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    Apparatus for holding a cleaning sheet in a cleaning implement
    31.
    发明授权
    Apparatus for holding a cleaning sheet in a cleaning implement 有权
    用于将清洁片保持在清洁工具中的装置

    公开(公告)号：US08316499B2

    公开(公告)日：2012-11-27

    申请号：US12985257

    申请日：2011-01-05

    Applicant: Michael Dooley ,  Nikolai Romanov

    Inventor： Michael Dooley ,  Nikolai Romanov

    IPC: A47L11/40

    CPC classification number: A47L11/40 ,  A47L13/256 ,  Y10T29/4987

    Abstract: Cleaning devices which use cleaning sheets affixed in traps are disclosed. The traps comprise first and second jaws, each comprising base and forward portions, each forward position having a forward surface. The forward portion of the second jaw is flexible in at least a first direction, such as towards a surface over which the device is configured to move. When the second jaw is relaxed, the forward portion of the second jaw is substantially coplanar with the forward portion of the first jaw and the forward surfaces are proximate or touching. When the second jaw is flexed in the first direction (e.g., by the application of a force from a user), the forward surface of the forward portion of the second jaw moves in the first direction, away from the forward surface of the first jaw. This opens a gap through which a portion of a sheet may be inserted.

    Abstract translation: 公开了使用固定在收集器中的清洁纸的清洁装置。 捕集器包括第一和第二夹爪，每个夹爪包括基部和前部，每个前部位置具有前表面。 第二钳口的前部在至少第一方向上是柔性的，例如朝向装置构造成移动的表面。 当第二钳口松弛时，第二钳口的前部基本上与第一钳夹的前部共面，并且前表面靠近或接触。 当第二钳口沿第一方向（例如，通过施加来自使用者的力）弯曲时，第二钳口的前部的前表面沿着第一方向移动，远离第一钳口的前表面 。 这打开了可以插​​入片材的一部分的间隙。

    Methods and apparatus for position estimation using reflected light sources
    32.
    发明授权
    Methods and apparatus for position estimation using reflected light sources 有权
    使用反射光源进行位置估计的方法和装置

    公开(公告)号：US07996097B2

    公开(公告)日：2011-08-09

    申请号：US12780746

    申请日：2010-05-14

    Applicant: Enrico DiBernardo ,  Paolo Pirjanian

    Inventor： Enrico DiBernardo ,  Paolo Pirjanian

    IPC: G05B19/18

    CPC classification number: G01B11/002 ,  G01C3/06 ,  G01S5/163 ,  G01S17/06 ,  G01S17/48 ,  G05D1/0234

    Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

    Abstract translation: 本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。 所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。 其他应用包括用于位置感知，无所不在的设备的对象的估计和跟踪。 其他应用包括追踪人或宠物在室内环境中的位置。 该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向 从表面反射的一个或多个发射光源。

    APPARATUS FOR HOLDING A CLEANING SHEET IN A CLEANING IMPLEMENT
    33.
    发明申请
    APPARATUS FOR HOLDING A CLEANING SHEET IN A CLEANING IMPLEMENT 有权
    用于在清洁实施中保持清洁表的装置

    公开(公告)号：US20110162157A1

    公开(公告)日：2011-07-07

    申请号：US12985257

    申请日：2011-01-05

    Applicant: Michael Dooley ,  Nikolai Romanov

    Inventor： Michael Dooley ,  Nikolai Romanov

    IPC: A47L11/40 ,  B23P11/02

    CPC classification number: A47L11/40 ,  A47L13/256 ,  Y10T29/4987

    Abstract: Cleaning devices which use cleaning sheets affixed in traps are disclosed. The traps comprise first and second jaws, each comprising base and forward portions, each forward position having a forward surface. The forward portion of the second jaw is flexible in at least a first direction, such as towards a surface over which the device is configured to move. When the second jaw is relaxed, the forward portion of the second jaw is substantially coplanar with the forward portion of the first jaw and the forward surfaces are proximate or touching. When the second jaw is flexed in the first direction (e.g., by the application of a force from a user), the forward surface of the forward portion of the second jaw moves in the first direction, away from the forward surface of the first jaw. This opens a gap through which a portion of a sheet may be inserted.

    Abstract translation: 公开了使用固定在收集器中的清洁纸的清洁装置。 捕集器包括第一和第二夹爪，每个夹爪包括基部和前部，每个前部位置具有前表面。 第二钳口的前部在至少第一方向上是柔性的，例如朝向装置构造成移动的表面。 当第二钳口松弛时，第二钳口的前部基本上与第一钳夹的前部共面，并且前表面靠近或接触。 当第二钳口沿第一方向（例如，通过施加来自使用者的力）弯曲时，第二钳口的前部的前表面沿着第一方向移动，远离第一钳口的前表面 。 这打开了可以插​​入片材的一部分的间隙。

    Hardware abstraction layer (HAL) for a robot
    34.
    发明授权
    Hardware abstraction layer (HAL) for a robot 有权
    机器人的硬件抽象层（HAL）

    公开(公告)号：US07925381B2

    公开(公告)日：2011-04-12

    申请号：US11945893

    申请日：2007-11-27

    Applicant: Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

    Inventor： Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

    IPC: G06F19/00 ,  G05B19/18

    CPC classification number: G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

    Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

    Abstract translation: 公开了一种为机器人提供硬件抽象层（HAL）的方法和装置。 HAL可以作为软件层或驻留在机器人控制软件和底层机器人硬件和/或硬件的操作系统之间的固件层存在。 HAL为底层硬件的聚合提供了相对均匀的抽象，使得潜在的机器人硬件对感知和控制软件即机器人控制软件是透明的。 这有利地允许以机器人独立的方式写入机器人控制软件。 机器人控制软件的开发者然后摆脱繁琐的低级任务。 便携性是另一个优点。 例如，HAL有效地允许为一个机器人开发的机器人控制软件移植到另一个机器人。 在一个示例中，HAL允许从轮式机器人移植相同的导航算法，并在人形腿式机器人上使用。

    Vision-enabled household appliances
    35.
    发明授权
    Vision-enabled household appliances 有权
    视觉家用电器

    公开(公告)号：US07903838B2

    公开(公告)日：2011-03-08

    申请号：US11038714

    申请日：2005-01-20

    Applicant: Alec Hudnut ,  William Gross

    Inventor： Alec Hudnut ,  William Gross

    IPC: G06K9/00

    CPC classification number: A47L15/0063 ,  A47J37/00 ,  A47L15/4293 ,  A47L2401/03 ,  A47L2401/04 ,  A47L2401/34 ,  A47L2501/26 ,  A47L2501/30 ,  A47L2501/34 ,  D06F39/005 ,  F25D2400/361

    Abstract: The invention is generally related to the systems and methods through which household appliances can provide intuitive and enhanced interactivity through visual inputs. In particular, the disclosure presents methods relating to control of a household appliance, such as a microwave or a refrigerator, via recognition of visual indicia, such as graphics, text, and the like, using a visual sensor such as a camera.

    Abstract translation: 本发明通常涉及家用电器可以通过视觉输入提供直观和增强的交互性的系统和方法。 具体地，本公开通过使用诸如相机的视觉传感器通过识别诸如图形，文本等的视觉标记来呈现与家用电器（例如微波炉或冰箱）的控制有关的方法。

    Computer and vision-based augmented interaction in the use of printed media
    38.
    发明授权
    Computer and vision-based augmented interaction in the use of printed media 有权
    计算机和基于视觉的增强互动使用印刷媒体

    公开(公告)号：US07283983B2

    公开(公告)日：2007-10-16

    申请号：US10754915

    申请日：2004-01-09

    Applicant: Michael J. Dooley ,  Barton Elliot Listick ,  Paolo Pirjanian

    Inventor： Michael J. Dooley ,  Barton Elliot Listick ,  Paolo Pirjanian

    IPC: G06E1/00 ,  G06E3/00 ,  G06F15/18 ,  G06G7/00

    CPC classification number: G06F3/017 ,  G06K9/00335

    Abstract: Media and gesture recognition apparatus and methods are disclosed. A computerized system views a first printed media using an electronic visual sensor. The system retrieves information corresponding to the viewed printed media from a database. Using the electronic visual sensor, the system views at least a first user gesture relative to at least a portion of the first printed media. The system interprets the gesture as a command, and based at least in part on the first gesture and the retrieved information, the system electronically speaks aloud at least a portion of the retrieved information.

    Abstract translation: 公开了媒体和手势识别装置和方法。 计算机化系统使用电子视觉传感器来观看第一印刷媒体。 系统从数据库中检索与所查看的打印介质相对应的信息。 使用电子视觉传感器，系统至少看到第一用户手势相对于第一印刷媒体的至少一部分。 该系统将手势解释为命令，并且至少部分地基于第一手势和检索到的信息，系统以至少一部分所检索的信息进行电子地朗读。

    Circuit for estimating position and orientation of a mobile object
    40.
    发明授权
    Circuit for estimating position and orientation of a mobile object 有权
    用于估计移动物体的位置和方向的电路

    公开(公告)号：US07148458B2

    公开(公告)日：2006-12-12

    申请号：US11090430

    申请日：2005-03-25

    Applicant: Steve Schell ,  Robert Witman ,  Joe Brown

    Inventor： Steve Schell ,  Robert Witman ,  Joe Brown

    IPC: G01C21/02 ,  G01C9/00

    CPC classification number: H03F3/087

    Abstract: A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources. The circuit comprises a position-sensitive light sensor for detecting the light sources and generating a first signal, an analog filter and amplification module (“AFA”) for filtering and amplifying the first signal and generating a second signal, a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the second signal.

    Abstract translation: 一种用于基于来自多个外部光源的光来估计移动物体的位置和姿态的电路系统。 电路包括用于检测光源并产生第一信号的位置敏感光传感器，用于滤波和放大第一信号并产生第二信号的模拟滤波器和放大模块（“AFA”），数字信号处理器（“ DSP“），用于通过从第二信号中提取频率分量来产生坐标系。

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