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1. 发明申请

WO2007047514A2 ROBOTIC ORDERING AND DELIVERY APPARATUSES, SYSTEMS AND METHODS 审中-公开
标题翻译：机器人订购和运输设备，系统和方法
公开(公告)号：WO2007047514A2
公开(公告)日：2007-04-26
申请号：PCT/US2006040217
申请日：2006-10-16
申请人： AETHON INC
发明人： ZINI ALDO , ALLEN SPENCER WAYNE , SKIRBLE BARRY MARK , THORNE HENRY F
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 , 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.
摘要翻译：用于使用机器人装置例如拖船和伴随车从一个位置到另一个位置自动检索/传送货物的系统，方法和装置。拖船/购物车内的电脑存储建筑物平面图的图表，以及从一个位置到下一个位置的拖船所需的路径。在交货期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或连续调节拖船移动的数据，以便更紧密地遵循预期的路径。该系统优选地包括允许一个或多个拖船与拖船基站，位于交付地点的主网络以及监视由拖船收集的状态和数据的远程主机中心进行通信的无线网络。

2. 发明申请

WO2007047510A3 ROBOTIC INVENTORY MANAGEMENT 审中-公开
标题翻译：机动物资管理
公开(公告)号：WO2007047510A3
公开(公告)日：2008-03-27
申请号：PCT/US2006040213
申请日：2006-10-16
申请人： AETHON INC
发明人： ZINI ALDO , ALLEN SPENCER WAYNE , SKIRBLE BARRY MARK , THORNE HENRY F
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 , 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以及监视由拖船收集的状态和数据的远程主机中心进行通信。

3. 发明申请

WO2004020267A2 ROBOTIC CART PULLING VEHICLE 审中-公开
标题翻译：机动车推拉车
公开(公告)号：WO2004020267A2
公开(公告)日：2004-03-11
申请号：PCT/US2003/027837
申请日：2003-08-29
申请人： AETHON, INC. , THORNE, Henry, F.
发明人： THORNE, Henry, F.
IPC分类号： B62D
CPC分类号： G05D1/0272 , G05D1/0242 , G05D1/0274 , G05D2201/0206 , G05D2201/0211
摘要： A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a card attaching post.
摘要翻译：机器人牵引车辆包括用于减少推算导航系统中的累积误差的定位误差减少系统。所述定位误差降低系统包括所述小车安装机构的低负载转移点中的至少一个，地板变化柔量结构，由此所述驱动轮在较小的表面变化上保持基本均匀的负载分布，最小的轮接触表面结构，使用安装在机器人主体上的至少一个接近传感器的校准结构以及由卡连接柱形成的手推车和机器人车辆之间的公共电气和机械连接。

4. 发明申请

WO2023086666A1 ADAPTIVE MOBILE ROBOT BEHAVIOR BASED ON PAYLOAD 审中-公开
公开(公告)号：WO2023086666A1
公开(公告)日：2023-05-19
申请号：PCT/US2022/049934
申请日：2022-11-15
申请人： ST ENGINEERING AETHON, INC. , DEBUSCA, David , ALLEN, Spencer W. , BERI, Joseph S. , LUCAS, George F. , MELANSON, Anthony , PEDUZZI, David , SEIFF, Peter T.
发明人： DEBUSCA, David , ALLEN, Spencer W. , BERI, Joseph S. , LUCAS, George F. , MELANSON, Anthony , PEDUZZI, David , SEIFF, Peter T.
IPC分类号： B60P3/00
摘要： Embodiments relate to a robotic system having a plurality of sensors attached to a robot. The system includes an identifier attached to a receiver hitch of a cart. The identifier includes information related to a cart with which the identifier is attached. At least one sensor of the plurality of sensors is configured to detect the identifier and transmit sensor data to a computing unit of the robot. The computing unit of the robot operates the robot and/or the plurality of sensors based on the cart information. Some embodiments include a facility sensor attached to a facility. The facility sensor is configured to detect presence or absence of a cart.

5. 发明申请

WO2023086665A2 AUTONOMOUS MOBILE ROBOT AND SYSTEM FOR TRANSPORTATION AND DELIVERY OF CARTS 审中-公开
公开(公告)号：WO2023086665A2
公开(公告)日：2023-05-19
申请号：PCT/US2022/049931
申请日：2022-11-15
申请人： ST ENGINEERING AETHON, INC. , LIST, Ryan , ALLEN, Spencer W. , BERI, Joseph S. , DEBUSCA, David , LUCAS, George F. , MELANSON, Anthony , SEIFF, Peter T.
发明人： LIST, Ryan , ALLEN, Spencer W. , BERI, Joseph S. , DEBUSCA, David , LUCAS, George F. , MELANSON, Anthony , SEIFF, Peter T.
IPC分类号： B60L53/36 , B60L53/16
摘要： Embodiments relate to autonomous operation of a mobile robot, which can include use of a receiver hitch, a tow arm, and a trained model. Embodiments include use of sensors and identifiers to facilitate autonomous operation based solely on receiver hitch data. The receiver hitch data can allow the robot to autonomously position itself and orient the tow arm for proper alignment with the receiver hitch. Receiver hitch data can also be used to autonomously increase a field of view for the robot. Additional sensor data can allow the robot to detect a ledge or similar obstacle and avoid steering towards or over the ledge.

6. 发明申请

WO2023086667A2 PIVOTING CHARGING MECHANISM FOR MOBILE ROBOTS 审中-公开
公开(公告)号：WO2023086667A2
公开(公告)日：2023-05-19
申请号：PCT/US2022/049936
申请日：2022-11-15
申请人： ST ENGINEERING AETHON, INC. , DEBUSCA, David , ALLEN, Spencer W. , BERI, Joseph S. , PEDUZZI, David
发明人： DEBUSCA, David , ALLEN, Spencer W. , BERI, Joseph S. , PEDUZZI, David
IPC分类号： H01R13/631 , G06D1/02 , H01R13/08 , H01R13/24 , H01R13/642 , H01R24/66 , H02J7/00 , B25J9/16 , B25J19/00
摘要： Embodiments relate to a charging dock which allows a mobile robot to self-dock for charging more efficiently and reliably. The charging dock has a pivoting face including a disk fashioned with charging connection points. When a robot encounters the dock, the pivoting face is able to pivot to ensure the charging disk can align with corresponding charging pickup points within the robot's charging receptor. The pivoting face improves efficiency and reliability of the robot's docking procedures.

7. 发明申请

WO2013044069A1 MONITORING, DIAGNOSTIC AND TRACKING TOOL FOR AUTONOMOUS MOBILE ROBOTS 审中-公开
标题翻译：自动移动机器人的监控，诊断和跟踪工具
公开(公告)号：WO2013044069A1
公开(公告)日：2013-03-28
申请号：PCT/US2012/056632
申请日：2012-09-21
申请人： AETHON, INC. , WOLFE, David G. , LUCAS, George F. , SWANEY, Mark
发明人： WOLFE, David G. , LUCAS, George F. , SWANEY, Mark
IPC分类号： G06F19/00
CPC分类号： G05D1/0287 , G05B19/41895 , G05B23/0272 , G05D1/0027 , G06F17/00 , G06F19/00 , G06Q10/0639 , G06Q10/08 , G16H40/20
摘要： A system and method are provided for managing and prioritizing for action fleets of mobile robots deployed at various locations. The system/method includes a plurality of homebase servers, each corresponding to a different location, with each of the homebase servers receiving operational parameter data (representing operational and navigational issues experienced by the mobile robot) from a plurality of mobile robots operating at the particular location where the homebase server is deployed. A central server receives the operational parameter data from the plurality of homebase servers. The central server included a data analysis module for processing the operational parameter data and prioritizing the mobile robots operating at the various locations for action by support staff. A list is generated ranking the mobile robots in order of importance for action by support staff.
摘要翻译：提供了一种系统和方法，用于管理在各个位置部署的移动机器人的行动队列的优先级。系统/方法包括多个家用服务器，每个家用服务器对应于不同的位置，每个家用服务器从操作特定的多个移动机器人接收操作参数数据（表示由移动机器人经历的操作和导航问题）部署主服务器的位置。中央服务器从多个本地服务器接收操作参数数据。中央服务器包括一个数据分析模块，用于处理操作参数数据，并将在各个地点操作的移动机器人划分为优先级，以供支持人员采取行动。根据支持人员的行动重要性，生成了移动机器人排名列表。

8. 发明申请

WO2007047510A2 ROBOTIC ORDERING AND DELIVERY SYSTEM SOFTWARE AND METHODS 审中-公开
标题翻译：机器人订购和交付系统软件和方法
公开(公告)号：WO2007047510A2
公开(公告)日：2007-04-26
申请号：PCT/US2006/040213
申请日：2006-10-16
申请人： AETHON, INC.
发明人： ZINI, Aldo , ALLEN, Spencer, Wayne , SKIRBLE, Barry, Mark , THORNE, Henry, F.
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以及监视由拖船收集的状态和数据的远程主机中心进行通信。

9. 发明申请

WO2020146701A1 AUTONOMOUS MOBILE DELIVERY ROBOT AND CHAIN OF CUSTODY SYSTEM 审中-公开
公开(公告)号：WO2020146701A1
公开(公告)日：2020-07-16
申请号：PCT/US2020/013025
申请日：2020-01-10
申请人： ST ENGINEERING AETHON, INC.
发明人： MELANSON, Anthony , LIST, Ryan , ALLEN, Spencer , STROPKAY, Scott E. , CHAMORRO, III, Andres , MATTHEWS, Mark C. , NYE LEGG, Ashley James
IPC分类号： G06F19/00 , A61G12/00 , B65G1/137 , G05D1/02
摘要： Disclosed are a system and a method that includes a robotic unit configured to deliver items (e.g., medicine, foodstuff, linens, equipment, etc.) to sites (e.g., rooms, offices, etc.) and/or individuals (e.g., patients, pharmacists, technician, etc.) throughout a facility (e.g., hospital, office building, mailroom, manufacturing facility, etc.). The robotic unit is a mobile unit that operates autonomously to follow predetermined or programmed routes throughout the facility to deliver the items. The system is configured to maintain a chain of custody for the items. In addition, the robotic unit is configured to only allow designated items to be delivered to designated sites and/or to authorized individuals. This can be achieved by the robotic unit having a plurality of containers that are locked within a storage space of the robotic unit, and are only accessible upon successful completion of an authorization process.

10. 发明申请

WO2016205318A1 SAFETY, MANAGEMENT AND TRACKING OF HOSPITAL PHARMACY TRAYS 审中-公开
标题翻译：医院药品安全，管理和追踪
公开(公告)号：WO2016205318A1
公开(公告)日：2016-12-22
申请号：PCT/US2016/037556
申请日：2016-06-15
申请人： AETHON, INC.
发明人： WOLFE, David G. , ALLEN, Spencer W. , MELANSON, Anthony
IPC分类号： G06Q10/08 , A47B67/02 , A61B90/90 , A61B90/94 , A61B90/96 , G06K7/10
CPC分类号： G06Q10/087 , G06F19/00 , G06F19/3462 , G06K7/10861 , G06K9/18 , G06K2209/01 , G06Q50/22 , G07F17/0092
摘要： A computer-implemented system and method is disclosed for inventory management including an inventory machine, a medication tray, and at least one marker. A medication tray includes a plurality of compartments to receive medications and other items, where each compartment is designated as a receptacle for a specific item or type of item. A marker is provided for each item placed in a compartment, and insertion of a medication tray into an inventory machine enables components to scan for markers. The markers are configured to generate identifying data and other data related to an item upon being scanned by an imaging apparatus and processed by a decoder apparatus. The correct/incorrect location of items within a medication tray, among other information, is determined in an automated fashion as part of the computer-implemented inventory management system and method.
摘要翻译：公开了用于库存管理的计算机实现的系统和方法，包括库存机器，药物托盘和至少一个标记。药物托盘包括多个隔室以接收药物和其他物品，其中每个隔室被指定为用于特定物品或物品类型的容器。为放置在隔室中的每个物品提供标记，并将药盘插入到库存机器中，使组件能够扫描标记。标记被配置为在被成像设备扫描并且由解码器设备处理时，生成与物品有关的识别数据和其它数据。作为计算机实现的库存管理系统和方法的一部分，以自动方式确定药物托盘内的物品的正确/不正确的位置以及其他信息。

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