公开(公告)号：US08396620B2

公开(公告)日：2013-03-12

申请号：US12507747

申请日：2009-07-22

Applicant: Wei-Han Hung ,  Shih-Chung Kang ,  Peter Liu

Inventor： Wei-Han Hung ,  Shih-Chung Kang ,  Peter Liu

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0274 ,  G05D2201/0209

Abstract: The present invention relates to a patrol device and a patrol path planning method. The patrol device includes an operating unit configured to establish a plurality of patrol paths, each of which has an Average Patrol Omission (APO) value and an Average Patrol Quality (APQ) value, and to determine an optimum patrol path from the plurality of patrol paths according to the APO value and the APQ value; and a moving unit configured to move along the optimum patrol path. The method includes providing a plurality of patrol paths, each of which has an Average Patrol Omission (APO) value and an Average Patrol Quality (APQ) value; and evaluating the plurality of patrol paths according to the respective APO values and the respective APQ values so as to select an optimum patrol path therefrom.

Abstract translation: 本发明涉及一种巡逻装置和巡检路径规划方法。 巡检装置包括：操作单元，其被配置为建立多个巡视路径，每个巡视路径具有平均巡逻省略值（APO）值和平均巡逻质量（APQ）值，并且从多个巡逻程序确定最佳巡逻路径 根据APO值和APQ值的路径; 以及被配置为沿着最佳巡视路径移动的移动单元。 该方法包括提供多个巡视路径，每个巡视路径具有平均巡逻省略（APO）值和平均巡逻质量（APQ）值; 以及根据各个APO值和各个APQ值来评估多个巡视路径，以便从中选择最佳巡视路径。

公开(公告)号：US20130054029A1

公开(公告)日：2013-02-28

申请号：US13448043

申请日：2012-04-16

Applicant: Wesley Hanan Huang ,  Emilie A. Phillips

Inventor： Wesley Hanan Huang ,  Emilie A. Phillips

IPC: B25J13/08 ,  B25J19/04

CPC classification number: B25J5/005 ,  B25J9/162 ,  B25J9/1697 ,  B25J11/002 ,  B25J19/023 ,  G05B2219/39391 ,  G05B2219/40003 ,  G05B2219/40062 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/09 ,  Y10S901/47

Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

Abstract translation: 本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。 该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及 沿着确定的射线移动末端执行器以接近对象。

公开(公告)号：US08244469B2

公开(公告)日：2012-08-14

申请号：US12405207

申请日：2009-03-16

Applicant: Carol Carlin Cheung ,  Brian Masao Yamauchi ,  Christopher Vernon Jones ,  Mark Bourne Moseley ,  Sanjiv Singh ,  Christopher Michael Geyer ,  Benjamin Peter Grocholsky ,  Earl Clyde Cox

Inventor： Carol Carlin Cheung ,  Brian Masao Yamauchi ,  Christopher Vernon Jones ,  Mark Bourne Moseley ,  Sanjiv Singh ,  Christopher Michael Geyer ,  Benjamin Peter Grocholsky ,  Earl Clyde Cox

IPC: G05D1/12 ,  B25J9/16

CPC classification number: G05D1/0038 ,  G01S7/003 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/104 ,  G05D2201/0209

Abstract: A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.

Abstract translation: 协作参与系统包括：至少两个无人驾驶车辆，包括无人驾驶飞行器，其包括配置成定位目标的传感器和包括被配置为定位和跟踪目标的传感器的无人地面车辆; 以及控制器，便于对无人驾驶车辆之间和之间的数据的控制和通信和交换，控制器便于通过通用协议进行数据交换。 协作参与系统控制无人驾驶车辆以保持预定目标和至少一个无人驾驶车辆之间的视线。

公开(公告)号：US20120185115A1

公开(公告)日：2012-07-19

申请号：US11868161

申请日：2007-10-05

Applicant: Jason Dean

Inventor： Jason Dean

IPC: G05D1/00

CPC classification number: G05D1/0022 ,  F41H7/005 ,  F41H11/16 ,  F41H13/0062 ,  G05D1/0038 ,  G05D2201/0209

Abstract: A remotely-controlled robotic apparatus for deactivating explosive ordinance, such as IEDs. The remotely-controlled robotic apparatus is provided with a robotic portion that provides mobility, and a laser portion configured to be aimed at an object of interest (for example an object believed to comprise an IED) and to deactivate the object by destroying, damaging or disconnecting at least one of a control apparatus and a power supply from the object of interest. The remotely-controlled robotic apparatus provides the capability to dispose of IEDs without having an explosion. The remote-controlled robotic apparatus can include a camera and an illumination source for examining objects of interest. A remote control console is provided for the use of an operator in controlling the robotic apparatus.

Abstract translation: 遥控机器人设备，用于停用爆炸条例，如IED。 远程控制的机器人设备设置有提供移动性的机器人部分，以及被配置为瞄准感兴趣对象（例如被认为包括IED的对象）的激光部分，并且通过破坏，损坏或 从感兴趣对象中断开控制装置和电源中的至少一个。 远程控制的机器人设备提供处理IED而不发生爆炸的能力。 遥控机器人装置可以包括照相机和用于检查感兴趣对象的照明源。 提供遥控控制台用于操作者在控制机器人装置中的使用。

公开(公告)号：US20120173045A1

公开(公告)日：2012-07-05

申请号：US11986743

申请日：2007-11-26

Applicant: Vincent Paul Conroy

Inventor： Vincent Paul Conroy

IPC: G06F17/00 ,  G05D1/00

CPC classification number: G05D1/0038 ,  F41H5/06 ,  F41H11/08 ,  G05D2201/0209

Abstract: A barrier which is mobile and self-propelled and is controlled by remote control or by self-generated commands created in accordance with pre-loaded or downloaded instructions is disclosed. It can be interposed between a stationary or moving protected object and a suspected threat and maintained in that alignment until updated guidance instructions are received or generated.

Abstract translation: 公开了一种移动和自推进并由遥控或根据预加载或下载的指令创建的自生命令来控制的障碍物。 它可以插入静止或移动的受保护对象和怀疑的威胁之间，并保持在该对齐状态，直到接收或生成更新的指导指令。

公开(公告)号：US20120095619A1

公开(公告)日：2012-04-19

申请号：US13215846

申请日：2011-08-23

Applicant: Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

Inventor： Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

IPC: G05D1/00

CPC classification number: G05D1/0038 ,  B25J9/161 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/01

Abstract: An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.

Abstract translation: 一种操作员控制单元，具有允许用户控制远程车辆的用户接口，所述操作者控制单元包括：发送单元，被配置为向所述远程车辆发送数据; 被配置为从所述远程车辆接收数据的接收器单元，从所述远程车辆接收的包括由所述远程车辆捕获的图像数据的数据; 以及显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以控制至少一个 多个可控元件。 输入控制命令以控制至少一个可控元件包括选择表示至少一个可控元件的图标，输入针对至少一个可控元件的动作，并请求该至少一个可控元件执行动作。

公开(公告)号：US20120072075A1

公开(公告)日：2012-03-22

申请号：US13320352

申请日：2010-09-28

Applicant: Tok Son Choe ,  Yong Woon Park ,  Jeong Sook Chae

Inventor： Tok Son Choe ,  Yong Woon Park ,  Jeong Sook Chae

IPC: G05D1/02

CPC classification number: B62D1/283 ,  B62D6/002 ,  G05D1/021 ,  G05D2201/0209

Abstract: Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.

Abstract translation: 公开了一种自主车辆的转向控制装置，具有该自主车辆的自主车辆以及自主车辆的转向控制方法。 所述转向控制方法包括接收自主车辆的位置和所述自主车辆相对于所述北部的第一行驶角度; 基于所述自主车辆的位置计算所述自主车辆朝向跟踪航点的第二航向角度，以及相对于所述跟踪航点计算所述自主车辆的旋转半径; 基于所述自主车辆的速度和所计算的旋转半径计算偏航率，并且生成与所计算的横摆率相对应的转向命令; 并且基于第一和第二方向角来补偿转向命令。

公开(公告)号：US20110135189A1

公开(公告)日：2011-06-09

申请号：US12873569

申请日：2010-09-01

Applicant: Chang Eun LEE

Inventor： Chang Eun LEE

IPC: G06T7/00 ,  B25J9/18

CPC classification number: B25J9/1682 ,  G05B2219/39155 ,  G05B2219/39169 ,  G05D1/0027 ,  G05D1/0295 ,  G05D2201/0209

Abstract: A plurality of swarm intelligence-based mobile robots, each having multiple legs and multiple joints, the mobile robot includes: an environment recognition sensor for collecting sensed data about the surrounding environment of the mobile robot; a communication unit for performing communication with a remote controller, a parent robot managing at least one mobile robot, or the other mobile robots located within a predefined area; and a control unit for controlling the motions of the multiple legs and multiple joints to control movement of the mobile robot to a given destination based on control data transmitted from the remote controller through the communication unit or based on communication with the other mobile robots within the predefined area or based on the sensed data collected by the environment recognition sensor.

Abstract translation: 多个基于群体智能的移动机器人，每个具有多个腿和多个关节，移动机器人包括：环境识别传感器，用于收集关于移动机器人的周围环境的感测数据; 用于执行与遥控器的通信的通信单元，管理至少一个移动机器人的父机器人或位于预定区域内的其他移动机器人; 以及控制单元，用于基于通过所述通信单元从所述遥控器发送的控制数据或者基于与所述其他移动机器人的通信来控制所述多个腿和多个关节的运动，以控制所述移动机器人到给定目的地的移动 或者基于由环境识别传感器收集的感测数据。

公开(公告)号：US20110106339A1

公开(公告)日：2011-05-05

申请号：US12917174

申请日：2010-11-01

Applicant: Emilie Phillips ,  Aaron Powers ,  Andrew Shein ,  Josef P. Jamieson ,  Tyson Sawyer

Inventor： Emilie Phillips ,  Aaron Powers ,  Andrew Shein ,  Josef P. Jamieson ,  Tyson Sawyer

IPC: G06F7/00 ,  G01C21/00

CPC classification number: G05D1/0033 ,  G01C21/00 ,  G01C21/20 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

Abstract: A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.

Abstract translation: 一种使用诊断行为提高远程车辆的操作效率的方法。 该方法包括输入和分析从多个传感器接收到的数据，以确定与远程车辆的正常操作的偏差的存在，基于与正常操作的偏差来更新参考移动性模型中的参数，以及修改策略以实现操作目标 远程车辆以适应偏离正常操作。 一种用于远程车辆的嵌入式仿真和训练系统。 该系统包括安装在操作员控制单元上的软件架构，并且包括能够进行任务模拟和训练的软件程序和驱动程序。

公开(公告)号：US20100179691A1

公开(公告)日：2010-07-15

申请号：US12598729

申请日：2008-05-01

Applicant: Ehud Gal ,  Gennadiy Berinsky ,  Yosi Wolf

Inventor： Ehud Gal ,  Gennadiy Berinsky ,  Yosi Wolf

IPC: G05B15/00

CPC classification number: H04N5/232 ,  F41H7/005 ,  F41H7/03 ,  F41H11/16 ,  F41H13/00 ,  F42B12/365 ,  G05D1/0038 ,  G05D2201/0209 ,  H04N5/23216 ,  H04N7/185

Abstract: The present invention is a robotic mobile platform vehicle that can be thrown into hostile or hazardous environments for gathering information and transmitting that information to a remotely located control station and a system comprising the robotic mobile platform. The system of the invention is adapted to provide it's operator with significant information without being exposed directly to actual or potential danger. One of the key features of the invention is that at least four imaging assemblies are mounted on the robotic platform and that the system has the processing ability to stitch the views taken by the four imaging devices together into an Omni-directional image, allowing simultaneous viewing of a 360 degree field of view surrounding the mobile platform. Another feature is that the system comprises a touch screen GUI and the robotic mobile platform is equipped with processing means and appropriate software. This combination enables the user to steer the robotic platform simply by touching an object in one of the displayed images that he wants to investigate. The robotic platform can then either point its sensors towards that object or, if so instructed, compute the direction to the object and travel to it without any further input from the user.

Abstract translation: 本发明是一种机器人移动平台车辆，其可以被投掷到敌对或危险环境中，用于收集信息并将该信息发送到位于远程的控制站以及包括机器人移动平台的系统。 本发明的系统适于为操作者提供重要信息，而不会直接暴露于实际或潜在的危险之中。 本发明的主要特征之一是至少四个成像组件安装在机器人平台上，并且系统具有将四个成像装置拍摄的视图拼接成全方位图像的处理能力，允许同时观看 360度视野围绕移动平台。 另一个特征是系统包括触摸屏GUI，并且机器人移动平台配备有处理装置和适当的软件。 这种组合使用户能够简单地通过触摸他想要调查的显示图像之一上的物体来引导机器人平台。 然后，机器人平台可以将其传感器指向该物体，或者如果这样指示，则计算物体的方向并行进到该物体，而无需用户的任何进一步的输入。