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1. 发明公开

EP2903787A4 ROBOT MANAGEMENT SYSTEMS FOR DETERMINING DOCKING STATION POSE INCLUDING MOBILE ROBOTS AND METHODS USING SAME 有权
标题翻译：机器人管理系统用于确定ANDOCKSTATIONSPOSITION与移动机器人和程序
公开(公告)号：EP2903787A4
公开(公告)日：2016-07-27
申请号：EP13844141
申请日：2013-10-05
申请人： IROBOT CORP
发明人： FONG PHILIP , MELTZER JASON , GUTMANN STEFFEN , KARAPETYAN VAZGEN , MUNICH MARIO
IPC分类号： B25J13/08 , A47L11/00 , B25J5/00 , G05D1/02
CPC分类号： A47L9/2873 , A47L9/2894 , A47L9/30 , A47L2201/02 , A47L2201/04 , B25J5/00 , B25J9/1664 , B25J9/1666 , B25J9/1697 , B25J11/0085 , B25J13/006 , B25J19/005 , G05D1/0225 , G05D1/0234 , G05D1/0274 , G05D2201/0215 , H02J7/0045 , Y10S901/01
摘要： A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.
摘要翻译：一种移动机器人系统被提供确实包括具有至少两个姿态-基准限定标记的坞站。姿态 - 限定的基准标记具有预定的相对于空间关系到彼此和/或到对接站搜索并对接路径向所述基站可以是确定从所述至少两个中的一个或多个观测姿势开采上的参考点 - 定义基准标记。在系统中的移动机器人包括姿态传感器组件。控制器位于底盘上，被配置成分析来自所述姿势传感器组件的输出信号。所述控制器被配置为确定矿的对接站的姿势，以定位地图由移动机器人和路径计划对接轨迹经过的表面的上对接站姿势。

2. 发明公开

EP2839399A4 ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 有权
标题翻译：传感器数据的空间摘要的自适应分配
公开(公告)号：EP2839399A4
公开(公告)日：2016-06-15
申请号：EP13843954
申请日：2013-09-23
申请人： IROBOT CORP
发明人： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC分类号： G06F19/00 , G01C21/20 , G01C21/32 , G05B15/00 , G05D1/02
CPC分类号： G01C21/32 , G01C21/20 , G01C21/206 , G05B15/00 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , Y10S901/00
摘要： A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.

3. 发明公开

EP2776216A4 SCALING VECTOR FIELD SLAM TO LARGE ENVIRONMENTS 有权转让
标题翻译：载体的秤架，用力合上大的环境
公开(公告)号：EP2776216A4
公开(公告)日：2015-12-30
申请号：EP12848273
申请日：2012-11-09
申请人： IROBOT CORP
发明人： GUTMANN JENS-STEFFEN , GOEL DHIRAJ , MUNICH MARIO E , FONG PHILIP
IPC分类号： B25J9/16 , B25J13/08 , 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

4. 发明公开

EP2619742A4 SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION 有权转让
标题翻译：系统VERFAHREN ZUR VSLAM-OPTIMIERUNG
公开(公告)号：EP2619742A4
公开(公告)日：2016-10-26
申请号：EP11827663
申请日：2011-09-23
申请人： IROBOT CORP
发明人： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC分类号： G08G1/123 , G01C21/32 , G05D1/02 , G06F17/30 , G06K9/20 , G06K9/62 , G09B29/00
CPC分类号： G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0215 , G06F17/30061 , G06F17/30241 , G06F17/30386 , G06F17/3053 , G06K9/2054 , G06K9/6201 , G09B29/007
摘要： 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. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
摘要翻译：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。这些技术可以用于机器人导航。有利地，可以使用这种可视化技术来自主生成和更新地图。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。某些实施例考虑在基于SLAM的系统中对前端处理的改进。特别地，这些实施方案中的某些设想了新颖的地标匹配过程。这些实施例中的某些也考虑了一个新颖的地标创建过程。某些实施例考虑在基于SLAM的系统中对后端处理的改进。特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法，以实现更有效的结构。

5. 发明公开

EP2858794A4 CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS 有权
标题翻译： CARPET移微分测量传感器或视觉测
公开(公告)号：EP2858794A4
公开(公告)日：2016-04-20
申请号：EP13801242
申请日：2013-06-07
申请人： IROBOT CORP
发明人： GOEL DHIRAJ , EADE ETHAN , FONG PHILIP , MUNICH MARIO E
IPC分类号： B25J19/04 , A47L11/32 , B25J5/00 , G05D1/02
CPC分类号： B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
摘要： Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

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