公开(公告)号：US20150316930A1

公开(公告)日：2015-11-05

申请号：US14796162

申请日：2015-07-10

Applicant: iRobot Corporation

Inventor： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

公开(公告)号：US20150273684A1

公开(公告)日：2015-10-01

申请号：US14682428

申请日：2015-04-09

Applicant: iRobot Corporation

Inventor： Wesley Hanan Huang ,  Emilie A. Phillips

IPC: B25J5/00 ,  B25J11/00 ,  G05D1/00 ,  B25J9/16 ,  B25J19/02

CPC classification number: B25J5/005 ,  B25J9/162 ,  B25J9/1697 ,  B25J11/002 ,  B25J19/023 ,  G05B2219/39391 ,  G05B2219/40003 ,  G05B2219/40062 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/09 ,  Y10S901/47

Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

Abstract translation: 本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。 该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及 沿着确定的射线移动末端执行器以接近对象。

公开(公告)号：US09146561B2

公开(公告)日：2015-09-29

申请号：US14095995

申请日：2013-12-03

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS ,  KING ABDULAZIZ CITY FOR SCIENCE AND TECHNOLOGY

Inventor： Omar Salem Al-Buraiki ,  Sami A. El Ferik

IPC: G06F19/00 ,  G05D1/02

CPC classification number: G05D1/0295 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207

Abstract: The robotic leader-follower navigation and fleet management control method implements SLAM in a group leader of a nonholonomic group of autonomous robots, while, at the same time, executing a potential field control strategy in follower members of the group.

Abstract translation: 机器人领导跟随者导航和车队管理控制方法在自主机器人非完整组的组长中实施SLAM，同时在该组的追随者成员中执行潜在的现场控制策略。

公开(公告)号：US09131529B1

公开(公告)日：2015-09-08

申请号：US12873182

申请日：2010-08-31

Applicant: Arun Ayyagari ,  Winfeng Li ,  Craig F. Battles ,  Michael A. Dorsett

Inventor： Arun Ayyagari ,  Winfeng Li ,  Craig F. Battles ,  Michael A. Dorsett

IPC: H04W84/18 ,  H04W24/02 ,  H04W84/06 ,  H04W84/20 ,  G05D1/10 ,  H04W16/00

CPC classification number: H04W84/06 ,  G05D1/104 ,  G05D2201/0207 ,  H04W16/00 ,  H04W24/02 ,  H04W84/20

Abstract: Methods, systems, and devices are disclosed to facilitate operation of a network. First network state data descriptive of a first network state is received. The first network data includes network demand associated with nodes of a dynamic network, where the nodes of the dynamic network include at least one movable node. The first network data also includes a node state of each node of the dynamic network. At least one first link is automatically established between two or more nodes of the dynamic network to satisfy at least a portion of the network demand. Link data is generated where the link data is descriptive of node utilization, the at least one first link, and assignment of the portion of the network demand to the at least one first link. One or more changes to the dynamic network are modeled based on the link data to identify a second network state, wherein the second network state satisfies a greater quantity of the network demand than the first network state.

Abstract translation: 公开了方法，系统和设备以便于网络的操作。 接收描述第一网络状态的第一网络状态数据。 第一网络数据包括与动态网络的节点相关联的网络需求，其中动态网络的节点包括至少一个可移动节点。 第一网络数据还包括动态网络的每个节点的节点状态。 在动态网络的两个或多个节点之间自动建立至少一个第一链路以满足网络需求的至少一部分。 生成链接数据，其中链接数据描述节点利用率，至少一个第一链路，以及将该部分网络需求分配给至少一个第一链路。 基于链路数据对动态网络的一个或多个变化进行建模，以识别第二网络状态，其中第二网络状态满足比第一网络状态更大的网络需求量。

公开(公告)号：US20150224640A1

公开(公告)日：2015-08-13

申请号：US14587987

申请日：2014-12-31

Applicant: iRobot Corporation

Inventor： Clara Vu ,  Matthew Cross ,  Tim Bickmore ,  Amanda Gruber ,  Tony L. Campbell

IPC: B25J9/00 ,  B25J9/16 ,  G05D1/02 ,  B25J5/00

CPC classification number: B25J9/0003 ,  B25J5/007 ,  B25J9/1697 ,  B25J11/008 ,  B25J19/0091 ,  B25J19/023 ,  B25J19/06 ,  G05D1/021 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3462 ,  G06N3/008 ,  G16H20/00 ,  G16H20/13 ,  G16H40/63 ,  G16H40/67 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

Abstract: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

公开(公告)号：US09104202B2

公开(公告)日：2015-08-11

申请号：US13215846

申请日：2011-08-23

Applicant: Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

Inventor： Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0038 ,  B25J9/161 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/01

Abstract: An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.

Abstract translation: 一种操作员控制单元，具有允许用户控制远程车辆的用户接口，所述操作者控制单元包括：发送单元，被配置为向所述远程车辆发送数据; 被配置为从所述远程车辆接收数据的接收器单元，从所述远程车辆接收的包括由所述远程车辆捕获的图像数据的数据; 以及显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以控制至少一个 多个可控元件。 输入控制命令以控制至少一个可控元件包括选择表示至少一个可控元件的图标，输入针对至少一个可控元件的动作，并请求该至少一个可控元件执行动作。

公开(公告)号：US20150197007A1

公开(公告)日：2015-07-16

申请号：US14665543

申请日：2015-03-23

Applicant: iRobot Corporation

Inventor： Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

IPC: B25J9/16 ,  G05D1/00

CPC classification number: G05D1/0038 ,  B25J9/161 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/01

Abstract: An operator control unit includes a user interface that allows a user to control a remote vehicle, a transmission unit configured to transmit data to the remote vehicle, and a receiver unit configured to receive data from the remote vehicle. The data received from the remote vehicle includes image data captured by the remote vehicle. The operator control unit includes a display unit configured to display the user interface including the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements.

Abstract translation: 操作员控制单元包括允许用户控制远程车辆的用户界面，被配置为向远程车辆发送数据的发送单元和被配置为从远程车辆接收数据的接收器单元。 从远程车辆接收的数据包括由远程车辆捕获的图像数据。 操作员控制单元包括：显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以在 多个可控元件中的至少一个。

公开(公告)号：US09058521B2

公开(公告)日：2015-06-16

申请号：US13218844

申请日：2011-08-26

Applicant: Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Hyo Seok Hwang ,  Sung Hwan Ahn

Inventor： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Hyo Seok Hwang ,  Sung Hwan Ahn

IPC: G06K9/00 ,  G05D1/02 ,  G06T7/00

CPC classification number: G06K9/00664 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.

Abstract translation: 包括全向摄像机的移动机器人的同时定位和地图构建方法。 该方法包括从全向摄像机获取全方位图像，根据预设参考将所获得的全方位图像划分为上下图像，以生成作为较低图像的第一图像和第二图像， 其是上图像，从第一图像提取特征点并计算视觉测距信息，计算视觉测距信息，以基于全向相机的位置跟踪提取的特征点的位置，以及执行移动台的定位和地图构建 机器人使用计算的视觉测距信息，第二个图像作为扩展卡尔曼滤波器的输入。

公开(公告)号：US20150025710A1

公开(公告)日：2015-01-22

申请号：US14168533

申请日：2014-01-30

Applicant: Electronics and Telecommunications Research Institute

Inventor： Seung Hwan PARK

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0022 ,  G05D1/0234 ,  G05D2201/0207

Abstract: A method for returning a moving body in a moving body returning apparatus includes detecting a remote control signal from a remote controlling apparatus; acquiring data corresponding to a reference direction to return the moving body when the control relevant to the remote control signal is not feasible; and carrying out a returning control to return the moving body to an initial starting location using the data relevant to the reference direction. Further, the method includes stopping the returning control and activating the remote control signal of the remote controlling apparatus when the moving body arrives at the initial starting location.

Abstract translation: 一种移动体返回装置中的移动体返回方法包括：从遥控装置检测遥控信号; 当与遥控信号相关的控制不可行时，获取对应于参考方向的数据返回移动体; 并且使用与参考方向相关的数据执行返回控制以将移动体返回到初始起始位置。 此外，该方法包括当移动体到达初始起始位置时停止返回控制并激活遥控装置的遥控信号。

公开(公告)号：US08935006B2

公开(公告)日：2015-01-13

申请号：US11541479

申请日：2006-09-29

Applicant: Clara Vu ,  Matthew Cross ,  Tim Bickmore ,  Amanda Gruber ,  Tony L. Campbell

Inventor： Clara Vu ,  Matthew Cross ,  Tim Bickmore ,  Amanda Gruber ,  Tony L. Campbell

IPC: A61J7/00 ,  B25J19/02 ,  B25J11/00 ,  B25J5/00 ,  B25J9/00 ,  B25J19/00 ,  B25J19/06 ,  G06F19/00 ,  G06N3/00 ,  B25J9/16 ,  B25J15/00 ,  G05D1/02

CPC classification number: B25J9/0003 ,  B25J5/007 ,  B25J9/1697 ,  B25J11/008 ,  B25J19/0091 ,  B25J19/023 ,  B25J19/06 ,  G05D1/021 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3462 ,  G06N3/008 ,  G16H20/00 ,  G16H20/13 ,  G16H40/63 ,  G16H40/67 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

Abstract: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialog with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Abstract translation: 与居民进行交互的移动机器人客人在与居民进行交互之前执行房间遍历搜索过程，并且可以口头地询问所寻求的居民是否存在。 在找到居民时，移动机器人可以促进与远程第三方的电话会议会话，或者以多种方式与居民进行交互。 例如，机器人可以与居民进行对话，加强对药物或其他时间表的遵守等。此外，机器人包含安全特征以防止与居民的碰撞; 并且机器人可以可听见地宣布和/或可视地指示其存在，以避免成为危险的障碍物。 此外，移动机器人的行为符合整体的隐私政策，使得任何传感器记录或传输都必须得到居民的批准。