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1. 发明申请

US20180314265A1 ENVIRONMENT ARRANGEMENT ROBOT AND CONTROL PROGRAM THEREOF 审中-公开
公开(公告)号：US20180314265A1
公开(公告)日：2018-11-01
申请号：US15936680
申请日：2018-03-27
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Nobuyuki MATSUNO , Hidenori YABUSHITA , Kazuhito TANAKA , Shintaro YOSHIZAWA
IPC分类号： G05D1/02 , B25J5/00
CPC分类号： G05D1/0221 , B25J5/007 , B25J9/162 , G05B2219/25062 , G05B2219/31007 , G05B2219/31034 , G05B2219/40506 , G05D1/0246 , G05D1/0248 , G05D1/0274 , G05D2201/0216 , Y10S901/01 , Y10S901/27 , Y10S901/47 , Y10S901/49
摘要： An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.

2. 发明申请

US20170183159A1 ROBOT-ENABLED CASE PICKING 审中-公开
公开(公告)号：US20170183159A1
公开(公告)日：2017-06-29
申请号：US15458112
申请日：2017-03-14
申请人： Seegrid Corporation
发明人： Mitchell Weiss
IPC分类号： B65G1/137 , G05B19/418 , B65G1/04
CPC分类号： B65G1/1378 , B65G1/1375 , B66F9/061 , B66F9/063 , G05B19/41895 , G05B2219/31007 , G05B2219/40298 , Y02P90/285 , Y02P90/60 , Y10S901/01
摘要： A robot-enabled method of picking cases in a warehouse is provided. A robotic vehicle includes a load platform and a robotic order selector, and has access to an electronically stored representation of a warehouse. The representation includes a map that defines aisles for storing items arranged as pick faces within the warehouse. A pick list is generated from an order; the pick list provides identifications of items to be picked to fulfill the order. A plurality of stops at pick faces associated with the items is determined. A route within the map is generated that includes the plurality of stops. The robotic vehicle iteratively guides itself along the route and automatically stops at each of the plurality of stops to enable robotic loading of at least some of the items from the pick list onto the load platform.

3. 发明申请

US20150234386A1 Robotic Ordering and Delivery System Software and Methods 有权
标题翻译：机器人订购和交付系统软件和方法
公开(公告)号：US20150234386A1
公开(公告)日：2015-08-20
申请号：US14699048
申请日：2015-04-29
申请人： Aethon, Inc.
发明人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
IPC分类号： G05D1/02
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31003 , G05B2219/31006 , G05B2219/31007 , G05D1/0225 , G05D1/0227 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0206 , G06F19/00 , G06K7/0008 , G06K19/0723 , Y02P90/285 , Y02P90/60 , Y10S901/01 , Y10S901/46
摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.
摘要翻译：使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

4. 发明授权

US09026301B2 Robotic ordering and delivery system software and methods 有权
标题翻译：机器人订购和交付系统软件和方法
公开(公告)号：US09026301B2
公开(公告)日：2015-05-05
申请号：US11581798
申请日：2006-10-16
申请人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
发明人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
IPC分类号： G05B15/00 , G06F19/00 , G05D1/02 , A61G12/00 , G05B19/418
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31003 , G05B2219/31006 , G05B2219/31007 , G05D1/0225 , G05D1/0227 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0206 , G06F19/00 , G06K7/0008 , G06K19/0723 , Y02P90/285 , Y02P90/60 , Y10S901/01 , Y10S901/46
摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.
摘要翻译：使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

5. 发明申请

US20150073586A1 ROBOT-ENABLED CASE PICKING 有权
标题翻译：机器人启动的案例
公开(公告)号：US20150073586A1
公开(公告)日：2015-03-12
申请号：US14543241
申请日：2014-11-17
申请人： Seegrid Corporation
发明人： Mitchell Weiss
IPC分类号： B65G1/137 , G05B19/418 , B66F9/06
CPC分类号： B65G1/1378 , B66F9/063 , G05B19/41895 , G05B2219/31007 , G05B2219/40298 , Y02P90/285 , Y02P90/60 , Y10S901/01
摘要： A robot-enabled method of picking cases in a warehouse is provided. A robotic vehicle includes a processor configured to access a memory, a user input device, an output device, and a load platform, and has access to an electronically stored representation of a warehouse. The representation includes a map that defines aisles for storing items arranged as pick faces within the warehouse. A pick list is generated from an order; the pick list provides identifications of items to be picked to fulfill the order. Determined from the pick list is a plurality of stops at pick faces associated with the items. A route within the map is generated that includes the plurality of stops. The robotic vehicle iteratively guides itself along the route and automatically stops at each of the plurality of stops to enable loading of the items from the pick list onto the load platform.
摘要翻译：提供了一种采用机器人方式在仓库中挑选箱子。机器人车辆包括被配置为访问存储器，用户输入设备，输出设备和负载平台的处理器，并且可访问电子存储的仓库表示。该表示包括定义通道的地图，用于存储在仓库内作为拾取面排列的物品。从订单生成选择列表; 选择列表提供要选择的项目的标识以完成订单。从选择列表确定在与物品相关联的拾取面处的多个停靠点。生成包括多个停靠点的地图内的路线。机器人车辆沿着路线自动地引导自身，并且在多个停靠点中的每一个处自动停止，以使物品从拾取列表载入到装载平台上。

6. 发明申请

US20070112461A1 Robotic ordering and delivery system software and methods 有权
标题翻译：机器人订购和交付系统软件和方法
公开(公告)号：US20070112461A1
公开(公告)日：2007-05-17
申请号：US11581798
申请日：2006-10-16
申请人： Aldo Zini , Spencer Allen , Barry Skirble , Henry Thorne , Stuart Fairley
发明人： Aldo Zini , Spencer Allen , Barry Skirble , Henry Thorne , Stuart Fairley
IPC分类号： G06F19/00
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31003 , G05B2219/31006 , G05B2219/31007 , G05D1/0225 , G05D1/0227 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0206 , G06F19/00 , G06K7/0008 , G06K19/0723 , Y02P90/285 , Y02P90/60 , Y10S901/01 , Y10S901/46
摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.
摘要翻译：使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

7. 发明授权

US09410811B2 Automated guided vehicle, system comprising a computer and an automated guided vehicle, method of planning a virtual track, and method of operating an automated guided vehicle 有权
标题翻译：自动引导车辆，包括计算机和自动引导车辆的系统，计划虚拟轨道的方法，以及操作自动导引车辆的方法
公开(公告)号：US09410811B2
公开(公告)日：2016-08-09
申请号：US14263165
申请日：2014-04-28
申请人： KUKA Laboratories GmbH
发明人： Patrick Pfaff , Bjorn Klein
IPC分类号： G01C22/00 , G01C21/34 , B25J9/16 , G05D1/02 , G06Q10/04 , G05D1/00 , G01C21/20
CPC分类号： G01C21/34 , B25J9/1664 , G01C21/20 , G05B2219/31007 , G05B2219/40298 , G05B2219/40446 , G05D1/0088 , G05D1/0217 , G05D1/0274 , G05D2201/0216 , G06Q10/047 , Y02P90/285
摘要： The invention relates to an automated guided vehicle, a system with a computer and an automated guided vehicle, a method of planning a virtual track and a method of operating an automated guided vehicle. The automated guided vehicle is to move automatically along a virtual track within an environment from a start point to an end point. The environment comprises sections connecting the start point the end point, and the intermediate point. A graph is assigned to the environment.
摘要翻译：本发明涉及一种自动导引车辆，具有计算机和自动导向车辆的系统，一种计划虚拟轨道的方法和一种操作自动导引车辆的方法。自动导引车辆将沿着环境中的虚拟轨道自动地从起始点移动到终点。环境包括将起点和终点连接起来的部分。图表分配给环境。

8. 发明申请

US20150285644A1 Automated Guided Vehicle, System Comprising A Computer And An Automated Guided Vehicle, Method Of Planning A Virtual Track, And Method Of Operating An Automated Guided Vehicle 有权
标题翻译：自动引导车，包括计算机和自动引导车的系统，虚拟轨道的规划方法和操作自动引导车的方法
公开(公告)号：US20150285644A1
公开(公告)日：2015-10-08
申请号：US14263165
申请日：2014-04-28
申请人： KUKA Laboratories GmbH
发明人： Patrick Pfaff , Bjorn Klein
IPC分类号： G01C21/34 , G05D1/00
CPC分类号： G01C21/34 , B25J9/1664 , G01C21/20 , G05B2219/31007 , G05B2219/40298 , G05B2219/40446 , G05D1/0088 , G05D1/0217 , G05D1/0274 , G05D2201/0216 , G06Q10/047 , Y02P90/285
摘要： The invention relates to an automated guided vehicle, a system with a computer and an automated guided vehicle, a method of planning a virtual track and a method of operating an automated guided vehicle. The automated guided vehicle is to move automatically along a virtual track within an environment from a start point to an end point. The environment comprises sections connecting the start point the end point, and the intermediate point. A graph is assigned to the environment.
摘要翻译：本发明涉及一种自动导引车辆，具有计算机和自动导向车辆的系统，一种计划虚拟轨道的方法和一种操作自动导引车辆的方法。自动导引车辆将沿着环境中的虚拟轨道自动地从起始点移动到终点。环境包括将起点和终点连接起来的部分。图表分配给环境。

9. 发明授权

US09020679B2 Robotic ordering and delivery system software and methods 有权
公开(公告)号：US09020679B2
公开(公告)日：2015-04-28
申请号：US13028835
申请日：2011-02-16
申请人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
发明人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
IPC分类号： G06F19/00 , B25J19/02 , G05D1/02 , G05B19/418 , B25J5/00 , B25J9/16
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31003 , G05B2219/31006 , G05B2219/31007 , G05D1/0225 , G05D1/0227 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0206 , G06F19/00 , G06K7/0008 , G06K19/0723 , Y02P90/285 , Y02P90/60 , Y10S901/01 , Y10S901/46
摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

10. 发明申请

US20100234991A1 ROBOTIC ORDERING AND DELIVERY APPARATUSES, SYSTEMS AND METHODS 有权
公开(公告)号：US20100234991A1
公开(公告)日：2010-09-16
申请号：US12785552
申请日：2010-05-24
申请人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
发明人： Aldo Zini , Spencer Wayne Allen , Barry Mark Skirble , Henry F. Thorne , Stuart Fairley
IPC分类号： G05B19/418 , G06F19/00
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31003 , G05B2219/31006 , G05B2219/31007 , G05D1/0225 , G05D1/0227 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0206 , G06F19/00 , G06K7/0008 , G06K19/0723 , Y02P90/285 , Y02P90/60 , Y10S901/01 , Y10S901/46
摘要： Systems, methods and devices for the automated retrieval/delivery of goods from one location to another using a robotic device such as a tug and accompanying cart. A computer within the tug/cart stores a map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or continuously adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

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