公开(公告)号：WO2004059410A1

公开(公告)日：2004-07-15

申请号：PCT/IL2003/001083

申请日：2003-12-17

Applicant: ISRAEL AIRCRAFT INDUSTRIES LTD. ,  PERETZ, Yossef

Inventor： PERETZ, Yossef

IPC: G05D1/02

CPC classification number: B61B12/12 ,  A62C27/00 ,  G05D1/0229 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: An unmanned tactic platform (UTP) mounted on a two-stage locomotive system of which a first locomotive stage is a significantly high-speed travel stage where the UTP reaches an arena, and a second locomotive stage is a tactical maneuver stage in which the UTP maneuvers at the arena for executing a mission.

Abstract translation: 安装在两级机车系统上的无人战术平台（UTP），其中第一机车级是UTP到达竞技场的显着高速行进级，并且第二机车级是 一个战术机动舞台，UTP在竞技场中执行任务时进行机动。

公开(公告)号：WO1995035531A1

公开(公告)日：1995-12-28

申请号：PCT/DE1995000734

申请日：1995-06-06

Applicant: SIEMENS AKTIENGESELLSCHAFT ,  BAUER, Rudolf

Inventor： SIEMENS AKTIENGESELLSCHAFT

IPC: G05D01/02

CPC classification number: G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  G05D2201/0216

Abstract: Each partial object of the unit, e.g. go from A to B, keep the uncertainty of your position below a given threshold, or draw up a map of the area and insert these landmarks into it, is allotted different bonuses and penalities. Performance weightings for the individual objects are found in connection with the need to perform them after an analysis of the bonuses and penalities and they are evaluated in a control unit. In the context of the process, a local planning horizon is given in which the environment of the unit is divided into grid cells. Preferred directions are stored for these grid cells which lead the unit to the shortest route to already known or unconfirmed landmarks in order to reduce the positional uncertainty or confirm a landmark. All the various routes possible within this grid are examined to find their contribution towards enabling the unit to reach the goal. Here, the sum of the costs and usefulness of each partial object along each route is formed. That route is chosen which results in the greatest usefulness or the smallest loss. The cyclical performance of the process finally results in a target lying outside the local planning horizon.

Abstract translation: 对于单位，如从驱动到B的每个子任务，保持低于某一阈值的位置的不确定性，或创建一个地图，并添加这些标志，不同的奖金和惩罚值分配。 在需要执行结合实现用于各个对象，其在控制单元被评估的权重的奖金和罚分值的分析后这些任务出现。 在本地规划周期的过程中被进一步说明，其中，所述单元的周围被分成格子细胞。 优先方向被存储用于这些网格单元，其通过已知或未经确认的标志的最短路线将单元与位置不确定性的目的是减少或确认一个里程碑。 所有不同的路线，这一网格的范围内，可以进行检查，以他们的贡献，以使机组达到目标。 沿每条路径的每个子任务的不同成本和收益相加。 这是选择具有最大效用和最低的损失一条路径。 通过该方法的循环执行，目标点终于到达这是当地规划范围之外。

公开(公告)号：WO1993024874A1

公开(公告)日：1993-12-09

申请号：PCT/DE1993000385

申请日：1993-05-03

Applicant: SIEMENS AKTIENGESELLSCHAFT ,  FEITEN, Wendelin ,  MÖLLER, Marcus ,  NEUBAUER, Werner

Inventor： SIEMENS AKTIENGESELLSCHAFT

IPC: G05D01/02

CPC classification number: G05D1/0255 ,  G01S15/89 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  G05D2201/0215

Abstract: The invention describes a device and a process for exploring an unknown working area. It is not necessary for this purpose to make any markings in the area before using the device and the area does not have to have any special characteristics for determining location. The described device of the invention takes markings with it, for example metal plates or a power supply cable which it lays out while it moves around a boundary of the area. It then turns around and moves back along the marking, laying out new markings. On encountering the next wall of the area it turns, takes up the previously laid out markings and lays new ones. This process continues until the entire area has been covered. An example of the use of the device could be an industrial vacuum cleaner for cleaning carpeted floors.

公开(公告)号：EP2856273B1

公开(公告)日：2018-11-14

申请号：EP13837760.1

申请日：2013-05-29

Applicant: International Electronics Machines Corporation ,  Csx Transportation, Inc.

Inventor： MIAN, Zahid, F. ,  VONACHEN, William, G.

IPC: G05D1/00 ,  G05D3/00

CPC classification number: G01C21/00 ,  G01C21/165 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207

Abstract: A solution for estimating the pose of a platform, such as a vehicle, is provided. Data from a plurality of types of sensing devices located on the platform can be used to independently calculate a plurality of preliminary estimates corresponding to the pose. A plurality of estimates corresponding to the pose can be generated using the preliminary estimates and at least one covariance matrix. One or more entries in the covariance matrix are adjusted based on an uncertainty for the corresponding preliminary estimate. The uncertainty can vary based on time, distance, and/or velocity of the platform.

公开(公告)号：EP2343615B1

公开(公告)日：2018-10-31

申请号：EP09817397.4

申请日：2009-08-25

Applicant: Murata Machinery, Ltd.

Inventor： TANAKA, Shoji ,  NAKANO, Tsuyoshi

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0088 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

Abstract: Provided is an autonomous mobile device capable of creating, with less burden, a highly reliable environmental map including a setting point and performing more accurate autonomous travel by using the environmental map. An electronic controller 30 configuring an autonomous mobile device 1 comprises: a self-location estimation unit 32 for estimating a self-location based on a local map that is created according to the distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel 13; an environmental map creation unit 33 for creating an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick 21; a registration switch 23 for registering the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel; a storage unit 34 for storing the environmental map and the setting point; a route planning unit 35 for planning the travel route by using the setting point on the environmental map stored in the storage unit 34; and a travel control unit 36 for controlling the autonomous mobile device to autonomously travel along the travel route.

公开(公告)号：EP3359927A1

公开(公告)日：2018-08-15

申请号：EP16777678.0

申请日：2016-10-05

Applicant: FB Technology ,  Sterela

Inventor： HENAUT, Julien ,  BARBEY, Yoann ,  LE CAM, Lionel

IPC: G01J1/42 ,  G01J1/02 ,  G05D1/02

CPC classification number: G01J1/0219 ,  G01J1/4257 ,  G01J2001/4247 ,  G05D1/0234 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207

Abstract: The invention relates to a mobile device (1) for the control and/or maintenance of at least one item of equipment of an airport zone, characterized in that said device is motorized without a crew, adapted to move around on an airport runway, and comprises: • a module for controlling the location (3) of said device (1), • a navigation module (14) adapted for determining at least one trajectory of said device (1) towards or on said at least one item of equipment defined as a function of the location (x
R ,y
R ) of said device (1) and of the location (x
F ,y
F ) of at least one light source (7), • at least one module for control and/or maintenance of said at least one item of equipment, comprising at least one articulated arm (15).

公开(公告)号：EP3315949A1

公开(公告)日：2018-05-02

申请号：EP16814045.7

申请日：2016-04-28

Applicant: NEC Corporation

Inventor： FUNADA, Junichi

IPC: G01N21/84 ,  G01M3/02 ,  G01M3/24 ,  G01N21/954 ,  G01N29/22 ,  G01N29/265

CPC classification number: G01M3/02 ,  G01M3/24 ,  G01N21/84 ,  G01N21/954 ,  G01N29/22 ,  G01N29/265 ,  G05D1/0088 ,  G05D1/0223 ,  G05D2201/0207

Abstract: An object of the invention is to provide a new defect detection technique using an autonomously movable apparatus. In order to accomplish the object, the invention provides a detection system (10) including a drive control unit (15) that controls a driving unit (12) causing a base unit (11) to travel in a case where a predetermined detection target is detected on the basis of information collected by a sensor unit (13) installed in the base unit (11), and a second detection unit (16) that detects a predetermined defect on the basis of the information collected by the sensor unit (13).

Abstract translation: 本发明的目的是提供一种使用自主可移动设备的新的缺陷检测技术。 为了实现该目的，本发明提供了一种检测系统（10），该检测系统包括驱动控制单元（15），该驱动控制单元（15）控制驱动单元（12）使得基座单元（11）在预定检测目标为 根据由安装在基座单元（11）中的传感器单元（13）收集的信息检测到的信息;以及第二检测单元（16），基于由传感器单元（13）收集的信息检测预定缺陷， 。

公开(公告)号：EP3258825A1

公开(公告)日：2017-12-27

申请号：EP16752650.8

申请日：2016-02-15

Applicant: LG Electronics Inc.

Inventor： HUMMEL, Christian

IPC: A47L9/28 ,  B25J9/16 ,  G05D1/02 ,  B25J13/08 ,  H04B1/38

CPC classification number: B25J9/0003 ,  A47L9/009 ,  A47L9/0411 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/14 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2884 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/022 ,  A47L2201/04 ,  A61L9/12 ,  A61L9/20 ,  A61L2209/111 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  H04L12/2816 ,  H04L67/12

Abstract: A robot cleaner includes an environment information detecting unit configured to obtain environment information regarding at least a portion of a cleaning area, a first communication unit configured to transmit and receive data to and from a different device positioned within the cleaning area, and a control unit configured to generate a control command regarding the different device in order to adjust the obtained environment information.

公开(公告)号：EP2609471A4

公开(公告)日：2017-06-14

申请号：EP11820539

申请日：2011-08-23

Applicant: IROBOT CORP

Inventor： PACK ROBERT TODD ,  ALLIS DANIEL P ,  VALE MARSHALL J

IPC: G05D1/00

CPC classification number: G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209

公开(公告)号：EP3060480A1

公开(公告)日：2016-08-31

申请号：EP14787189.1

申请日：2014-10-23

Applicant: Airbus Group SAS

Inventor： COLIN, Nicolas ,  GUIBERT, Frank

IPC: B64F5/00

CPC classification number: G05D1/0038 ,  B25J5/007 ,  B25J19/023 ,  B64F5/60 ,  G01N29/04 ,  G01N29/226 ,  G01N2291/2694 ,  G05B2219/45066 ,  G05D2201/0207 ,  Y10S901/44

Abstract: The invention relates to a device (100) for visually inspecting the external surfaces (90) of an aircraft, which comprises an inspection area for receiving an aircraft, at least one visual inspection robot (10), and a control center (50). A movable platform (11) of the robot supports a turret (12) having observing means (13). The robot comprises processing means (20) which guide the movable platform (11) and process the data received from the observing means (13). The processing means (22) of the robot are suitable: for autonomously controlling the robot (10) during the visual inspection of the external surfaces of an aircraft (9) parked in the inspection area; for interrupting a visual inspection in the event of a detection of an anomaly on the external surface of the aircraft; for transmitting visual inspection data to the control center; and for receiving instructions from the control center.

Abstract translation: 用于视觉检查飞行器的外表面的装置包括用于接收飞行器的检查区域，至少一个目视检查机器人和控制中心。 机器人的可移动平台支撑具有观察单元的转台。 机器人包括：引导可移动平台并处理从观察单元接收的数据的处理单元。 机器人的处理单元被构造成在停放在检查区域中的飞行器的外表面的目视检查期间自动地控制机器人; 在检测到飞机外表面的异常情况下中断视觉检查; 将视觉检查数据传送到控制中心; 并从控制中心接收指令。