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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
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1 US10613541B1
Surface coverage optimization method for autonomous mobile machines
Publication/Patent Number: US10613541B1 Publication Date: 2020-04-07 Application Number: 15/406,890 Filing Date: 2017-01-16 Inventor: Ebrahimi, Afrouzi Ali   Mehrnia, Soroush   Schweigert, Sebastian   Assignee: AI Incorporated   IPC: G05D1/02 Abstract: A system and method for devising a surface coverage scheme within a workspace. Space within a two-dimensional map of the workspace is identified as free, occupied, or unknown. The map is divided into a grid of cells. A loop-free spanning tree is constructed within all free cells within the grid. The robotic device is programmed to drive along the outside edge of the spanning tree to cover all portions of each free cell at least once upon completing the path. The system monitors several performance parameters during each work session and assigns negative rewards based on these parameters. A large positive reward is assigned upon completion of the surface coverage. Spanning trees with at least slight differences are used to determine which spanning tree produces the highest reward. The system is programmed to attempt maximize rewards at all times, causing the system to learn the best eventual method or policy for servicing the workspace.
2 US2020125115A1
METHODS AND SYSTEMS OF DISTRIBUTING TASK REGIONS FOR A PLURALITY OF CLEANING DEVICES
Publication/Patent Number: US2020125115A1 Publication Date: 2020-04-23 Application Number: 16/410,193 Filing Date: 2019-05-13 Inventor: Hsu, Tao-chih   Wang, Yang-sheng   Chen, Chun-ting   Chen, Yu-ching   Assignee: Quanta Computer Inc.   IPC: G05D1/02 Abstract: A method of distributing task regions for a plurality of cleaning devices, including: dividing a task map into a plurality of basic sub-regions according to concave corners corresponding to the shape of the task map; combining each two adjacent basic sub-regions, and calculating basic cleaning time corresponding to each of the combined basic sub-regions; repeatedly combining each two adjacent basic sub-regions according to the basic cleaning time, and obtaining a basic partition result; selecting starting blocks according to positions of the plurality of task sub-regions in the basic partitioning result; combining the task sub-regions according to the position of each starting block, the position of each task sub-region, and the cleaning time corresponding to each task sub-region, and obtaining the task region distribution result; enabling cleaning devices to perform cleaning tasks according to the position of each cleaning device and the task region distribution result.
3 US2020233433A1
VIRTUAL WALL DEVICE AND ROBOT AND CONTROL METHOD THEREOF
Publication/Patent Number: US2020233433A1 Publication Date: 2020-07-23 Application Number: 16/438,980 Filing Date: 2019-06-12 Inventor: Yan, Jason   Assignee: YAN, Jason   IPC: G05D1/02 Abstract: The present invention is a virtual wall device and a robot and a control method thereof, comprising the virtual wall device and the robot. The virtual wall device can transmit a virtual wall signal to divide a workspace where the virtual wall device is located into separated areas and open areas. The virtual wall device uses a setting unit provided by itself to set an activity time in the separated area, and the robot determines whether to enter the separated area according to the virtual wall signal, and only after the activity time is reached after entering the separated area, the robot can leave the separated area autonomously without the guidance of the virtual wall device, and enter the open area, thus both the virtual wall device and the robot can save electric power.
4 EP2749982B1
Generation and updating of reference models
Publication/Patent Number: EP2749982B1 Publication Date: 2020-01-01 Application Number: 13192435.9 Filing Date: 2013-11-12 Inventor: Thannhuber, Markus   Assignee: Einhell Germany AG   IPC: G05D1/02
5 EP3679444A1
DETECTING AND RESPONDING TO TRAFFIC REDIRECTION FOR AUTONOMOUS VEHICLES
Publication/Patent Number: EP3679444A1 Publication Date: 2020-07-15 Application Number: 18874467.6 Filing Date: 2018-10-29 Inventor: Silver, David Herrison   Chaudhari, Pankaj   Assignee: Waymo LLC   IPC: G05D1/02
6 EP3679443A1
DATA-DRIVEN PREDICTION-BASED SYSTEM AND METHOD FOR TRAJECTORY PLANNING OF AUTONOMOUS VEHICLES
Publication/Patent Number: EP3679443A1 Publication Date: 2020-07-15 Application Number: 18854601.4 Filing Date: 2018-09-04 Inventor: Sun, Xing   Lin, Wutu   Liu, Liu   Ma, Kai-chieh   Xuan, Zijie   Zhao, Yufei   Assignee: Tusimple   IPC: G05D1/02
7 EP2630549B1
AUTONOMOUS TRANSPORTATION SYSTEM
Publication/Patent Number: EP2630549B1 Publication Date: 2020-06-17 Application Number: 11771200.0 Filing Date: 2011-10-21 Inventor: Kurth, Johannes   Pfaff, Patrik   Brudniok, Sven   Maischberger, Johann   Linnhoff, Winhold   Hafenberg, Sven   Assignee: KUKA Deutschland GmbH   Grenzebach Maschinenbau GmbH   IPC: G05D1/02
8 EP3098682B1
MOVING OBJECT CONTROLLER, PROGRAM, AND INTEGRATED CIRCUIT
Publication/Patent Number: EP3098682B1 Publication Date: 2020-06-10 Application Number: 16156691.4 Filing Date: 2016-02-22 Inventor: Shingu, Fumiya   Ikoma, Norikazu   Nagamine, Kenta   Hasegawa, Hiromu   Assignee: MegaChips Corporation   Kyushu Institute of Technology   IPC: G05D1/02
9 EP3696640A1
ROBOTIC VEHICLE FOR MOVABLE OPERATION IN A WORK AREA
Publication/Patent Number: EP3696640A1 Publication Date: 2020-08-19 Application Number: 19157249.4 Filing Date: 2019-02-14 Inventor: Robinson, Sean   Scapin, Michele   Cecchetto, Mauro   Schmidt, Alexander   Moosbrugger, Anton   Assignee: Stiga S.P.A.   IPC: G05D1/02 Abstract: The invention relates to a robotic vehicle (100) for movable operation in a work area, the movable operation comprising a soil cultivation, the work area being represented by a set of discretized coordinate grid points (112), the vehicle (100) comprising a controller (118), the controller (118) comprising a memory (122) and a processor, the memory (122) comprising instructions (124), wherein execution of the instructions (124) by the processor causes the vehicle (100) for performing the movable operation along a scheduled movement trajectory (130; 410; 1200) of the vehicle (100), the movable operation along the scheduled movement trajectory (130; 410; 1200) covering a set of scheduled grid points of the set of discretized coordinate grid points (112); determining if due to a deviation of the real movement trajectory (150) of the vehicle (100) from the scheduled movement trajectory (130; 410; 1200) deviated grid points (154) representing grid points of the set of scheduled grid points are uncovered by the movable operation along the scheduled movement trajectory (130; 410; 1200); in case deviated grid points (154) are uncovered, repeating the performing of the movable operation and the determination with the scheduled movement trajectory (130; 410; 1200) comprising a new scheduled movement trajectory (156) of the vehicle (100) covering the deviated grid points (154).
10 EP3688542A1
SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING
Publication/Patent Number: EP3688542A1 Publication Date: 2020-08-05 Application Number: 18872258.1 Filing Date: 2018-10-29 Inventor: Russell, Jared Stephen   Da, Fang   Assignee: Waymo LLC   IPC: G05D1/02
11 EP3674830A1
SERVER AND METHOD FOR CONTROLLING LASER IRRADIATION OF MOVEMENT PATH OF ROBOT, AND ROBOT THAT MOVES BASED THEREON
Publication/Patent Number: EP3674830A1 Publication Date: 2020-07-01 Application Number: 19210919.7 Filing Date: 2019-11-22 Inventor: Eoh, Gyuho   Noh, Dong Ki   Baek, Seungmin   Choi, Jeong Sik   Assignee: LG Electronics Inc.   IPC: G05D1/02 Abstract: A main server (100) for controlling laser irradiation of a movement path of a robot, the main server including a communication unit (180) configured to communicate with a camera module (210a,.., 210z) and a laser irradiation module (250a,..; 250z); and a controller (150) configured to: receive, via the communication unit (180), an image of a robot captured by the camera module, identify a location (110) of the robot in the image captured by the camera module, generate a movement path of the robot based on sensing information, and transmit, via the communication unit (180), movement path information to the laser irradiation module for outputting the movement path to a vicinity of the robot with a laser for the robot to follow, in which the sensing information includes first information about an obstacle sensed by the camera module (210a,..,210z) or second information about the obstacle sensed by the laser irradiation module (250a,..,250z).
12 EP3660619A1
TWO WHEEL AUTOMATIC GUIDED VEHICLES USED IN COMBINATION
Publication/Patent Number: EP3660619A1 Publication Date: 2020-06-03 Application Number: 19211971.7 Filing Date: 2019-11-27 Inventor: Kozlenok, Alexander   Assignee: Arrival Robotics Ltd   IPC: G05D1/02 Abstract: An automatic guided vehicles (AGV) can include: motors, wheels, motor controllers, and batteries coupled to an elongated frame. The two wheels can be mounted on opposite sides of the elongated frame. The wheels can be coupled to motors which can be controlled by motor controllers. The motors and motor controllers can be attached to the frame and a connector flange can be mounted on a center portion of the AGV frame. Linkages are used to couple a plurality of AGVs together. In a two AGV embodiment, the AGVs can be mounted to a front portion and a rear portion on a centerline of a platform. In a four AGV embodiment, front width, rear width, left length, and right length linkages can form a parallelogram with AGVs couple to each of the four corners of the parallelogram.
13 EP3690587A1
MAP CREATION METHOD OF MOBILE ROBOT AND MOBILE ROBOT
Publication/Patent Number: EP3690587A1 Publication Date: 2020-08-05 Application Number: 18860830.1 Filing Date: 2018-01-24 Inventor: Qian, Feifan   Yang, Kai   Zheng, Zhuobin   Ding, Huang   Assignee: Guangdong Bona Robot Corporation Limited   IPC: G05D1/02 Abstract: The present invention discloses a map creation method of a mobile robot, the mobile robot working indoors, comprising the following steps: S1: obtaining Euler angles of a current point relative to a reference point according to a ceiling image taken from the current point and the reference point; S2: determining whether the roll angle θy of the Euler angles is lower than a set value, if so, saving the map data of the current point, otherwise, not saving the map data of the current point; S3: returning to step S1 after the mobile robot moves a predetermined distance or for a predetermined time; S4: repeating steps S1 through S3 until the map creation in the working area is complete. Compared with the prior art, the technical solution of the present invention effectively determines whether the mobile robot deflects on the working surface and deletes the map data with errors when the mobile robot deflects, thus improving the map creation accuracy of the mobile robot. The present invention also discloses a mobile robot using the above method.
14 EP3469439B1
TRANSPARENTLY ACHIEVING AUTO-GUIDANCE OF A MOBILE MACHINE
Publication/Patent Number: EP3469439B1 Publication Date: 2020-08-05 Application Number: 17739752.8 Filing Date: 2017-06-08 Inventor: Downing, Michael   Peake, John William   Assignee: Trimble Inc.   IPC: G05D1/02
15 EP3686706A1
SWITCHING BETWEEN POSITIONING MODES FOR A DOMESTIC ROBOT
Publication/Patent Number: EP3686706A1 Publication Date: 2020-07-29 Application Number: 20162169.5 Filing Date: 2015-11-09 Inventor: Abramson, Shai   Wolowelsky, Karni   Assignee: F. Robotics Acquisitions Ltd.   IPC: G05D1/02 Abstract: A domestic robotic system comprises a robot and data storage operable to store data defining the boundary of a working area. The robot comprises a payload actuable to perform work on a portion of the working area adjacent the robot, a first positioning system, and a second positioning system that uses one or more sensors operable to sense directly the boundary of the working area and the robot's current distance thereto. The robot is programmed to operate in at least the following two modes: (i) an area coverage mode, wherein the robot navigates within the working area, with said payload active, using said first positioning system and said stored data defining the boundary of the working area, and (ii) a boundary proximity mode, wherein the robot navigates within the working area using said second positioning system. and to switch between said modes when said second positioning system detects the boundary of the working area with a confidence level greater than a predetermined value.
16 EP3605259A1
ROBOT CONTROL AND SERVICE PROVIDING METHOD AND DEVICE, AND ELECTRONIC DEVICE
Publication/Patent Number: EP3605259A1 Publication Date: 2020-02-05 Application Number: 17909637.5 Filing Date: 2017-05-11 Inventor: Wen, Yanfei   Assignee: Cloudminds (Shenzhen) Robotics Systems Co., Ltd.   IPC: G05D1/02 Abstract: The present disclosure provides a method and an apparatus for control a robot, a method and an apparatus for providing service and an electronic device. The method includes: creating, by a local robot, a file system snapshot of an application in a local operating system, and synchronizing file system data of the application to a cloud robot; running, by the cloud robot, on a cloud virtual machine pre-running the same operating system as that of the local robot, the same application as that of the local robot (101); and reversely synchronizing a running result of the application to the local robot (102). A cloud server runs on the cloud virtual machine an operating system kernel with the same version as that of an operating system kernel of the terminal, directly loads and runs the file system and the application that have been synchronized by the terminal, and then returns the running result of the application program to the terminal. In this way, the cloud can achieve a remote operation of the application of the terminal, and an ability of the cloud can be further improved to control behaviors of the local robot.
17 EP3410247B1
MASTER WORK VEHICLE PERFORMING WORK IN COOPERATION WITH SLAVE WORK VEHICLE
Publication/Patent Number: EP3410247B1 Publication Date: 2020-02-19 Application Number: 18173563.0 Filing Date: 2018-05-22 Inventor: Shinkai, Atsushi   Suzukawa, Megumi   Tamatani, Kenji   Shimamoto, Izuru   Morishita, Takafumi   Sakaguchi, Kazuo   Assignee: Kubota Corporation   IPC: G05D1/02
18 EP3418846B1
DEVICE FOR SAFETY CONTROL OF A MACHINE
Publication/Patent Number: EP3418846B1 Publication Date: 2020-04-15 Application Number: 18170997.3 Filing Date: 2018-05-07 Inventor: Plasberg, Georg   Rapp, Ralph   Wüstefeld, Martin   Assignee: SICK AG   IPC: G05D1/02
19 EP3620883A1
AUTONOMOUS TRAVEL CART AND METHOD OF CONTROLLING TRAVEL THEREOF
Publication/Patent Number: EP3620883A1 Publication Date: 2020-03-11 Application Number: 19194280.4 Filing Date: 2019-08-29 Inventor: Suzuki, Katsuhiko   Kassai, Taro   Assignee: Kabushiki Kaisha Toyota Jidoshokki   IPC: G05D1/02 Abstract: An autonomous travel cart (1) includes a control device that determines whether or not an obstacle detected by an ultrasonic obstacle detection device (12) is detected by a laser obstacle detection device (11) based on a detection information from the laser obstacle detection device (11) and a distance information from the ultrasonic obstacle detection device (12). The control device executes a travel control based on the detection information when it is determined the obstacle detected by the ultrasonic obstacle detection device (12) is detected by the laser obstacle detection device (11), and executes the travel control based on the distance information when it is determined that the obstacle detected by the ultrasonic obstacle detection device (12) is not detected by the laser obstacle detection device (11).
20 CN110703760A
一种用于安防巡检机器人的新增可疑物体检测方法
Under Examination
Title (English): A new detection method of suspicious objects for security inspection robot
Publication/Patent Number: CN110703760A Publication Date: 2020-01-17 Application Number: 201911041115.4 Filing Date: 2019-10-30 Inventor: 俞一奇   金国庆   田远东   倪仰   赵伯亮   Assignee: 杭州叙简科技股份有限公司   IPC: G05D1/02 Abstract: 本发明提供一种用于安防巡检机器人的新增可疑物体检测方法,包括步骤(1):人为控制安防巡检机器人沿着巡检路线走一次,在此过程中,激光雷达传感器获取周边距离信息,并使用SLAM算法构建环境地图;步骤(2):在巡检线路中设置几个固定的巡逻点,并在每一个巡逻点处由云台摄像机自动拍摄多角度图片,作为基准图片;现有的依靠安保人员定期巡逻或安装监控来排除新增可疑物体隐患的方法,会耗费较大的人力、物力。相比之下,本发明采用机器人和图像处理技术,自动在固定区域内检测新增可疑物体,不仅自动化程度高;且数据记录电子化,能完整地呈现现场情况和信息;并大大地降低了人力成本。