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1. 发明申请

WO2011115617A1 APPARATUS AND METHOD FOR GRIPPING AND RELEASING OBJECTS 审中-公开
标题翻译：装载和释放物体的装置和方法
公开(公告)号：WO2011115617A1
公开(公告)日：2011-09-22
申请号：PCT/US2010/027511
申请日：2010-03-16
申请人： ADEPT TECHNOLOGY, INC. , ELLIS, Joseph, D. , MCENTIRE, Michael
发明人： ELLIS, Joseph, D. , MCENTIRE, Michael
IPC分类号： B25J15/06
CPC分类号： B25J15/0616
摘要： Improved devices and methods for gripping, supporting and releasing objects, which may be used with robotic arms, manipulators or vehicles, to hold, move or rotate objects in automated manufacturing, packaging, assembling and construction applications. The device comprises a body, an adapter flange for mounting an object gripper with an intake, a vacuum supply port, an airflow passageway configured to couple the intake to the vacuum supply port to define a substantially contiguous vacuum path, and an actuating system to open and close a breach in the substantially contiguous vacuum path. Admitting suction via the vacuum supply port while the breach is closed and the intake is in contact with the object produces a pressure gradient force having sufficient magnitude to support the object's weight in a gravitational field. Operating the actuating system to open the breach releases the object and preferably propels it away from the device.
摘要翻译：改进的用于夹持，支撑和释放物体的装置和方法，其可以与机器人臂，操纵器或车辆一起使用，以在自动化制造，包装，组装和施工应用中保持，移动或旋转物体。该装置包括主体，用于安装具有进气口的物体夹持器的适配器法兰，真空供应端口，配置成将进气口连接到真空供应口以限定基本上邻接的真空路径的气流通道，以及致动系统以打开并且在基本连续的真空路径中闭合破裂。当泄漏关闭并且进气口与物体接触时，通过真空供应口允许吸力产生足够大的压力梯度力以在重力场中支撑物体的重量。操作致动系统以打开泄漏物释放物体并且优选地将其推离设备。

2. 发明申请

WO2013112907A1 AUTONOMOUS MOBILE ROBOT FOR HANDLING JOB ASSIGNMENTS IN A PHYSICAL ENVIRONMENT INHABITED BY STATIONARY AND NON-STATIONARY OBSTACLES 审中-公开
标题翻译：自动移动机器人用于处理由静态和非静态障碍物理环境中的作业分配
公开(公告)号：WO2013112907A1
公开(公告)日：2013-08-01
申请号：PCT/US2013/023250
申请日：2013-01-25
申请人： ADEPT TECHNOLOGY, INC.
发明人： LAFARY, Matthew , VESTAL, Matthew , PAUL, George, V.
IPC分类号： G05B19/18
CPC分类号： B25J9/1676 , G05B19/4061 , G05B2219/39082 , G05B2219/40202 , G05D1/024 , G05D1/0274 , G06N3/008 , Y10S901/01 , Y10S901/46 , Y10S901/50
摘要： An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.
摘要翻译：一种具有机器人基本控制器和机载导航系统的智能移动机器人，其响应于接收到指定与一个或多个作业操作相关联的作业位置的作业分配，激活所述机载导航系统以自动确定所述移动机器人应该用于驾驶到作业位置，自动确定使用初始选择的路径可能导致移动机器人在物理环境中运行到静止或非静止障碍物（例如人或其他移动机器人）中，自动确定新的避免静止和非固定障碍物的路径，并使用新路径自动将移动机器人驱动到作业位置，从而避免与这些障碍物的接触或碰撞。在移动机器人到达作业位置之后，其自动执行与该作业位置相关联的所述一个或多个作业操作。

3. 发明申请

WO2013119942A1 JOB MANAGEMENT SYTEM FOR A FLEET OF AUTONOMOUS MOBILE ROBOTS 审中-公开
标题翻译：自动移动机器人的作业管理系统
公开(公告)号：WO2013119942A1
公开(公告)日：2013-08-15
申请号：PCT/US2013/025336
申请日：2013-02-08
申请人： ADEPT TECHNOLOGY, INC.
发明人： VESTAL, Matthew , LAFARY, Matthew , STOPERA, Peter
IPC分类号： G05D1/00
CPC分类号： G06Q10/063114 , G05D1/024 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D1/0297 , G05D2201/0211 , G05D2201/0216 , Y10S901/01
摘要： The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.
摘要翻译：本发明的作业管理系统（JMS）在诸如工厂，医院，订单处理设施或办公楼的自动化物理环境中处理作业请求，其中作业请求由自动导航的移动机器人的机器人来处理。 JMS包括定义平面图的映射，一组虚拟作业位置以及与虚拟作业位置相关联的一组或多个虚拟作业操作的集合。 JMS自动确定作业请求的实际位置和实际作业操作，并根据所选移动机器人的当前状态和/或当前配置，智能地选择合适的移动机器人来处理每个作业请求。 JMS还向选定的移动机器人发送命令，使移动机器人自动驱动实际的作业位置，自动执行实际的作业操作，或两者兼而有之。

4. 发明申请

WO2013112842A1 POSITIVE AND NEGATIVE OBSTACLE AVOIDANCE SYSTEM FOR A MOBILE ROBOT 审中-公开
标题翻译：用于移动机器人的积极和负面的障碍物避免系统
公开(公告)号：WO2013112842A1
公开(公告)日：2013-08-01
申请号：PCT/US2013/023154
申请日：2013-01-25
申请人： ADEPT TECHNOLOGY, INC.
发明人： LAFARY, Matthew , PAUL, George V.
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , G05B19/4061 , G05B2219/39082 , G05B2219/40202 , G05D1/024 , G05D1/0274 , G06N3/008 , Y10S901/01 , Y10S901/46 , Y10S901/50
摘要： Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid positive obstacles in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot's horizontally-oriented obstacle detecting lasers. Embodiments of the present invention also help to ensure that mobile robots are able to detect and avoid driving into negative obstacles, such as gaps or holes in the floor, or a flight of stairs. Thus, the invention provides positive and negative obstacle avoidance systems for mobile robots.
摘要翻译：本发明的实施例提供了用于确保移动机器人能够在通常难以检测的物理环境中检测和避免正面障碍物的方法和系统，因为障碍物不存在于与移动机器人水平位置相同的平面或平面中，定向障碍物检测激光器。本发明的实施例还有助于确保移动机器人能够检测并避免驾驶到负面障碍物，例如地板中的间隙或孔或楼梯。因此，本发明提供了用于移动机器人的正和负的障碍物回避系统。

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