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71. 发明申请

US20150277426A1 ROBOT APPARATUS AND CONTROLLING METHOD OF THE ROBOT APPARATUS 有权
标题翻译：机器人装置和机器人装置的控制方法
公开(公告)号：US20150277426A1
公开(公告)日：2015-10-01
申请号：US14663104
申请日：2015-03-19
申请人： CANON KABUSHIKI KAISHA
发明人： Masaru Ogata
IPC分类号： G05B19/404 , B25J13/08 , B25J9/16 , B25J19/02
CPC分类号： G05B19/404 , B25J9/1694 , B25J13/087 , B25J19/02 , G05B2219/37429 , G05B2219/49024 , G05B2219/49213 , Y10S901/46
摘要： A robot apparatus comprises: a robot body having a multi joint arm including a plurality of joints; a motor provided as a driving source of at least a part of the plurality of joints; and a controlling system capable of controlling the motor. The controlling system comprises a motion controlling unit configured to input a current to the motor to rotate the motor, a heat generation controlling unit configured to input the current to the motor to generate heat, without rotating the motor, and a controlling unit configured to calculate a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor, to generate a current instruction for temperature raising to set the heat generation controlling unit to output the temperature raising current, and to transmit the current instruction for temperature raising to the heat generation controlling unit at stopping the robot body.
摘要翻译：机器人装置包括：机器人本体，具有包括多个接头的多关节臂; 设置为所述多个接头的至少一部分的驱动源的电动机; 以及能够控制电动机的控制系统。所述控制系统包括：运动控制单元，被配置为将电流输入到所述电动机以使所述电动机旋转;发热控制单元，被配置为在不旋转所述电动机的情况下将所述电流输入到所述电动机以产生热量;以及控制单元，在不旋转电机的情况下上升到预定温度所需的升温电流，生成用于升温的电流指令，以设定发热控制单元输出升温电流，并将当前升温指令传递给发热控制单元停止机器人主体。

72. 发明授权

US09144361B2 Debris sensor for cleaning apparatus 有权
标题翻译：用于清洁设备的碎片传感器
公开(公告)号：US09144361B2
公开(公告)日：2015-09-29
申请号：US13893038
申请日：2013-05-13
申请人： iRobot Corporation
发明人： Gregg W. Landry , David A. Cohen , Daniel N. Ozick
IPC分类号： B64C13/18 , G05D1/00 , A47L11/40 , A47L9/28 , G05D1/02
CPC分类号： A47L9/281 , A47L5/362 , A47L9/0466 , A47L9/0488 , A47L9/2805 , A47L9/2831 , A47L9/2842 , A47L9/2852 , A47L9/2857 , A47L9/2884 , A47L9/2889 , A47L9/2894 , A47L11/4005 , A47L11/4008 , A47L11/4011 , A47L11/4061 , A47L11/4066 , A47L2201/04 , A47L2201/06 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D1/0242 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby, enable an autonomous device to steer in the direction of debris.
摘要翻译：响应于碎片撞击的压电碎片传感器和相关联的信号处理器使得自主或非自主的清洁装置能够检测碎屑的存在，并且作为响应，选择行为模式，操作条件或运动模式，例如斑点覆盖或喜欢。可以使用多个传感器通道（例如左侧和右侧）来检测或产生差分的左/右碎片信号，从而使得自主装置能够沿着碎屑的方向转向。

73. 发明申请

US20150248594A1 DISPARITY VALUE DERIVING DEVICE, EQUIPMENT CONTROL SYSTEM, MOVABLE APPARATUS, AND ROBOT 有权
标题翻译：差异值传送设备，设备控制系统，可移动设备和机器人
公开(公告)号：US20150248594A1
公开(公告)日：2015-09-03
申请号：US14628905
申请日：2015-02-23
申请人： Wei ZHONG , Yoshikazu Watanabe , Soichiro Yokota , Kiichiroh Saitoh , Ryohsuke Tamura
发明人： Wei ZHONG , Yoshikazu Watanabe , Soichiro Yokota , Kiichiroh Saitoh , Ryohsuke Tamura
IPC分类号： G06K9/62 , B60R11/04 , G06K9/46
CPC分类号： G06K9/6215 , B60R11/04 , G06K9/46 , G06K9/4661 , G06K2009/4666 , G06T7/593 , G06T2207/10021 , G06T2207/30261 , Y10S901/46
摘要： A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.
摘要翻译：视差值导出装置包括获取单元，被配置为获取从第一成像位置捕获的参考图像中的参考区域与包括与参考区域的对应区域的指定范围中的多个区域中的每一个之间的匹配度，从第二成像位置拍摄的比较图像; 合成器，被配置为合成参考图像中的预定参考区域附近的参考区域的匹配度和参考图像中的预定参考区域的匹配度; 以及导出单元，其被配置为基于由所述合成器获得的合成匹配度，导出在所述预定参考区域中捕获其图像的对象的视差值和与所述预定参考区域相对应的区域。

74. 发明申请

US20150246443A1 Programming of a Robotic Arm Using a Motion Capture System 有权
标题翻译：使用运动捕捉系统对机器人手臂进行编程
公开(公告)号：US20150246443A1
公开(公告)日：2015-09-03
申请号：US14712579
申请日：2015-05-14
申请人： Autofuss
发明人： Jeffrey Linnell
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1664 , G05B19/427 , G05B2219/36442 , G05B2219/37563 , Y10S901/01 , Y10S901/46 , Y10S901/47
摘要： An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.
摘要翻译：示例性方法包括接收指示演示工具的位置的位置数据。基于接收到的位置数据，该方法还包括确定演示工具的运动路径，其中运动路径包括演示工具的位置序列。该方法另外包括确定用于机器人设备的复制控制路径，其中复制控制路径包括一个或多个机器人移动，其使机器人设备使机器人工具移动通过对应于演示工具的运动路径的运动路径。该方法还包括提供在复制控制路径内显示一个或多个机器人运动的视觉模拟。

75. 发明授权

US09110470B2 Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system 有权
标题翻译：在视觉同步定位和映射系统中使用多个假设的系统和方法
公开(公告)号：US09110470B2
公开(公告)日：2015-08-18
申请号：US14271260
申请日：2014-05-06
申请人： iRobot Corporation
发明人： L. Niklas Karlsson , Paolo Pirjanian , Luis Filipe Domingues Goncalves , Enrico Di Bernardo
IPC分类号： G08G1/123 , G05D1/02 , G01C21/12 , G06T7/00
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
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. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
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。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。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。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

76. 发明申请

US20150224641A1 CABLE WITH MARKED CONDUCTORS FOR IDENTIFICATION AND SORTING 审中-公开
标题翻译：带标识导体的电缆，用于识别和分类
公开(公告)号：US20150224641A1
公开(公告)日：2015-08-13
申请号：US14179175
申请日：2014-02-12
申请人： Tyco Electronics Corporation
发明人： Michael David Herring , Philip Gilchrist
IPC分类号： B25J9/00 , G02B6/44 , H01B7/36
CPC分类号： H01B7/365 , G02B6/4439 , G09F2007/1839 , H01R43/28 , Y10S901/02 , Y10S901/46
摘要： A cable for use with a conductor sorting system includes multiple conductors and a cable jacket. Each conductor is elongated along a conductor axis between a first end and a second end. Each conductor is marked with a barcode identifier proximate to the first end of the conductor. The barcode identifier is specific to the associated conductor such that the barcode identifier on one conductor differs from the barcode identifier of at least one other conductor. The cable jacket surrounds the multiple conductors along at least part of the length of the conductors.
摘要翻译：用于导体分拣系统的电缆包括多个导体和电缆护套。每个导体沿第一端和第二端之间的导体轴线细长。每个导体标有靠近导体第一端的条形码标识符。条形码标识符是特定于相关联的导体，使得一个导体上的条形码标识符不同于至少一个其他导体的条形码识别符。沿着导体长度的至少一部分，电缆护套围绕着多个导体。

77. 发明申请

US20150217443A1 Robot for Solar Farms 有权
标题翻译：太阳能农场机器人
公开(公告)号：US20150217443A1
公开(公告)日：2015-08-06
申请号：US14685648
申请日：2015-04-14
申请人： Saied Tadayon
发明人： Saied Tadayon
IPC分类号： B25J5/02 , F24J2/52 , F24J2/46 , B25J11/00 , F24J2/38
CPC分类号： B25J5/02 , B25J5/00 , B25J5/005 , B25J11/0085 , F24S25/10 , F24S25/70 , F24S40/00 , F24S40/20 , F24S50/20 , F24S2025/014 , F24S2050/25 , F24S2201/00 , Y02E10/47 , Y10S901/01 , Y10S901/41 , Y10S901/46
摘要： The solar energy and solar farms are used to generate energy and reduce dependence on oil (or for environmental purposes). The maintenance, operation, optimization, and repairs in big farms become very difficult, expensive, and inefficient, using human technicians. Thus, here, we teach using the robots with various functions and components, in various settings, for various purposes, to improve operations in big (or hard-to-access) farms, to automate, save money, reduce human mistakes, increase efficiency, or scale the solutions to very large scales or areas.
摘要翻译：太阳能和太阳能发电场用于产生能源并减少对石油（或为了环境目的）的依赖。使用人力技术人员，大农场的维护，运行，优化和维修变得非常困难，昂贵，效率低下。因此，在这里，我们教导使用具有各种功能和组件的机器人，在各种设置中，用于各种目的，以改善大（或难以访问）农场中的操作，自动化，省钱，减少人为错误，提高效率，或将解决方案缩放到非常大的尺度或区域。

78. 发明申请

US20150183389A1 Compliant Solid-State Bumper for Robot 有权
标题翻译：适用于机器人的固态保险杠
公开(公告)号：US20150183389A1
公开(公告)日：2015-07-02
申请号：US14643438
申请日：2015-03-10
申请人： iRobot Corporation
发明人： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble , Andrew Beaulieu
IPC分类号： B60R19/48 , G05D1/02 , A47L11/40 , B25J19/00
CPC分类号： B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
摘要： A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer.
摘要翻译：一种机器人保险杠，包括具有前表面的保险杠主体和远离前表面的顶表面。保险杠主体符合接收到的机器人底盘的形状。机器人保险杠还包括设置在保险杠主体上的力吸收层，膜开关层，包括沿着保险杠主体的顶表面布置的多个电触头，以及设置在力吸收层和膜开关之间的力传递层层。力传递层包括多个力传递元件，其被配置为将力传递到膜开关层。

79. 发明授权

US09060793B2 Robotic surgery system including position sensor using fiber bragg gratings 有权
标题翻译：机器人手术系统包括使用光纤布拉格光栅的位置传感器
公开(公告)号：US09060793B2
公开(公告)日：2015-06-23
申请号：US13049023
申请日：2011-03-16
申请人： David Q. Larkin , David C. Shafer
发明人： David Q. Larkin , David C. Shafer
IPC分类号： A61B19/00 , B25J18/00 , G01L1/24 , B23P17/04 , A61B17/00 , A61B17/29
CPC分类号： A61B34/30 , A61B34/20 , A61B34/37 , A61B34/71 , A61B90/30 , A61B90/361 , A61B2017/00057 , A61B2017/00477 , A61B2017/0477 , A61B2017/2906 , A61B2034/2048 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/305 , A61B2090/3614 , B25J9/1635 , B25J18/06 , B25J19/025 , Y10S901/09 , Y10S901/28 , Y10S901/46 , Y10S901/47 , Y10T29/49826 , Y10T74/20305
摘要： A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
摘要翻译：提供了一种手术器械，包括：至少一个可枢转臂，其具有远端，近端和设置在远端和近端之间的至少一个关节区域; 设置在所述至少一个可铰接臂的所述至少一个接合区域中的光纤弯曲传感器; 耦合到光纤弯曲传感器的检测系统，所述检测系统包括光源和光检测器，用于检测由光纤弯曲传感器反射或透过光纤弯曲传感器的光，以确定至少一个接头区域的位置基于由光纤弯曲传感器反射或透射的检测光的可铰接臂; 以及包括用于实现臂的运动的伺服控制器的控制系统。

80. 发明授权

US09043146B2 Systems and methods for tracking location of movable target object 有权
公开(公告)号：US09043146B2
公开(公告)日：2015-05-26
申请号：US13921246
申请日：2013-06-19
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Daniel James Wright , Gary E. Georgeson , Karl Edward Nelson
IPC分类号： G01S17/46 , G06K9/32 , G01S17/88
CPC分类号： H04N5/23222 , G01S17/46 , G01S17/88 , G06F17/16 , G06K9/3216 , G06K9/3241 , G06K2009/3225 , H04N5/23296 , H04N7/183 , Y10S901/46
摘要： An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.

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