公开(公告)号：US20100023185A1

公开(公告)日：2010-01-28

申请号：US12180883

申请日：2008-07-28

Applicant: Christopher Rome Terwelp ,  Michael Ryals Fleming ,  Brett Anthony Gombar ,  Benjamin Edward Hastings ,  Michael Vincent Avitabile

Inventor： Christopher Rome Terwelp ,  Michael Ryals Fleming ,  Brett Anthony Gombar ,  Benjamin Edward Hastings ,  Michael Vincent Avitabile

IPC: G05D1/00 ,  G01C21/00 ,  G01C3/08 ,  G01C3/00

CPC classification number: G01S17/023 ,  G01S19/47 ,  G05D1/0016 ,  G05D1/0033 ,  G05D2201/0209

Abstract: Embodiments of the present invention improve mobile robot guidance and control by providing a position designation system for an unmanned vehicle, such as a mobile ground robot. This system allows an operator to select locations of interest on earth for the robot by pointing at the locations through an optical device that is able to discern global or local coordinates of the locations of interest. These waypoints may be spooled directly to the robot or through other mission planning elements that will make decisions about what to do with these locations of interest.

Abstract translation: 本发明的实施例通过提供诸如移动地面机器人的无人驾驶车辆的位置指定系统来改善移动机器人的引导和控制。 该系统允许操作者通过通过能够辨别感兴趣位置的全局或局部坐标的光学装置指向位置，来选择机器人感兴趣的位置。 这些航路点可以直接绕行到机器人或通过其他任务规划要素来做出决定，以决定如何处理这些感兴趣的地点。

公开(公告)号：US07548697B2

公开(公告)日：2009-06-16

申请号：US11748463

申请日：2007-05-14

Applicant: Edison Hudson ,  Robert Todd Pack

Inventor： Edison Hudson ,  Robert Todd Pack

IPC: H04B10/00

CPC classification number: G08C23/00 ,  A63H30/04 ,  G05D1/0033 ,  G05D2201/0209 ,  H04Q9/00 ,  H04Q2209/40 ,  H04Q2209/75

Abstract: A system and method for controlling a remote vehicle comprises a hand-held controller including a laser generator for generating a laser beam. The hand-held controller is manipulable to aim and actuate the laser beam to designate a destination for the remote vehicle. The remote vehicle senses a reflection of the laser beam and moves toward the designated destination. The hand-held controller allows single-handed control of the remote vehicle and one or more of its payloads. A method for controlling a remote vehicle via a laser beam comprises encoding control signals for a remote vehicle into a laser beam that is aimed and sent to a designated destination for the remote vehicle, and sensing a reflection of the laser beam, decoding the control signals for the remote vehicle, and moving toward the designated destination.

Abstract translation: 用于控制远程车辆的系统和方法包括：手持式控制器，包括用于产生激光束的激光发生器。 手持式控制器可操作以瞄准和致动激光束以指定远程车辆的目的地。 远程车辆感测激光束的反射并朝向指定的目的地移动。 手持控制器允许单手控制远程车辆及其有效载荷中的一个或多个。 一种用于经由激光束控制远程车辆的方法包括将远程车辆的控制信号编码成瞄准并发送到远程车辆的指定目的地的激光束，并感测激光束的反射，解码控制信号 用于远程车辆，并朝向指定的目的地移动。

公开(公告)号：US20080294288A1

公开(公告)日：2008-11-27

申请号：US12186502

申请日：2008-08-05

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F17/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。

公开(公告)号：US20080246601A1

公开(公告)日：2008-10-09

申请号：US12064009

申请日：2006-08-11

Applicant: Kristoffer Biel

Inventor： Kristoffer Biel

IPC: G08B1/08

CPC classification number: H04W84/18 ,  G05D1/0295 ,  G05D2201/0209 ,  H04L67/12

Abstract: The invention relates to a network for combat control of ground-based units, such as combat vehicles, in real time, in which information is obtained concerning the units comprised in the network for the evaluation of threats and the calculation of a response. According to the invention, the units are divided into clusters (20; 26) with a central unit (21; 27) in each cluster and at least one client unit (22-25; 28-32) in each cluster, which client units are arranged to communicate with the associated central unit. Each unit comprises a control computer, radio, amplifier and antenna for communication with other units. The central unit is arranged to control units comprised in an associated cluster on the basis of the threat evaluation and the response calculation carried out in the central unit on the basis of information communicated from other units, comprising information about the current position, speed, orientation and status of the respective units, and on the basis of information obtained by means of its own equipment, such as active and passive sensors.

Abstract translation: 本发明涉及一种实时地对基于地面的单位（如战车）进行作战控制的网络，其中获得关于网络中包含的用于评估威胁的单元和响应计算的信息。 根据本发明，这些单元被分成具有每个集群中的中心单元（21; 27）的集群（20; 26）和每个集群中的至少一个客户端单元（22-25,28-32），哪个客户端单元 被布置为与相关联的中央单元通信。 每个单元包括用于与其他单元通信的控制计算机，无线电，放大器和天线。 中央单元被布置为基于威胁评估和基于从其他单元传达的信息在中央单元执行的响应计算来控制包括在相关联的群集中的单元，包括关于当前位置，速度，方向的信息 和各单位的状态，并根据通过其自己的设备获得的信息，如主动和被动传感器。

公开(公告)号：US20080121097A1

公开(公告)日：2008-05-29

申请号：US11776722

申请日：2007-07-12

Applicant: Pavlo E. Rudakevych ,  Mike E. Ciholas ,  Robert Pack

Inventor： Pavlo E. Rudakevych ,  Mike E. Ciholas ,  Robert Pack

IPC: F41A19/58

CPC classification number: F41A19/58 ,  F41H7/005 ,  F41H11/16 ,  F41H11/28 ,  F42B33/06 ,  F42D5/04 ,  G05D1/0022 ,  G05D2201/0209

Abstract: An apparatus for weaponizing a mobile robotic platform with a mechanically triggered weapon and a firing circuit provides a weaponized mobile robotic platform, in which the mechanically triggered weapon can be fired in a safe, secure, and controlled manner in response to a single electrical pulse from the firing circuit.

Abstract translation: 用机械触发的武器和击发电路武器化移动机器人平台的装置提供了一种武器化的可移动机器人平台，其中机械触发的武器可以以安全，安全和受控的方式响应于来自 点火电路。

公开(公告)号：US20080063400A1

公开(公告)日：2008-03-13

申请号：US11748463

申请日：2007-05-14

Applicant: Edison Hudson ,  Robert Pack

Inventor： Edison Hudson ,  Robert Pack

IPC: H04B10/00 ,  G05D1/00

CPC classification number: G08C23/00 ,  A63H30/04 ,  G05D1/0033 ,  G05D2201/0209 ,  H04Q9/00 ,  H04Q2209/40 ,  H04Q2209/75

Abstract: A system and method for controlling a remote vehicle comprises a hand-held controller including a laser generator for generating a laser beam. The hand-held controller is manipulable to aim and actuate the laser beam to designate a destination for the remote vehicle. The remote vehicle senses a reflection of the laser beam and moves toward the designated destination. The hand-held controller allows single-handed control of the remote vehicle and one or more of its payloads. A method for controlling a remote vehicle via a laser beam comprises encoding control signals for a remote vehicle into a laser beam that is aimed and sent to a designated destination for the remote vehicle, and sensing a reflection of the laser beam, decoding the control signals for the remote vehicle, and moving toward the designated destination.

Abstract translation: 用于控制远程车辆的系统和方法包括：手持式控制器，包括用于产生激光束的激光发生器。 手持式控制器可操作以瞄准和致动激光束以指定远程车辆的目的地。 远程车辆感测激光束的反射并朝向指定的目的地移动。 手持控制器允许单手控制远程车辆及其有效载荷中的一个或多个。 一种用于经由激光束控制远程车辆的方法包括将远程车辆的控制信号编码成瞄准并发送到远程车辆的指定目的地的激光束，并感测激光束的反射，解码控制信号 用于远程车辆，并朝向指定的目的地移动。

公开(公告)号：US20080027591A1

公开(公告)日：2008-01-31

申请号：US11826541

申请日：2007-07-16

Applicant: Scott Lenser ,  Chris Jones

Inventor： Scott Lenser ,  Chris Jones

IPC: G05D1/00

CPC classification number: G05D1/0038 ,  G05D1/0027 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0209 ,  G06F3/0412 ,  H04L67/125

Abstract: A system for controlling more than one remote vehicle. The system comprises an operator control unit allowing an operator to receive information from the remote vehicles and send commands to the remote vehicles via a touch-screen interface, the remote vehicles being capable of performing autonomous behaviors using information received from at least one sensor on each remote vehicle. The operator control unit sends commands to the remote vehicles to perform autonomous behaviors in a cooperative effort, such that high-level mission commands entered by the operator cause the remote vehicles to perform more than one autonomous behavior sequentially or concurrently. The system may perform a method for generating obstacle detection information from image data received from one of a time-of-flight sensor and a stereo vision camera sensor.

Abstract translation: 用于控制多个远程车辆的系统。 该系统包括操作员控制单元，其允许操作者从远程车辆接收信息并且经由触摸屏界面向远程车辆发送命令，远程车辆能够使用从每个上至少一个传感器接收的信息来执行自主行为 远程车辆。 操作员控制单元向远程车辆发送命令以在协作努力中执行自主行为，使得由操作者输入的高级任务命令使得远程车辆顺序地或同时地执行多于一个的自主行为。 该系统可以执行从从飞行时间传感器和立体视觉摄像机传感器之一接收的图像数据产生障碍物检测信息的方法。

公开(公告)号：US20080009970A1

公开(公告)日：2008-01-10

申请号：US11428769

申请日：2006-07-05

Applicant: David J. Bruemmer

Inventor： David J. Bruemmer

IPC: G06F19/00

CPC classification number: G06N3/008 ,  G05D1/0088 ,  G05D1/0223 ,  G05D2201/0209

Abstract: Robot platforms, methods, and computer readable media are disclosed. The robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

Abstract translation: 公开了机器人平台，方法和计算机可读介质。 机器人平台包括感知器，运动器和系统控制器。 系统控制器执行指令，在每次迭代中重复通过事件定时循环，定义事件范围的行为，检测机器人周围的障碍物的范围，以及测试事件水平入侵。 定义事件范围包括确定与机器人的距离与机器人的当前速度成比例，并且测试事件水平线入侵包括确定障碍物的任何范围是否在事件范围内。 最后，在通过事件定时循环的每次迭代中，该方法包括如果发生事件水平入侵，则与事件定时循环的循环周期成比例地降低机器人的当前速度。

公开(公告)号：US20070297320A1

公开(公告)日：2007-12-27

申请号：US11425633

申请日：2006-06-21

Applicant: Steven C. Brummette ,  Christopher True

Inventor： Steven C. Brummette ,  Christopher True

IPC: H04J11/00

CPC classification number: F42D5/04 ,  F41H11/28 ,  G05D1/0022 ,  G05D2201/0209 ,  H04L27/2601

Abstract: A wireless control system for ground-mobile robotic systems in which communication between the operator control unit and the unmanned ground vehicle is transmitted via a plurality of spectrally efficient simplex communication links.

Abstract translation: 一种用于地面移动机器人系统的无线控制系统，其中操作者控制单元和无人地面车辆之间的通信通过多个频谱效率高的单工通信链路发送。

公开(公告)号：US20070156286A1

公开(公告)日：2007-07-05

申请号：US11618742

申请日：2006-12-30

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F19/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。