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1. 发明授权

EP4006681B1 AUTONOMOUS WORK MACHINE, METHOD FOR CONTROLLING AUTONOMOUS WORK MACHINE 有权
公开(公告)号：EP4006681B1
公开(公告)日：2024-10-16
申请号：EP19938129.4
申请日：2019-07-23
IPC分类号： G05D1/00
CPC分类号： G05D1/0234 , G05D1/0253 , G06V20/56 , G06V20/588 , G05D1/0274 , G05D1/0246 , A01D34/008 , G06V20/64 , G06V20/10

2. 发明公开

EP3224003A4 SYSTEMS AND METHODS OF USE OF OPTICAL ODOMETRY SENSORS IN A MOBILE ROBOT 有权
公开(公告)号：EP3224003A4
公开(公告)日：2018-07-04
申请号：EP15863494
申请日：2015-11-17
申请人： IROBOT CORP
发明人： ROMANOV NIKOLAI , CASE JAMES PHILIP , GRIEST KENNETH , SWETT DAVID O
IPC分类号： B25J9/00 , A47L9/28 , B25J9/16 , B25J11/00 , B25J19/02 , G05D1/02
CPC分类号： B25J9/1697 , G05B2219/50393 , G05D1/0253 , G05D1/027 , G05D2201/0203 , Y10S901/01 , Y10S901/47
摘要： Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.

3. 发明公开

EP3224649A1 SYSTEMS AND METHODS FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING MACHINE VISION SYSTEMS 有权
标题翻译：用机器视觉系统进行同时定位和绘图的系统和方法
公开(公告)号：EP3224649A1
公开(公告)日：2017-10-04
申请号：EP15862755.4
申请日：2015-11-17
申请人： iRobot Corporation
发明人： MUNICH, Mario , ROMANOV, Nikolai , GOEL, Dhiraj , FONG, Philip , MELTZER, Jason , BARNADA RIUS, Marc
IPC分类号： G01S17/50 , B25J13/08 , G01P3/38
CPC分类号： G05D1/0274 , G05D1/0253 , G05D1/0272 , G05D2201/0203
摘要： The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.
摘要翻译：本发明提供了一种移动机器人，其被配置为导航操作环境，该移动机器人包括控制器电路，该控制器电路指导移动机器人的驱动器使用基于照相机的导航系统和包括限定照相机场的光学器件的照相机在环境中导航移动机器人其中照相机定位在凹陷结构内并且倾斜，使得照相机光轴以与顶面成一直线的水平面上方的锐角对准并瞄准前驱动机器人主体的方向，并且相机被配置成捕获移动机器人的操作环境的图像。

4. 发明公开

EP3159123A1 DEVICE FOR CONTROLLING DRIVING OF MOBILE ROBOT HAVING WIDE-ANGLE CAMERAS MOUNTED THEREON, AND METHOD THEREFOR 审中-公开
标题翻译：一种用于控制与事实移动机器人的操作员装式宽角度的摄像机及其方法
公开(公告)号：EP3159123A1
公开(公告)日：2017-04-26
申请号：EP15809867.3
申请日：2015-06-17
申请人： Yujin Robot Co., Ltd.
发明人： SHIN, Kyung Chul , PARK, Seong Ju , CHANG, Min , LEE, Jae Young , MOON, Byung Kwon
IPC分类号： B25J13/08 , B25J9/16
CPC分类号： G05D1/0246 , B25J9/1697 , B25J13/08 , G01C21/165 , G05D1/0251 , G05D1/0253 , G05D1/027 , G05D1/0272 , G05D1/0274 , G06K9/00201 , G06K9/00664 , G06K9/4604 , G06K9/4647 , G06T7/13 , G06T7/74 , G06T2207/10021 , G06T2207/20021 , G06T2207/30244 , G06T2207/30252 , H04N13/239 , Y10S901/01
摘要： Disclosed are an apparatus for controlling movement of a mobile robot mounted with a wide angle camera and a method thereof. An apparatus of recognizing a position of a mobile robot includes two wide angle cameras which obtain one pair of stereo images on a region of interest including a vertical direction and a horizontal direction in accordance with movement of a mobile robot; an inertial measurement unit (IMU) which obtains inertial information of a mobile robot; a position recognizing unit which predicts state information using one between first odometry information calculated based on at least one pair of stereo images and second odometry information calculated based on the inertial information and estimates a current position using the predicted state information and a previously stored key frame, by a position recognizing unit; and a movement control unit which controls movement of the mobile robot based on the estimated position.
摘要翻译：所公开的是在装置，用于控制安装有广角照相机及其方法的移动机器人的运动。认识到移动式机器人的位置的装置包括两个广角摄像机哪获得关于感兴趣的包括垂直方向上和在与移动机器人的运动雅舞蹈水平方向上的区域中的一个对立体图像; 惯性测量单元（IMU）的哪惯性获得移动机器人的信息; 一个位置识别单元，其预测基于至少一对立体图像和基于所述惯性信息计算出的第二测距信息的使用计算出的第一测距信息之间的一个状态信息，并使用所预测的状态的信息和预先存储的关键帧估计当前位置，由位置识别单元; 以及移动控制部，其控制基于所估计的位置的移动机器人的运动。

5. 发明公开

EP3159121A1 DEVICE FOR UPDATING MAP OF MOBILE ROBOT AND METHOD THEREFOR 审中-公开
标题翻译：用于更新移动机器人的地图的装置及其方法
公开(公告)号：EP3159121A1
公开(公告)日：2017-04-26
申请号：EP15808904.5
申请日：2015-06-17
申请人： Yujin Robot Co., Ltd.
发明人： SHIN, Kyung Chul , PARK, Seong Ju , LEE, Jae Young
IPC分类号： B25J13/08 , B25J9/16
CPC分类号： G05D1/0253 , B25J9/16 , B25J9/1697 , B25J13/08 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0274 , G06K9/00201 , G06K9/00664 , G06K9/4604 , G06K9/4647 , G06T7/13 , G06T7/74 , G06T2207/10021 , G06T2207/20021 , G06T2207/30244 , G06T2207/30252 , H04N13/239 , Y10S901/01
摘要： Disclosed are an apparatus and a method for updating a map of a mobile robot. An apparatus for updating a map of a mobile robot includes a key frame initializing unit which initializes seeds which constitute a key frame at a start position of the mobile robot and a key frame updating unit which when a current position is determined using a given key frame in accordance with movement of a mobile robot, projects seeds of the key frame to update the key frame for the current position using a disparity of the projected seeds.
摘要翻译：公开了一种用于更新移动机器人的地图的装置和方法。一种用于更新移动机器人的地图的设备包括：关键帧初始化单元，其在移动机器人的开始位置初始化构成关键帧的种子;以及关键帧更新单元，当利用给定关键帧确定当前位置时根据移动机器人的移动，投影关键帧的种子以使用投影种子的视差来更新当前位置的关键帧。

6. 发明公开

EP1768008A4 MOBILE VEHICLE 审中-公开
标题翻译：机动车辆
公开(公告)号：EP1768008A4
公开(公告)日：2014-04-02
申请号：EP05752955
申请日：2005-06-24
申请人： SHARP KK
发明人： SENOO TOSHIHIRO , HARA KEISUKE , OGAWA TSUYOSHI , OKAZAKI AKIHIRO
IPC分类号： G05D1/02
CPC分类号： G05D1/0253 , G05D2201/0203

7. 发明公开

EP2395408A2 Movable body system 审中-公开
标题翻译： BeweglichesKörpersystem
公开(公告)号：EP2395408A2
公开(公告)日：2011-12-14
申请号：EP11157116.2
申请日：2011-03-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Izumi, Tetsuro , Kouno, Dai
IPC分类号： G05D1/02
CPC分类号： G05D1/024 , G05D1/0253 , G05D2201/0216
摘要： A movable body system (10) includes a movable body (12) to which an image pickup apparatus (13) is attached; an image analyzer (14) that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector (16) that detects directions of the movable body with respect to wall surfaces (15, 15a), which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator (24) that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.
摘要翻译：一种移动体系统（10），包括一个移动体（12），摄像装置（13）被安装在该移动体上; 图像分析器（14），其执行由图像拾取装置拍摄的图像与先前在可移动体的行进路径上捕获的图像之间的图像匹配; 检测所述移动体相对于沿着行进路径布置的壁面（15,15a）的方向以及所述壁面与所述移动体之间的距离的壁面检测器（16）以及行进方向计算器（24），其从图像分析器或壁面检测器的输出检测可移动体相对于行进路径的偏移，并且计算使移动体行进的行进方向旅行路径。

8. 发明授权

EP1898291B1 Apparatus and method for estimating location of mobile body and generating map of mobile body environment using upper image of mobile body environment, and computer readable recording medium storing computer program controlling the apparatus 有权
标题翻译：装置和方法的移动体的估计和通过使用所述移动体的周围的较高的图像生成地图上的移动体的周围，和计算机可读存储介质，用于存储控制该设备的计算机程序
公开(公告)号：EP1898291B1
公开(公告)日：2011-01-19
申请号：EP07150373.4
申请日：2006-01-23
申请人： Samsung Electronics Co., Ltd.
发明人： Hong, Sungi , Lee, Hyoungki , Myeong, Hyeon
IPC分类号： G05D1/02
CPC分类号： G05D1/0253 , G05D1/0272 , G05D1/0274

9. 发明公开

EP2191340A2 ANORDNUNG ZUM ERFASSEN EINER UMGEBUNG 审中-公开
标题翻译：安排用于记录环境
公开(公告)号：EP2191340A2
公开(公告)日：2010-06-02
申请号：EP08803175.2
申请日：2008-08-25
申请人： Robert Bosch GmbH
发明人： NIEM, Wolfgang , VON ZITZEWITZ, Henning , BENZLER, Ulrich-Lorenz , NIEHSEN, Wolfgang , KNOEPPLER, Anke , WINGBERMUEHLE, Jochen
IPC分类号： G05D1/02
CPC分类号： G05D1/0253 , G05D1/0259 , G05D1/0274 , G05D1/0278 , G05D2201/0207
摘要： The invention relates to an arrangement (2), which is configured to detect an environment for a movable device (4), and has at least one sensor (6) for the visual detection of the environment, and at least one sensor (8, 10) for detecting the direction of movement and the orientation of the device (4), wherein the arrangement (2) is configured to process information provided by the sensors (6, 8, 10). The invention further relates to a method, by means of which an environment is detected for a movable device (4).

10. 发明公开

EP1898291A1 Apparatus and method for estimating location of mobile body and generating map of mobile body environment using upper image of mobile body environment, and computer readable recording medium storing computer program controlling the apparatus 有权
标题翻译：装置和方法的移动体的估计和通过使用所述移动体的周围的较高的图像生成地图上的移动体的周围，和计算机可读存储介质，用于存储控制该设备的计算机程序
公开(公告)号：EP1898291A1
公开(公告)日：2008-03-12
申请号：EP07150373.4
申请日：2006-01-23
申请人： Samsung Electronics Co., Ltd.
发明人： Hong, Sungi , Lee, Hyoungki , Myeong, Hyeon
IPC分类号： G05D1/02
CPC分类号： G05D1/0253 , G05D1/0272 , G05D1/0274
摘要： An apparatus and method for estimating a location of a mobile body and generating a map of a mobile body environment using an upper image of the mobile body environment, and a computer readable recording medium storing a computer program for controlling the apparatus. The apparatus includes: a landmark generating unit observing corner points from the upper image obtained by photographing in an upper vertical direction in the mobile body environment and respectively generating landmarks from the observed corner points; and a location and map operation unit estimating the location of the mobile body and generating the map of the mobile body environment from the landmarks.

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