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11. 发明授权

US09149170B2 Navigating autonomous coverage robots 有权
标题翻译：导航自动覆盖机器人
公开(公告)号：US09149170B2
公开(公告)日：2015-10-06
申请号：US11773845
申请日：2007-07-05
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran
IPC分类号： A47L11/40 , G05D1/02 , B25J9/00 , A47L9/00 , B60L11/18 , B60L15/20 , H04L1/16 , A47L5/30 , A47L9/04 , A47L11/24 , A47L9/12 , A47L9/28 , A47L9/30
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. In some example, the navigation beacon may also transmit a proximity emission laterally about the beacon, where the robot avoids cleaning the migration within the proximity emission. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.
摘要翻译：在有界区域之间导航自动覆盖机器人的方法包括将导航信标定位在相邻的第一和第二有界区域之间的网关中。该信标被配置为传送网关，通过网关标识发射。在一些示例中，导航信标还可以围绕信标横向传输邻近发射，其中机器人避免清洁邻近发射内的迁移。该方法还包括将覆盖机器人放置在第一有界区域内。机器人以清洁模式自主地穿过第一有界区域，并且当遇到网关中的网关标记发射时，机器人保持在第一有界区域中，从而避免机器人迁移到第二区域。在第一区域中的清洁模式结束时，机器人自主地启动迁移模式以通过网关移动通过信标，进入第二有界区域。

12. 发明授权

US08954192B2 Navigating autonomous coverage robots 有权
标题翻译：导航自动覆盖机器人
公开(公告)号：US08954192B2
公开(公告)日：2015-02-10
申请号：US11758278
申请日：2007-06-05
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
IPC分类号： G06F19/00 , A47L11/40 , A47L5/30 , A47L9/04 , A47L11/24 , G05D1/02 , B25J9/00 , H04L1/16
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.
摘要翻译：在有界区域之间导航自动覆盖机器人的方法包括将导航信标定位在相邻的第一和第二有界区域之间的网关中。该信标被配置为传送网关，通过网关标识发射。该方法还包括将覆盖机器人放置在第一有界区域内。机器人以清洁模式自主地穿过第一有界区域，并且当遇到网关中的网关标记发射时，机器人保持在第一有界区域中，从而避免机器人迁移到第二区域。在第一区域中的清洁模式结束时，机器人自主地启动迁移模式以通过网关移动通过信标，进入第二有界区域。

13. 发明授权

US08374721B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08374721B2
公开(公告)日：2013-02-12
申请号：US11633883
申请日：2006-12-04
申请人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, Jr. , Daniel N. Ozick
发明人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, Jr. , Daniel N. Ozick
IPC分类号： G06F19/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.
摘要翻译：省电机器人系统包括至少一个外围设备和移动机器人。外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。另一方面，机器人系统包括网络数据桥和移动机器人。网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

14. 发明申请

US20090228165A1 AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEM 有权
标题翻译：自动覆盖机器人导航系统
公开(公告)号：US20090228165A1
公开(公告)日：2009-09-10
申请号：US12343430
申请日：2008-12-23
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
IPC分类号： G06F19/00 , G01C25/00 , H02J7/00
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.
摘要翻译：一种用于有界区域的自主移动机器人系统，包括导航信标和自动覆盖机器人。导航信标具有网关信标发射器，其布置成用设置在第一有界区域和相邻第二有界区域之间的网关内的导航信标发送网关标记发射。自动覆盖机器人包括响应于信标发射的信标发射传感器，以及驱动系统，被配置为在清洁模式中围绕第一有界区域操纵机器人，其中机器人响应于检测到网关标记发射被重定向。驱动系统还被配置为以迁移模式通过网关操纵机器人进入第二有界区域。

15. 发明授权

US09144360B2 Autonomous coverage robot navigation system 有权
标题翻译：自动覆盖机器人导航系统
公开(公告)号：US09144360B2
公开(公告)日：2015-09-29
申请号：US11633869
申请日：2006-12-04
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
IPC分类号： G05B19/04 , G05B19/18 , A47L11/40 , A47L5/30 , A47L9/04 , G05D1/02 , B25J9/00 , H04L1/16 , A47L11/24 , A47L9/00 , A47L9/12 , A47L9/28 , A47L9/30 , B60L11/18 , B60L15/20
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.
摘要翻译：一种用于有界区域的自主移动机器人系统，包括导航信标和自动覆盖机器人。导航信标具有网关信标发射器，其布置成用设置在第一有界区域和相邻第二有界区域之间的网关内的导航信标发送网关标记发射。自动覆盖机器人包括响应于信标发射的信标发射传感器，以及驱动系统，被配置为在清洁模式中围绕第一有界区域操纵机器人，其中机器人响应于检测到网关标记发射被重定向。驱动系统还被配置为以迁移模式通过网关操纵机器人进入第二有界区域。

16. 发明授权

US08606401B2 Autonomous coverage robot navigation system 有权
标题翻译：自动覆盖机器人导航系统
公开(公告)号：US08606401B2
公开(公告)日：2013-12-10
申请号：US12828525
申请日：2010-07-01
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
IPC分类号： G05B19/00 , G05B19/04 , G05B19/18 , G05B15/00
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A navigation beacon controls movement of a mobile robot in first and second areas. The navigation beacon includes a portable housing, a power source, and an emitter. The emitter is operable to emit a gateway marking emission when the robot is within a field of detection that extends between the areas. The gateway marking emission is detectable by the robot and prevents the robot from moving from one of the areas, through the field of detection, to the other of the areas. A switch is operable to switch the navigation beacon to be in an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.
摘要翻译：导航信标控制移动机器人在第一和第二区域中的移动。导航信标包括便携式外壳，电源和发射器。当机器人处于在区域之间延伸的检测领域内时，发射器可操作地发射网关标记发射。网关标记发射可由机器人检测到，并防止机器人从其中一个区域移动，通过检测领域到另一个区域。交换机可操作地将导航信标切换到网关信标发射器处于OFF状态的关闭模式，网关信标发射机处于ON状态的限制模式，以及网关信标发射器处于ON状态，并响应于预定条件自动切换到OFF状态。

17. 发明授权

US08380350B2 Autonomous coverage robot navigation system 有权
公开(公告)号：US08380350B2
公开(公告)日：2013-02-19
申请号：US12343430
申请日：2008-12-23
申请人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
发明人： Daniel N. Ozick , Andrea M. Okerholm , Jeffrey W. Mammen , Michael J. Halloran , Paul E. Sandin , Chikyung Won
IPC分类号： G05B19/18 , G05B15/00
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.

18. 发明授权

US08271129B2 Robot system 有权
公开(公告)号：US08271129B2
公开(公告)日：2012-09-18
申请号：US11633883
申请日：2006-12-04
申请人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, Jr. , Daniel N. Ozick
发明人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, Jr. , Daniel N. Ozick
IPC分类号： G06F19/00
摘要： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

19. 发明申请

US20110077802A1 Robot System 审中-公开
标题翻译：机器人系统
公开(公告)号：US20110077802A1
公开(公告)日：2011-03-31
申请号：US12959879
申请日：2010-12-03
申请人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, JR. , Daniel N. Ozick
发明人： Michael J. Halloran , Jeffrey W. Mammen , Tony L. Campbell , Jason S. Walker , Paul E. Sandin , John N. Billington, JR. , Daniel N. Ozick
IPC分类号： G05D1/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L15/2036 , B60L50/52 , B60L53/14 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.
摘要翻译：省电机器人系统包括至少一个外围设备和移动机器人。外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。另一方面，机器人系统包括网络数据桥和移动机器人。网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

20. 发明授权

US5978741A Vacuum fixture 失效
标题翻译：真空夹具
公开(公告)号：US5978741A
公开(公告)日：1999-11-02
申请号：US872035
申请日：1997-04-09
申请人： David D. Elmore , Daniel A. Staver , Jeffrey W. Mammen
发明人： David D. Elmore , Daniel A. Staver , Jeffrey W. Mammen
IPC分类号： G01R21/133 , G01R25/00
CPC分类号： G01R21/1331
摘要： Line voltage and line current signals are sensed on a power line having at least one conducting path. The sensed line voltages and line currents are converted into a digital signal. A phase-to-neutral voltage signal and phase current signal are computed from the digital signal to thereby define a phase of the power line. An interval of orthogonality is determined from the sensed voltage and current signals, coinciding with passage of an integral number of cycles of a fundamental frequency reference signal which is computed from the computed phase-to-neutral voltage signal. A vector metering quantity is computed for the determined interval of orthogonality from the computed phase-to-neutral voltage signal and the computed phase current signal. The vector metering quantities to be computed may be identified and computed based upon an associated detent. The vector metering quantity is also computed based on an identified circuit topology.
摘要翻译：在具有至少一个导电路径的电力线上检测线电压和线电流信号。感测到的线路电压和线路电流被转换为数字信号。从数字信号计算出相电压中性点电压信号和相电流信号，从而定义电力线的相位。从感测的电压和电流信号确定正交性的间隔，其与从计算出的相电压信号计算的基频信号的整数倍的循环相一致。根据计算的相电压信号和计算出的相电流信号，计算确定的正交间隔的向量计量量。可以基于相关联的制动器来识别和计算要计算的矢量计量量。也可以基于所识别的电路拓扑来计算矢量测量量。

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