Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: A gripper grasps irregular and deformable work pieces so as to lift and hold packaged, processed, or raw, and manipulate the work pieces for the purpose of material handling, assembly, packaging, and other robotic and automated manipulative functions. A vacuum is induced at multiple points through a flexible gripping hood to provide lifting force to, and facilitate rapid movement of, work pieces. An array of lighting devices and a double ring array of segmented mirrors provide uniform illumination to ensure accurate positioning of the gripping hood with respect to the work piece to be manipulated.

Abstract: A gripper grasps irregular and deformable work pieces so as to lift and hold packaged, processed, or raw, and manipulate the work pieces for the purpose of material handling, assembly, packaging, and other robotic and automated manipulative functions. A vacuum is induced at multiple points through a flexible gripping hood to provide lifting force to, and facilitate rapid movement of, work pieces. An array of lighting devices and a double ring array of segmented mirrors provide uniform illumination to ensure accurate positioning of the gripping hood with respect to the work piece to be manipulated.

Abstract: An apparatus for mobile autonomous updating of GIS maps is provided, comprising an autonomous mobile data collecting platform with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.

Abstract: An apparatus for mobile autonomous updating of GIS maps is provided, comprising an autonomous mobile data collecting platform with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.

Abstract: A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.

Abstract: A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.

Abstract: A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.

Abstract: A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.

Abstract: A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.

Abstract: A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.

Abstract: The processing status of a plurality of semiconductor wafers undergoing processing is positively identified by the use of indicator flags associated with cassettes containing the wafers. The flags are moved between at least two processing state indicating positions during processing of the wafers by a robotic arm that also transfers the wafers between the cassettes and a wafer processing station.