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1. 发明授权

US09026302B2 Methods and systems for complete coverage of a surface by an autonomous robot 有权
公开(公告)号：US09026302B2
公开(公告)日：2015-05-05
申请号：US12940871
申请日：2010-11-05
申请人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
发明人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC分类号： B08B7/00 , G05D1/02 , G05D1/00 , G05D3/12
CPC分类号： B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

2. 发明申请

US20110167574A1 METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 有权
标题翻译：自动机器人表面完整覆盖的方法和系统
公开(公告)号：US20110167574A1
公开(公告)日：2011-07-14
申请号：US12940871
申请日：2010-11-05
申请人： MICHAEL S. STOUT , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
发明人： MICHAEL S. STOUT , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC分类号： B08B7/00 , G05D1/00 , G05D3/12
CPC分类号： B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
摘要翻译：一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖，使得映射模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。

3. 发明申请

US20110202175A1 Mobile robot for cleaning 有权
标题翻译：移动机器人清洗
公开(公告)号：US20110202175A1
公开(公告)日：2011-08-18
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： B25J5/00 , B25J13/08
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。

4. 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。

5. 发明申请

US20140031980A1 SYSTEMS AND METHODS FOR EXTENDING SLAM TO MULTIPLE REGIONS 审中-公开
标题翻译：将SLAM扩展到多个区域的系统和方法
公开(公告)号：US20140031980A1
公开(公告)日：2014-01-30
申请号：US13673935
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G01C21/12 , G01S17/06
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

6. 发明申请

US20130138246A1 MANAGEMENT OF RESOURCES FOR SLAM IN LARGE ENVIRONMENTS 有权
标题翻译：大型环境中SLAM资源管理
公开(公告)号：US20130138246A1
公开(公告)日：2013-05-30
申请号：US13673926
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

7. 发明授权

US09250081B2 Management of resources for SLAM in large environments 有权
标题翻译：在大型环境中管理SLAM的资源
公开(公告)号：US09250081B2
公开(公告)日：2016-02-02
申请号：US13673926
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G05B19/18 , G01C21/12 , G05D1/02 , G01S17/06
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

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