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1. 发明授权

US08688275B1 Positive and negative obstacle avoidance system and method for a mobile robot 有权
标题翻译：移动机器人正反障碍避免系统及方法
公开(公告)号：US08688275B1
公开(公告)日：2014-04-01
申请号：US14001266
申请日：2013-01-25
申请人： Adept Technology, Inc.
发明人： Matthew LaFary , George Paul
IPC分类号： G01S13/88 , G05B15/00 , G05B19/00 , 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： 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。

2. 发明授权

US09592609B2 Autonomous mobile robot for handling job assignments in a physical environment inhabited by stationary and non-stationary obstacles 有权
标题翻译：自动移动机器人，用于在由静止和非固定障碍物居住的物理环境中处理作业任务
公开(公告)号：US09592609B2
公开(公告)日：2017-03-14
申请号：US14370372
申请日：2013-01-25
申请人： Adept Technology, Inc.
发明人： Matthew LaFary , Matthew Vestal , George V. Paul
IPC分类号： G05B19/00 , B25J9/16 , G06N3/00 , G05D1/02 , G05B19/4061
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，激活所述车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

US20140365258A1 JOB MANAGEMENT SYSTEM FOR A FLEET OF AUTONOMOUS MOBILE ROBOTS 审中-公开
标题翻译：自动移动机器人作业管理系统
公开(公告)号：US20140365258A1
公开(公告)日：2014-12-11
申请号：US14370383
申请日：2013-02-08
申请人： Adept Technology, Inc.
发明人： Matthew Vestal , Matthew LaFary , Peter Stopera
IPC分类号： G06Q10/06
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

US20140350725A1 AUTONOMOUS MOBILE ROBOT FOR HANDLING JOB ASSIGNMENTS IN A PHYSICAL ENVIRONMENT INHABITED BY STATIONARY AND NON-STATIONARY OBSTACLES 有权
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：US20140350725A1
公开(公告)日：2014-11-27
申请号：US14370372
申请日：2013-01-25
申请人： Adept Technology, Inc.
发明人： Matthew LaFary , Matthew Vestal , George V. Paul
IPC分类号： B25J9/16 , G05B19/4061
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，激活所述车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。

5. 发明申请

US20140074287A1 POSITIVE AND NEGATIVE OBSTACLE AVOIDANCE SYSTEM AND METHOD FOR A MOBILE ROBOT 有权
标题翻译：积极和负面的障碍物避免系统和移动机器人的方法
公开(公告)号：US20140074287A1
公开(公告)日：2014-03-13
申请号：US14001266
申请日：2013-01-25
申请人： Adept Technology, Inc.
发明人： Matthew LaFary , George Paul
IPC分类号： B25J9/16
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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