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    • 4. 发明申请
    • MANUALLY DRIVEN DETERMINATION OF A REGION OF INTEREST (ROI) OR A PATH OF INTEREST (POI) FOR A ROBOTIC DEVICE
    • 手动驱动一个兴趣区域(ROI)或一个机器人的兴趣之路(POI)的确定
    • US20100076599A1
    • 2010-03-25
    • US12234633
    • 2008-09-20
    • Steven JacobsKipp KnutsonDavid Wood
    • Steven JacobsKipp KnutsonDavid Wood
    • B25J19/02B25J9/22
    • G05D1/0272G05D1/0221G05D1/0255G05D1/028
    • A robotic device is manually driven along a perimeter of a Region Of Interest (ROI) or along a Path Of Interest (POI) for future autonomous operation. An Initial Point (IP) is established by identifying a unique machine recognizable feature, for example, a Radio Frequency Identification (RFID) tag located at the IP. The robotic device is then manually driven along the perimeter or along the path and sensors carried by the robotic device collects data to characterize the ROI or POI. The sensors may include sonar, vision systems, laser, or radar devices for measuring relative positions of a wall, stairs, or obstacles. Wheel odometry may be used to track distances traveled and data fusion exercised to combine the odometry data with the sonar and/or laser measurements to model the ROI or POI. Characterization is performed by collecting points along a wall, fitting a line to the points, and finding the intersections of consecutive lines.
    • 机器人装置沿着感兴趣区域(ROI)或沿着感兴趣路径(POI)的周边手动驱动以用于将来的自主操作。 通过识别唯一的机器可识别特征(例如位于IP处的射频识别(RFID))标签来建立初始点(IP)。 然后机器人装置沿着周边或沿着路径手动驱动,并且机器人装置携带的传感器收集数据以表征ROI或POI。 传感器可以包括用于测量墙壁,楼梯或障碍物的相对位置的声纳,视觉系统,激光或雷达装置。 轨迹测距可用于跟踪所行驶的距离和数据融合,以将测距数据与声纳和/或激光测量结合以对ROI或POI进行建模。 通过沿着墙壁收集点,将线拟合到点上并找到连续线的交点来进行表征。