CPC classification number: B25J19/005 ,  B25J19/023 ,  G05D1/0225 ,  G05D1/0234 ,  G05D2201/0214 ,  H02J7/00

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

Abstract translation: 机器人装置1将被自动地充电。 电气充电装置100设置有两个标记，即主标记118和子标记119，并且标记的高度预先存储在机器人装置中。 当机器人装置1找到与充电装置100的方向和距离时，CCD照相机20从拍摄图像中求出标记的方向矢量。 将该方向矢量变换为摄像机坐标系{c}的位置矢量，并进一步变换为机器人坐标系{b}的位置矢量。 将机器人坐标系{b}中的高度方向的坐标与预先存储的高度进行比较，以找出标记与机器人装置之间的距离以及机器人装置的方向。

公开(公告)号：US20050194921A1

公开(公告)日：2005-09-08

申请号：US11107664

申请日：2005-04-14

Applicant: Shingo Tsurumi

Inventor： Shingo Tsurumi

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  G05D1/02 ,  H02J7/00 ,  B05B5/00

CPC classification number: B25J19/005 ,  B25J19/023 ,  G05D1/0225 ,  G05D1/0234 ,  G05D2201/0214 ,  H02J7/00

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

公开(公告)号：US20050182519A1

公开(公告)日：2005-08-18

申请号：US11081540

申请日：2005-03-17

Applicant: Seiichi Takamura ,  Wataru Kokubo ,  Shingo Tsurumi

Inventor： Seiichi Takamura ,  Wataru Kokubo ,  Shingo Tsurumi

IPC: A63H11/00 ,  A63H13/00 ,  B25J5/00 ,  B25J9/16 ,  B25J9/22 ,  B25J13/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/04 ,  G05B15/00 ,  G05B19/00 ,  G05D1/02 ,  G06F19/00

CPC classification number: G05D1/0246 ,  G05D2201/0214

Abstract: A robot apparatus 1 is a four-legged mobile robot, and leg units 3A, 3B, 3C, and 3D are connected to the left and side parts in the front and rear sides of a body unit 2. Ahead unit 4 is connected to the front end of the body unit 2. The head unit 4 has a mouth (jaw) part capable of biting and holding a toy 200 shaped like a bone. The mouth part is constituted by upper and lower jaw parts, and adopts a structure capable of biting and securely holding a bite part 203 of the bone 200. A CPU as a control part executes programs according to an image recognition processing algorithm for recognizing the bone 200, a bone-bite control algorithm for biting the bone, and a bone-bite detection algorithm for detecting the bone.

Abstract translation: 机器人装置1是四脚移动机器人，并且腿单元3A，3B，3C和3D连接到主体单元2的前侧和后侧的左侧和侧部。 前方单元4连接到主体单元2的前端。 头部单元4具有能够咬住和保持形状类似于骨头的玩具200的嘴（颚）部分。 嘴部由上下颚部构成，采用能够咬合并牢固地保持骨200的咬合部203的结构。 作为控制部的CPU根据用于识别骨200的图像识别处理算法，用于咬合骨的骨咬控制算法和用于检测骨的骨咬合检测算法来执行程序。

公开(公告)号：US20050182516A1

公开(公告)日：2005-08-18

申请号：US11108046

申请日：2005-04-14

Applicant: Shingo Tsurumi

Inventor： Shingo Tsurumi

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  G05D1/02 ,  H02J7/00 ,  G05B19/04

CPC classification number: B25J19/005 ,  B25J19/023 ,  G05D1/0225 ,  G05D1/0234 ,  G05D2201/0214 ,  H02J7/00

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.