公开(公告)号：US20070262884A1

公开(公告)日：2007-11-15

申请号：US11562877

申请日：2006-11-22

Applicant: Luis Goncalves ,  L. Karlsson ,  Paolo Pirjanian ,  Enrico Di Bernardo

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

IPC: G08G1/123 ,  G06F17/30 ,  G06F19/00

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：US20070192910A1

公开(公告)日：2007-08-16

申请号：US11541479

申请日：2006-09-29

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

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

IPC: B25J9/00

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：US20070113690A1

公开(公告)日：2007-05-24

申请号：US11217268

申请日：2005-08-31

Applicant: David Wilcox ,  Paul Jones ,  Timothy Duffy

Inventor： David Wilcox ,  Paul Jones ,  Timothy Duffy

IPC: G01M19/00 ,  G01M17/00

CPC classification number: G05D1/0234 ,  B64F5/60 ,  G01N29/225 ,  G01N29/265 ,  G01N2291/2694 ,  G05D2201/0207

Abstract: A system for the nondestructive evaluation of aircraft comprising a plurality of positional transmitters forming a perimeter around a test airplane and an inspection station within the perimeter. The inspection station includes a moveable cart, a nondestructive testing device coupled the cart, and a computer coupled to the cart and nondestructive testing device. The computer configured to receive aircraft positional data from positional receivers mounted on an aircraft and overlay a model of the aircraft on the received aircraft positional data to determine a coordinate system for the aircraft. The computer is further operable to determine the location of the cart from data received from onboard positional receivers, the location of the cart referenced to the coordinate system for the aircraft.

Abstract translation: 一种用于对飞机进行非破坏性评估的系统，包括在测试飞机周围形成多个位置传感器和在周边内的检查站。 检查站包括可移动推车，耦合推车的非破坏性测试装置和耦合到购物车和非破坏性测试装置的计算机。 所述计算机被配置为从安装在飞行器上的位置接收器接收飞行器位置数据，并将所述飞行器的模型覆盖在所接收的飞行器位置数据上，以确定所述飞行器的坐标系。 计算机还可操作以根据从车载位置接收器接收的数据来确定购物车的位置，车辆的位置参考飞机的坐标系。

公开(公告)号：US20070090973A1

公开(公告)日：2007-04-26

申请号：US11559359

申请日：2006-11-13

Applicant: L. Karlsson ,  Paolo Pirjanian ,  Luis Goncalves ,  Enrico Bernardo

Inventor： L. Karlsson ,  Paolo Pirjanian ,  Luis Goncalves ,  Enrico Bernardo

IPC: G08G1/123

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：US20070046237A1

公开(公告)日：2007-03-01

申请号：US11411426

申请日：2006-04-25

Applicant: Sridhar Lakshmanan ,  Vin Varghese ,  Narasimhamurthi Natarajan

Inventor： Sridhar Lakshmanan ,  Vin Varghese ,  Narasimhamurthi Natarajan

IPC: G06F19/00

CPC classification number: G05B15/02 ,  F41H7/005 ,  F41H11/16 ,  F42B12/365 ,  G05D1/0038 ,  G05D1/0238 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A robotic system has a drive chassis having a drive motor and a drive element attached to the first drive motor, Additionally, a motor controller system provides drive signals to the first drive motor. A logic controller provides control signals to the motor controller. A network system is provided for communicating with the logic controller. At least one peripheral element communicates with the network system. There is additionally provided a wireless arrangement for communicating wirelessly with the network system.

Abstract translation: 机器人系统具有驱动底盘，其具有驱动马达和附接到第一驱动马达的驱动元件。另外，马达控制器系统向第一驱动马达提供驱动信号。 逻辑控制器向电机控制器提供控制信号。 提供了一种用于与逻辑控制器进行通信的网络系统。 至少一个外围元件与网络系统通信。 另外提供了一种用于与网络系统无线通信的无线装置。

公开(公告)号：US07166832B2

公开(公告)日：2007-01-23

申请号：US11176643

申请日：2005-07-07

Applicant: Hiroyuki Takenaka

Inventor： Hiroyuki Takenaka

IPC: G05B19/04

CPC classification number: G05D1/0272 ,  G05D1/0242 ,  G05D1/0246 ,  G05D2201/0207

Abstract: A self-running robot tracking and imaging a human body with an inexpensive arrangement includes: first to fourth sensors; a camera; a driving device moving the first to fourth sensors and camera simultaneously; a rotary encoder detecting that the first to fourth sensors and camera have stopped; a control unit which, upon detection of a heat source by one of the first to fourth sensors, controls the driving device such that the camera turns to the direction which the sensor detecting the heat source faced, and controls the camera so as to image an object after the camera has stopped, and controls the driving device such that the first to fourth sensors remain stationary for 3 seconds after the camera has stopped irrespective of whether a heat source is detected.

Abstract translation: 利用廉价的装置跟踪和成像人体的自行式机器人包括：第一至第四传感器; 相机; 驱动装置同时移动第一至第四传感器和照相机; 检测第一至第四传感器和相机已经停止的旋转编码器; 一个控制单元，当通过第一至第四传感器中的一个传感器检测到热源时，控制驱动装置，使得相机转向传感器检测热源所面对的方向，并且控制相机以对 在相机停止之后，控制驱动装置，使得第一至第四传感器在照相机停止后保持静止3秒钟，而不管是否检测到热源。

公开(公告)号：US20060271274A1

公开(公告)日：2006-11-30

申请号：US10553524

申请日：2003-05-12

Applicant: Ilari Saarikivi

Inventor： Ilari Saarikivi

IPC: G01C21/32

CPC classification number: G01C21/00 ,  G01C21/206 ,  G05D1/0234 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0207 ,  G05D2201/0216

Abstract: The invention relates to a method for navigating within a navigation area (2), wherein a plurality of navigation tags (1) have been mounted at predetermined positions within the navigation area (2). To solve the object of the invention to provide a method and system for accurate and flexible navigating in various types of navigation scenarios, the method comprises the steps of: determining a sequence of navigation tags (1), which are associated with a desired route within the navigation area (2), based on the positions of the navigation tags (7) and on topographic information (8) on the navigation area (2); and navigating the route by passing navigation tags (1) of the sequence of navigation tags, whereby passing of a navigation tag is acknowledged (12, 13). The invention further relates to a system and a computer program product for navigating within a navigation area (2).

Abstract translation: 本发明涉及一种用于在导航区域（2）内导航的方法，其中多个导航标签（1）已被安装在导航区域（2）内的预定位置。 为了解决本发明的目的，提供了一种用于在各种类型的导航场景中精确和灵活地导航的方法和系统，该方法包括以下步骤：确定导航标签序列（1），该导航标签序列与期望路线相关联， 导航区域（2），基于导航标签（7）的位置和导航区域（2）上的地形信息（8）; 并且通过导航标签序列的导航标签（1）导航路线，由此确认导航标签的通过（12,13）。 本发明还涉及用于在导航区域（2）内导航的系统和计算机程序产品。

公开(公告)号：US20060180676A1

公开(公告)日：2006-08-17

申请号：US11386762

申请日：2006-03-23

Applicant: Ki-cheol Park ,  Yeon-taek Oh ,  Won-jun Koh ,  Yong-jae Kim

Inventor： Ki-cheol Park ,  Yeon-taek Oh ,  Won-jun Koh ,  Yong-jae Kim

IPC: G05D23/00 ,  G08B13/00 ,  G08B13/08

CPC classification number: G05D1/0246 ,  F24F11/30 ,  F24F11/56 ,  F24F2110/00 ,  F24F2110/10 ,  F24F2110/50 ,  F24F2221/12 ,  G05D1/0274 ,  G05D23/1905 ,  G05D2201/0207

Abstract: A mobile sensor being movable which includes a wireless transmitting/receiving part to wirelessly transmit/receive information, an indoor environmental sensor to sense the indoor environment, and a controller to transmit the information on the indoor environment sensed by the indoor environmental sensor through the wireless transmitting/receiving part, and a control server receiving the information transmitted from the mobile sensor so as to control an indoor environmental control device on the basis of the received information. Therefore, the present invention provides a mobile sensor, which can optimize indoor environments through a home network.

Abstract translation: 一种可移动的移动传感器，其包括无线发送/接收信息的无线发送/接收部分，用于感测室内环境的室内环境传感器，以及通过无线电传送由室内环境传感器感测到的关于室内环境的信息的控制器 发送/接收部分，以及接收从移动传感器发送的信息的控制服务器，以便根据所接收的信息来控制室内环境控制装置。 因此，本发明提供一种可以通过家庭网络优化室内环境的移动传感器。

公开(公告)号：US07069124B1

公开(公告)日：2006-06-27

申请号：US10696669

申请日：2003-10-28

Applicant: William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

Inventor： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

IPC: G01V3/38

CPC classification number: G05D1/0274 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0207 ,  G05D2201/021

Abstract: Robotic systems for modeling, mapping and exploring subterranean void spaces such as mines, caves, tunnels, bunkers, and conduits. Robotic modeling of subterranean voids is generally enabled by a procedural system consisting of preprocessing, ingress, void modeling, mapping and navigation, exploration, conveying payloads other than void modeling sensors, egress, and post processing. The robots can either be imposed mobility or can be self mobile with either autonomous, remote, teleoperated, or manual modes of operation. The robot may optionally transform from a compact size into a more conventional operating size if the operating size exceeds the void entry opening size. Void geometries with flat floors are amenable to robot locomotion such as rolling, crawling, walking or swimming. Alternatively, irregular floor geometries that preclude self mobilization may be accessible by imposed mobilization such as dropping or pushing a movable robotic sensor into such voids. The robotic device is preferably adaptable to voids filled with a gas or liquid. To maximize mapping applicability, the robot optionally includes sensing, locomotion and environmental tolerance to submersion and safeguarding, according to use criteria.

Abstract translation: 用于建模，绘图和探索地下空隙的机器人系统，如矿山，洞穴，隧道，掩体和管道。 地下空隙的机器人建模通常由包括预处理，入口，空间建模，映射和导航，勘探，传送除空模型传感器之外的有效载荷，出口和后期处理的程序系统来实现。 机器人可以强加移动性，也可以是自主的，远程的，远程操作的或手动的操作模式。 如果操作尺寸超过空隙入口开口尺寸，则机器人可以可选地从紧凑尺寸变换成更传统的操作尺寸。 具有平坦地板的空隙几何适合机器人运动，如滚动，爬行，步行或游泳。 或者，排除自动动作的不规则地板几何形状可以通过施加的动员来实现，例如将可移动机器人传感器落下或推动到这样的空隙中。 机器人装置优选地适应于填充有气体或液体的空隙。 为了最大限度地提高绘图适用性，机器人根据使用标准可选地包括感知，移动和环境容忍浸入和保护。

公开(公告)号：US07069111B2

公开(公告)日：2006-06-27

申请号：US11097838

申请日：2005-04-01

Applicant: Susan J. Glenn ,  Gregory A. Shreve

Inventor： Susan J. Glenn ,  Gregory A. Shreve

IPC: G06F19/00

CPC classification number: G05D1/0282 ,  B25J9/1689 ,  G05B2219/33192 ,  G05B2219/40161 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A system and method are described that use impulse radio technology to enhance the capabilities of a robot. In one embodiment, a system, a robot and a method are provided that use the communication capabilities of impulse radio technology to help a control station better control the actions of the robot. In another embodiment, a system, a robot and a method are provided that use the communication, position and/or radar capabilities of impulse radio technology to help a control station better control the actions of a robot in order to, for example, monitor and control the environment within a building.

Abstract translation: 描述了使用脉冲无线电技术增强机器人能力的系统和方法。 在一个实施例中，提供了使用脉冲无线电技术的通信能力来帮助控制站更好地控制机器人的动作的系统，机器人和方法。 在另一个实施例中，提供了使用脉冲无线电技术的通信，位置和/或雷达能力的系统，机器人和方法来帮助控制站更好地控制机器人的动作，以便例如监视和 控制建筑物内的环境。