专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

US20130108108A1 Information Processing Apparatus, Information Processing Method, and Computer Program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US20130108108A1
公开(公告)日：2013-05-02
申请号：US13664834
申请日：2012-10-31
申请人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
发明人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
IPC分类号： G06T7/00
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit storing dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于摄像机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及字典数据存储单元，存储字典记录了对象信息的数据。图像识别处理单元参照字典数据执行从图像检测对象的处理。数据构成单元将三维形状数据应用于环境地图，并在环境地图上执行对象排列。

2. 发明授权

US08073200B2 Information processing apparatus, information processing method, and computer program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US08073200B2
公开(公告)日：2011-12-06
申请号：US12134354
申请日：2008-06-06
申请人： Kenichiro Oi , Steffen Gutmann , Takayuki Yoshigahara
发明人： Kenichiro Oi , Steffen Gutmann , Takayuki Yoshigahara
IPC分类号： G06K9/00 , G06F17/30
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit having stored therein dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image acquired by the camera with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data registered in the dictionary data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于相机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及具有存储的字典数据存储单元其中注册了对象信息的字典数据。图像识别处理单元参照字典数据执行从摄像机获取的图像中检测物体的处理。数据构成单元将登录在字典数据中的三维形状数据应用于环境地图，并在环境地图上执行对象排列。

3. 发明授权

US07873447B2 Position estimation apparatus, position estimation method and program recording medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US07873447B2
公开(公告)日：2011-01-18
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/00
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

4. 发明申请

US20070265741A1 Position Estimation Apparatus, Position Estimation Method and Program Recording Medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US20070265741A1
公开(公告)日：2007-11-15
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/10
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

5. 发明授权

US07865267B2 Environment recognizing device, environment recognizing method, route planning device, route planning method and robot 有权
标题翻译：环境识别装置，环境识别方法，路线规划装置，路线规划方法和机器人
公开(公告)号：US07865267B2
公开(公告)日：2011-01-04
申请号：US10941813
申请日：2004-09-16
申请人： Kohtaro Sabe , Steffen Gutmann
发明人： Kohtaro Sabe , Steffen Gutmann
IPC分类号： G06F19/00
CPC分类号： G06K9/00691 , G05D1/0251 , G05D1/0274 , G05D2201/0217 , G06K9/00201
摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.
摘要翻译：环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和路线规划部404，其适于基于环境图来规划路线。路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

6. 发明申请

US20060025888A1 Environment map building method, environment map building apparatus and mobile robot apparatus 有权
标题翻译：环境地图构建方法，环境地图建筑装置和移动机器人装置
公开(公告)号：US20060025888A1
公开(公告)日：2006-02-02
申请号：US11165047
申请日：2005-06-24
申请人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James Bruce
发明人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James Bruce
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G06T7/593
摘要： An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.
摘要翻译：环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。本发明提供了一种用于构建三维环境图的环境地图构建装置，其用于三维地确定允许移动体根据外部环境条件在其中移动的区域，该外部环境条件包括外部环境条件检测部分，其检测外部环境条件，基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部，相对于 - 基平面高度图构建部，其基于由外部环境条件检测部检测到的外部环境条件，构建从二维基面显示高度的相对基准面高度图，以及高度图信息修改部分，其修改相对于基站的信息，平面高度图基于三维地图上的信息。

7. 发明申请

US20110125323A1 LOCALIZATION BY LEARNING OF WAVE-SIGNAL DISTRIBUTIONS 有权
标题翻译：通过学习波信号分布进行本地化
公开(公告)号：US20110125323A1
公开(公告)日：2011-05-26
申请号：US12940937
申请日：2010-11-05
申请人： Steffen Gutmann , Ethan Eade , Philip Fong , Mario Munich
发明人： Steffen Gutmann , Ethan Eade , Philip Fong , Mario Munich
IPC分类号： G05B19/00 , G06F15/00 , G06F19/00
CPC分类号： B25J9/1664 , B25J9/1694 , G05D1/0234 , G05D1/0261 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0206 , G05D2201/0208 , G05D2201/0211 , G05D2201/0215 , Y10S901/01 , Y10S901/09 , Y10S901/46
摘要： A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.
摘要翻译：具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态相关分量。局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

8. 发明申请

US20060064202A1 Environment identification device, environment identification method, and robot device 审中-公开
标题翻译：环境识别装置，环境识别方法和机器人装置
公开(公告)号：US20060064202A1
公开(公告)日：2006-03-23
申请号：US10525431
申请日：2003-08-22
申请人： Steffen Gutmann , Masaki Fukuchi
发明人： Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G05D1/0221 , G05D1/0234 , G05D1/0251 , G05D1/0274 , G05D2201/0214 , G05D2201/0217
摘要： An environment identifying apparatus (400) is adapted to be mounted in a robot apparatus that moves in an identifiable unique environment in which a plurality of landmarks are located so as to identify the current environment by means of a plurality of registered environments. The environment identifying apparatus comprises an environment map building section (402) for recognizing the landmarks in the current environment, computing the movement/state quantity of the robot apparatus itself and building an environment map of the current environment containing information on the positions of the landmarks in the current environment on the basis of the landmarks and the movement/state quantity, an environment map storage section (403) having a data base of registered environment maps containing positional information on the landmarks and environment IDs, an environment identifying section (404) for identifying the current environment on the basis of the degree of similarity between the environment map of the current environment and each of the registered environment maps and an environment exploring section (405) for exploring a new environment.
摘要翻译：环境识别装置（400）适于安装在机器人装置中，该机器人装置在可识别的独特环境中移动多个地标，以便通过多个注册环境识别当前环境。环境识别装置包括用于识别当前环境中的地标的环境地图建立部分（402），计算机器人装置自身的移动/状态量并构建包含关于地标位置的信息的当前环境的环境地图在当前环境中，基于地标和移动/状态量，具有包含有关地标和环境ID的位置信息的注册环境地图的数据库的环境地图存储部（403），环境识别部（404）用于基于当前环境的环境地图和每个注册环境地图之间的相似程度以及用于探索新环境的环境探索部分（405）来识别当前环境。

9. 发明授权

US08961695B2 Mobile robot for cleaning 有权
标题翻译：移动机器人清洗
公开(公告)号：US08961695B2
公开(公告)日：2015-02-24
申请号：US12930260
申请日：2010-12-30
申请人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
发明人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
IPC分类号： B08B7/04 , B08B5/04 , E01H1/08 , B25J5/00 , G05B19/416 , A47L11/40 , G05D1/02
CPC分类号： B25J5/00 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/4091 , A47L2201/00 , A47L2201/04 , B25J13/08 , G05D1/0219 , G05D2201/0203 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
摘要翻译：机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。

10. 发明申请

US20070257910A1 Method and Apparatus for Detecting Plane, and Robot Apparatus Having Apparatus for Detecting Plane 失效
标题翻译：用于检测平面的方法和装置，以及具有用于检测平面的装置的机器人装置
公开(公告)号：US20070257910A1
公开(公告)日：2007-11-08
申请号：US10593150
申请日：2005-03-17
申请人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
发明人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
IPC分类号： G06T17/00
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
摘要翻译：在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线，区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L 1最大的距离的兴趣点brk，将数据点组划分为兴趣点brk 当距离大于预定阈值时，并且当距离小于预定阈值时，通过最小二乘法确定线路L 2。在线L2的一侧存在比预定数量多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点分割。这些操作重复完成。因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式