公开(公告)号：US20120197439A1

公开(公告)日：2012-08-02

申请号：US13360590

申请日：2012-01-27

Applicant: Yulun Wang ,  Charles S. Jordan ,  Tim Wright ,  Michael Chan ,  Marco Pinter ,  Kevin Hanrahan ,  Daniel Sanchez ,  James Ballantyne ,  Cody Herzog ,  Blair Whitney ,  Fuji Lai ,  Kelton Temby ,  Eben Christopher Rauhut ,  Justin H. Kearns ,  Cheuk Wah Wong ,  Timothy Sturtevant Farlow

Inventor： Yulun Wang ,  Charles S. Jordan ,  Tim Wright ,  Michael Chan ,  Marco Pinter ,  Kevin Hanrahan ,  Daniel Sanchez ,  James Ballantyne ,  Cody Herzog ,  Blair Whitney ,  Fuji Lai ,  Kelton Temby ,  Eben Christopher Rauhut ,  Justin H. Kearns ,  Cheuk Wah Wong ,  Timothy Sturtevant Farlow

IPC: B25J13/08 ,  B25J19/04 ,  G06F19/00

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/009 ,  B25J11/0095 ,  G05D1/0038 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0206 ,  G06F3/0482 ,  G06F3/04842 ,  G06F3/04847 ,  G06F19/00 ,  G06F19/3418 ,  G06T11/00 ,  G06T11/60 ,  G06T15/10 ,  G06T2200/24 ,  Y10S901/01 ,  Y10S901/47

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

公开(公告)号：US20110214588A1

公开(公告)日：2011-09-08

申请号：US13024974

申请日：2011-02-10

Applicant: Peter Grübling ,  Klaus Herrmann ,  Ulrich Weber

Inventor： Peter Grübling ,  Klaus Herrmann ,  Ulrich Weber

IPC: B61B13/04

CPC classification number: H02K41/03 ,  A61B6/0457 ,  A61G1/02 ,  A61G5/1051 ,  A61G7/08 ,  A61G2203/22 ,  A61G2203/36 ,  A61G2210/50 ,  B60L5/005 ,  B60L2200/26 ,  G05D1/0265 ,  G05D2201/0206

Abstract: A guidance system for a medical facility includes at least one floor element that extends along a path of the medical facility and is arranged in a floor area of the path. The at least one floor element is configured for magnetic interaction such that through the magnetic interaction of the floor element with a magnetic guide element arranged on a mobile transport device, a magnetic attraction is generated. The mobile transport device is guided along the at least one floor element by the generated magnetic attraction during forward motion of the mobile transport device along the path through the medical facility.

Abstract translation: 用于医疗设施的引导系统包括沿着医疗设施的路径延伸并布置在路径的楼面区域中的至少一个地板元件。 所述至少一个地板元件构造成用于磁相互作用，使得通过地板元件与布置在移动输送装置上的导磁元件的磁相互作用，产生磁吸引力。 移动运输装置沿着沿着穿过医疗设施的路径在移动运输装置的向前运动期间通过所产生的磁吸引力沿着至少一个地板元件引导。

公开(公告)号：US20110163160A1

公开(公告)日：2011-07-07

申请号：US13028835

申请日：2011-02-16

Applicant: Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

Inventor： Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

IPC: G06Q10/00

CPC classification number: G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

Abstract: Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

Abstract translation: 使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。 拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。 在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。 该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

公开(公告)号：US20110154569A1

公开(公告)日：2011-06-30

申请号：US12648255

申请日：2009-12-28

Applicant: Robert T. WIGGERS ,  Reto W. FILIBERTI ,  Heinz VOGT

Inventor： Robert T. WIGGERS ,  Reto W. FILIBERTI ,  Heinz VOGT

IPC: A61G7/10 ,  G01C21/00

CPC classification number: G05D1/0276 ,  A61B6/0407 ,  A61N5/1049 ,  A61N2005/1063 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206

Abstract: A patient support system includes a base having a plurality of wheels, and a patient support coupled to the base, wherein at least a part of the patient support is for supporting a head of a patient, and at least one of the wheels has a plurality of secondary wheels. A patient support system includes a patient support, a transportation mechanism for transporting the patient support, a positioner for moving the patient support relative to the transportation mechanism, and a positioning system for determining an actual position associated with the patient support with respect to a multi-dimensional coordinate system, wherein one of the transportation mechanism and the positioner is for coarse positioning of the patient support, and another one of the transportation mechanism and the positioner is for fine positioning of the patient support.

Abstract translation: 患者支撑系统包括具有多个轮子的基座和联接到基座的患者支架，其中患者支架的至少一部分用于支撑患者的头部，并且至少一个车轮具有多个 的二次轮。 患者支撑系统包括患者支撑件，用于运送患者支架的运送机构，用于相对于运送机构移动患者支架的定位器，以及用于确定与患者支架相关的实际位置相对于多个 其中所述传送机构和所述定位器中的一个用于所述患者支架的粗略定位，所述运送机构和所述定位器中的另一个用于所述患者支架的精细定位。

公开(公告)号：US20110130940A1

公开(公告)日：2011-06-02

申请号：US12994277

申请日：2008-05-23

Applicant: Tim Smithers ,  Unai Antero Urruticoechea ,  Urko Esnaola Campos

Inventor： Tim Smithers ,  Unai Antero Urruticoechea ,  Urko Esnaola Campos

IPC: G06F19/00

CPC classification number: G05D1/0055 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0206

Abstract: The wheelchair of the present invention comprises propulsion means for at least two drive wheels 1, a wheelchair user movement indicator means 2 that comprises means to indicate a forward, a backward and a rotation movement, at least one sensor system to detect at least one value referring to a surrounding free space, and a controller that comprises means to obtain a linear and a rotation movement component value, αjs, βjs, from the data produced by the movement indicator means, and means to obtain the surrounding free space in a linear and in a rotation component, αs, βs, from the at least one value detected by the, at least one, sensor 3, 4, 5. The total linear and rotational movement, αT, βT, applied to the propulsion means are calculated as a combination of the linear and rotation movement component value, αjs, βjs, obtained from the movement indicator means and the, at least one, value of the surrounding free space in a linear and rotation component, αs, βs.

Abstract translation: 本发明的轮椅包括用于至少两个驱动轮1的推进装置，轮椅使用者移动指示装置2，其包括用于指示前进，后退和旋转运动的装置，至少一个传感器系统，用于检测至少一个值 指的是周围的自由空间，以及控制器，其包括从由运动指示装置产生的数据获得线性和旋转运动分量值αjs，＆amp; bgr; js的装置，以及用于获得周围空闲空间的装置 由至少一个传感器3,4,5所检测的至少一个值的线性和旋转分量αs和bgr。s中的总线性和旋转运动αT，＆amp; Bgr，T应用于 推算装置被计算为从运动指示装置获得的线性和旋转运动分量值αjs，＆bgr; js和线性和旋转分量αs中的周围自由空间的至少一个值的组合， ＆bgr s。

公开(公告)号：US20100234990A1

公开(公告)日：2010-09-16

申请号：US12785608

申请日：2010-05-24

Applicant: Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

Inventor： Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

IPC: G06F19/00

CPC classification number: G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

Abstract: Systems, methods and devices for the automated retrieval/delivery of goods from one location to another using a robotic device such as a tug and accompanying cart. A computer within the tug/cart stores a map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or continuously adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

Abstract translation: 用于使用机器人装置例如拖船和伴随车从一个位置到另一个位置自动检索/传送货物的系统，方法和装置。 拖船/购物车内的电脑存储建筑物平面图的图表，以及从一个位置到下一个位置的拖船所需的路径。 在交货期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或连续调节拖船移动的数据，以便更紧密地遵循预期的路径。 该系统优选地包括允许一个或多个拖船与拖船基站，位于交付地点的主网络以及监视由拖船收集的状态和数据的远程主机中心进行通信的无线网络。

公开(公告)号：US20090093907A1

公开(公告)日：2009-04-09

申请号：US12180755

申请日：2008-07-28

Applicant: Ryoso Masaki ,  Toshio Moriya ,  Kosei Matsumoto ,  Junichi Tamamoto ,  Motoya Taniguchi

Inventor： Ryoso Masaki ,  Toshio Moriya ,  Kosei Matsumoto ,  Junichi Tamamoto ,  Motoya Taniguchi

IPC: G06F17/00

CPC classification number: G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D1/0297 ,  G05D2201/0206 ,  G05D2201/0207 ,  G05D2201/0216

Abstract: In a robot system constructed by a superior controller and a robot, it is necessary to carry out a high-speed computation in a system which simultaneously generate a map together with identifying a posture of the robot, there is a problem that the robot system becomes expensive because a computing load becomes enlarged, and it is an object to reduce the computing load. In order to achieve the object, there is provided a robot system constructed by a controller having a map data and a mobile robot, in which the robot is provided with a distance sensor measuring a plurality of distances with respect to a peripheral object, and an identifying apparatus identifying a position and an angle of the robot by collating with the map data, and the controller is provided with a map generating apparatus generating or updating the map data on the basis of the position and the angle of the robot, and the measured distance with respect to the object. Accordingly, it is possible to reduce the computing load of the controller and the robot, and it is possible to achieve a comparatively inexpensive robot system.

Abstract translation: 在由上级控制器和机器人构成的机器人系统中，需要在同时生成地图并识别机器人的姿势的系统中进行高速计算，存在机器人系统变为 因为计算负载变大，所以这是降低计算负荷的对象。 为了实现该目的，提供了一种由具有地图数据和移动机器人的控制器构成的机器人系统，其中机器人设置有相对于周边物体测量多个距离的距离传感器，以及 通过与地图数据对照来识别机器人的位置和角度的识别装置，并且控制器设置有基于机器人的位置和角度生成或更新地图数据的地图生成装置，并且测量 相对于物体的距离。 因此，可以减少控制器和机器人的计算负担，并且可以实现相对便宜的机器人系统。

公开(公告)号：US07431115B2

公开(公告)日：2008-10-07

申请号：US11498952

申请日：2006-08-03

Applicant: Henry F. Thorne

Inventor： Henry F. Thorne

IPC: B60T7/16

CPC classification number: G05D1/0272 ,  G05D1/0242 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211

Abstract: A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a cart attaching post.

Abstract translation: 机器人牵引车辆包括用于减少推算导航系统中的累积误差的定位误差减小系统。 所述定位误差降低系统包括所述小车安装机构的低负载转移点中的至少一个，地板变形柔量结构，由此所述驱动轮在小的表面变化上保持基本均匀的负载分布，最小的轮接触面结构， 使用安装在机器人主体上的至少一个接近传感器的校准结构以及由推车连接柱形成的推车和机器人车辆之间的公共电气和机械连接。

公开(公告)号：US07209803B2

公开(公告)日：2007-04-24

申请号：US11330381

申请日：2006-01-11

Applicant: Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

Inventor： Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

IPC: G06F19/00

CPC classification number: G05D1/0255 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1697 ,  B65G2203/041 ,  G05B2219/39387 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A camera or other sensing unit senses the conditions of articles and mobile entities, including humans within a living space. An article management/operation server manages, within an article database, attribute information about the articles, including operators, according to the information from the sensing unit. The server receives a user's instruction, input through a console unit, and refers to the article database to convert this instruction into a control command, which is then transmitted to a life-support robot.

公开(公告)号：US07206668B2

公开(公告)日：2007-04-17

申请号：US11293771

申请日：2005-12-02

Applicant: Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

Inventor： Shusaku Okamoto ,  Osamu Yamada ,  Tomonobu Naruoka ,  Yoshihiko Matsukawa ,  Satoshi Sato

IPC: G06F19/00

CPC classification number: G05D1/0255 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1697 ,  B65G2203/041 ,  G05B2219/39387 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A camera or other sensing unit senses the conditions of articles and mobile entities, including humans within a living space. An article management/operation server manages, within an article database, attribute information about the articles, including operators, according to the information from the sensing unit. The server receives a user's instruction, input through a console unit, and refers to the article database to convert this instruction into a control command, which is then transmitted to a life-support robot.

Abstract translation: 摄像机或其他感测单元感测物品和移动实体（包括生活空间内的人）的状况。 文章管理/操作服务器根据来自感测单元的信息在文章数据库内管理关于文章（包括操作者）的属性信息。 服务器接收用户的指令，通过控制台单元输入，并引用文章数据库将该指令转换成控制命令，然后将其传送给生命支持机器人。