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    Hardware abstraction layer (HAL) for a robot
    121.
    发明申请
    Hardware abstraction layer (HAL) for a robot 有权
    机器人的硬件抽象层（HAL）

    公开(公告)号：US20070050088A1

    公开(公告)日：2007-03-01

    申请号：US11485637

    申请日：2006-07-11

    Applicant: Thomas Murray ,  Baoquoc Pham ,  Paolo Pirjanian

    Inventor： Thomas Murray ,  Baoquoc Pham ,  Paolo Pirjanian

    IPC: G06F19/00

    CPC classification number: G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

    Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

    Abstract translation: 公开了一种为机器人提供硬件抽象层（HAL）的方法和装置。 HAL可以作为软件层或驻留在机器人控制软件和底层机器人硬件和/或硬件的操作系统之间的固件层存在。 HAL为底层硬件的聚合提供了相对均匀的抽象，使得潜在的机器人硬件对感知和控制软件即机器人控制软件是透明的。 这有利地允许以机器人独立的方式写入机器人控制软件。 机器人控制软件的开发者然后摆脱繁琐的低级任务。 便携性是另一个优点。 例如，HAL有效地允许为一个机器人开发的机器人控制软件移植到另一个机器人。 在一个示例中，HAL允许从轮式机器人移植相同的导航算法，并在人形腿式机器人上使用。

    SYSTEM AND METHOD FOR OPTIMIZED PERCEPTION SENSING IN A WORK AREA USING VIRTUAL PERIMETERS
    122.
    发明公开
    SYSTEM AND METHOD FOR OPTIMIZED PERCEPTION SENSING IN A WORK AREA USING VIRTUAL PERIMETERS 审中-公开

    公开(公告)号：US20240126260A1

    公开(公告)日：2024-04-18

    申请号：US17967167

    申请日：2022-10-17

    Applicant: Deere & Company

    Inventor： Travis J. Davis

    IPC: G05D1/00 ,  G05D1/02

    CPC classification number: G05D1/0094 ,  G05D1/0214 ,  G05D1/0223 ,  G05D2201/02

    Abstract: A system and method are provided for distributed perception sensing via an object detection station arranged such that an associated one or more object detection sensors have respective fields of perception including at least a portion of a virtually defined perimeter extending at least partially about a working area. The object detection station detects a motion incident corresponding to a violation of the virtually defined perimeter, wherein a detected source of the motion incident is classified with respect to one or more defined source types, and one or more signals at least corresponding to the motion incident are wirelessly communicated to one or more working machines operating within the working area. At least one of the working machines may then be selectively transitioned from a normal operating mode to a hierarchical intervention mode with respect to the detected source and/or a relative position thereof within the working area.

    Automatic mode resume system for a mobile machine
    125.
    发明授权
    Automatic mode resume system for a mobile machine 有权

    公开(公告)号：US11789458B2

    公开(公告)日：2023-10-17

    申请号：US16812008

    申请日：2020-03-06

    Applicant: Caterpillar Paving Products Inc.

    Inventor： Robert J. McGee ,  Sangameshwar Sonth ,  Timothy M. O'Donnell ,  David E. Gerding

    IPC: B60K35/00 ,  G05D1/02

    CPC classification number: G05D1/0274 ,  B60K35/00 ,  B60K2370/152 ,  G05D2201/02

    Abstract: An automatic mode resume system for a mobile machine and a method for resuming a job performed on a job site by a mobile machine is disclosed. The method may include: storing an interrupted status of the job being performed by the mobile machine upon interruption of the job for the job site; displaying multiple job sites on a display of the machine, each job site including a stored interrupted location and resume location; receiving a selection of the job site from a user input; displaying the interruption location and resume location for the selected job site on the display; and conditioning a resuming of the job in an auto mode of the machine based on whether the machine is positioned adjacent the interruption location or resume location at the selected job site.

    Virtual gearing in an autonomous electronic bicycle
    126.
    发明授权
    Virtual gearing in an autonomous electronic bicycle 有权

    公开(公告)号：US11714415B2

    公开(公告)日：2023-08-01

    申请号：US17591841

    申请日：2022-02-03

    Applicant: Weel Autonomy Inc.

    Inventor： Justin Allan Corbett ,  David Carlyle Hansen

    IPC: G05D1/02 ,  G05D1/00

    CPC classification number: G05D1/0212 ,  G05D1/0088 ,  G05D2201/02

    Abstract: An autonomous electronic bicycle comprises a frame, a wheel that can be powered by a first electronic motor, and a pedal assembly connected to a pedal motor. The pedal assembly is not mechanically connected to the wheel, but the autonomous electronic bicycle simulates a mechanical connection by powering the rear wheel proportional to the user's pedaling force. The autonomous electronic bicycle uses a virtual gear ratio based on the cadence of the rider, the current incline of the bicycle, and the current speed of the bicycle. The virtual gear ratio can be a ratio between a torque of the set of pedals and a torque of the wheel.

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