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公开(公告)号：US08442713B2
公开(公告)日：2013-05-14
申请号：US12937521
申请日：2009-01-13
Applicant: Hyoun Jin Kim , Yongsoon Yoon
Inventor： Hyoun Jin Kim , Yongsoon Yoon
CPC classification number: G05D1/0238 , G05D1/0217 , G05D2201/0207
Abstract: The present invention relates to an apparatus and a method for steering a vehicle, and more particularly to an apparatus and a method for steering an autonomous vehicle. One aspect of the present invention provides a method of steering a vehicle in an apparatus for steering the vehicle, the method comprising: (a) determining a first path by using a starting point and a destination of the vehicle; (b) generating an obstacle position signal when a plurality of obstacle sensors mounted on the vehicle detect an obstacle during an operation of the vehicle; (c) generating a parallax information using the obstacle position signal received from the plurality of the obstacle sensors; and (d) determining a second path avoiding the obstacle by using the parallax information. According to the method and the apparatus for steering a vehicle of the present invention, a vehicle may avoid obstacles in real-time in complex environments.
Abstract translation: 本发明涉及一种用于转向车辆的装置和方法，更具体地涉及用于转向自主车辆的装置和方法。 本发明的一个方面提供了一种在用于转向车辆的装置中转向车辆的方法，所述方法包括：（a）通过使用车辆的起点和目的地来确定第一路径; （b）当安装在车辆上的多个障碍物传感器在车辆的操作期间检测到障碍物时，产生障碍物位置信号; （c）使用从所述多个所述障碍物传感器接收的所述障碍物位置信号来生成视差信息; 和（d）通过使用视差信息来确定避开障碍物的第二路径。 根据本发明的车辆转向方法和装置，车辆可以在复杂的环境中实时地避免障碍物。
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62.发明授权Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system 有权在视觉同步定位和映射系统中使用多个假设的系统和方法公开(公告)号：US08274406B2
公开(公告)日：2012-09-25
申请号：US12724312
申请日：2010-03-15
Applicant: L. Niklas Karlsson , Paolo Pirjanian , Luis Filipe Domingues Goncalves , Enrico Di Bernardo
Inventor： L. Niklas Karlsson , Paolo Pirjanian , Luis Filipe Domingues Goncalves , Enrico Di Bernardo
IPC: G08G1/123
CPC classification number: G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利的是，这种可视化技术可以被用来自主生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以用于相对动态的环境中，例如人们移动的环境。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。
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63.发明申请公开(公告)号：US20120083923A1
公开(公告)日：2012-04-05
申请号：US13375669
申请日：2010-05-27
Applicant: Kosei Matsumoto , Toshio Moriya
Inventor： Kosei Matsumoto , Toshio Moriya
IPC: G05B15/00
CPC classification number: B25J9/1664 , G05B2219/40424 , G05B2219/40506 , G05B2219/40516 , G05D1/024 , G05D1/0274 , G05D2201/0207
Abstract: The invention notifies a robot controller of the need to re-create map data. A robot control system (1) includes a robot (2) that moves along a path while detecting obstacles, and a robot control terminal (3) that records map data (321) and specifies the path of said robot (2), whereby said robot (2) uses lasers to make measurements while in motion and sends the results as sensor data (324) to said robot control terminal (3) which uses said sensor data to generate simulated sensor data (325) along the future path of said robot, and if the proportion of sections for which simulated sensor data and said map data (321) do not coincide exceeds a threshold value, the user is notified of a reconstruction of said map data (321).
Abstract translation: 本发明通知机器人控制器需要重新创建地图数据。 机器人控制系统（1）包括在检测障碍物的同时沿路径移动的机器人（2）和记录地图数据（321）并指定所述机器人（2）的路径的机器人控制终端（3），由此所述机器人 机器人（2）使用激光器在运动中进行测量，并将结果作为传感器数据（324）发送到所述机器人控制终端（3），所述机器人控制终端（3）使用所述传感器数据沿着所述机器人的未来路径生成模拟传感器数据（325） 并且如果模拟传感器数据和所述地图数据（321）不一致的部分的比例超过阈值，则向用户通知所述地图数据的重建（321）。
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64.发明授权Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping 有权用于过滤潜在不可靠的视觉数据以进行视觉同步定位和映射的系统和方法公开(公告)号：US08150650B2
公开(公告)日：2012-04-03
申请号：US12843656
申请日：2010-07-26
Applicant: Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
Inventor： Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
IPC: G06F19/00
CPC classification number: G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。
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65.发明授权Automatic ultrasonic and computer-vision navigation device and method using the same 有权自动超声波和计算机视觉导航装置及其使用方法相同公开(公告)号：US08116928B2
公开(公告)日：2012-02-14
申请号：US12365190
申请日：2009-02-04
Applicant: Chih-Jen Wu , Shung-Yung Tsai , Wen-Hsiang Tsai
Inventor： Chih-Jen Wu , Shung-Yung Tsai , Wen-Hsiang Tsai
CPC classification number: G05D1/0255 , G05D1/0246 , G05D1/0272 , G05D2201/0207
Abstract: The present invention discloses an automatic ultrasonic and computer-vision navigation device and a method using the same. In the method of the present invention, the user guides an automatic navigation device to learn and plan a navigation path; next, the automatic navigation device navigates independently and uses ultrasonic signals and computer vision to detect the environment; then, the automatic navigation device compares the detected environment data with the navigation path to amend the physical movement track. The present invention enables ordinary persons to interact with the automatic navigation device without operating the computer. As the present invention adopts computer vision and ultrasonic signals to realize the functions thereof, the manufacturers can save the hardware cost.
Abstract translation: 本发明公开了一种自动超声波和计算机视觉导航装置及其使用方法。 在本发明的方法中，用户引导自动导航装置学习和规划导航路径; 接下来，自动导航装置独立导航，使用超声信号和计算机视觉来检测环境; 然后，自动导航装置将检测到的环境数据与导航路径进行比较，以修改物理运动轨迹。 本发明使得普通人能够在不操作计算机的情况下与自动导航装置交互。 由于本发明采用计算机视觉和超声信号来实现其功能，所以制造商可以节省硬件成本。
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Patent Agency Ranking
公开(公告)号：US20110263193A1
公开(公告)日：2011-10-27
申请号：US13173963
申请日：2011-06-30
Applicant: Chandrakant D. Patel , Ratnesh K. Sharma , Cullen E. Bash , Abdlmonem H. Beitelmal
Inventor： Chandrakant D. Patel , Ratnesh K. Sharma , Cullen E. Bash , Abdlmonem H. Beitelmal
CPC classification number: H05K7/20745 , F24F11/30 , F24F11/56 , F24F11/62 , F24F2110/00 , F24F2110/10 , F24F2110/20 , F24F2221/125 , F24F2221/40 , F24F2221/42 , G05D1/024 , G05D1/0255 , G05D2201/0207
Abstract: A device for sensing at least one environmental condition in a data center. The device includes a chassis, a propelling mechanism, a power supply, a steering mechanism, and a controller supported on the chassis. The chassis also supports at least one environmental condition sensor and is operable to travel through the data center and sense at least one environmental condition at various locations throughout the data center.
Abstract translation: 用于感测数据中心中的至少一个环境条件的装置。 该装置包括底盘，推进机构，电源，转向机构和支撑在底盘上的控制器。 底盘还支持至少一个环境条件传感器，并且可操作地穿过数据中心并感测整个数据中心的各个位置处的至少一个环境状况。
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公开(公告)号：US20110208357A1
公开(公告)日：2011-08-25
申请号：US12971438
申请日：2010-12-17
Applicant: Brian Yamauchi
Inventor： Brian Yamauchi
IPC: B25J13/00
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。
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68.发明申请公开(公告)号：US20110205012A1
公开(公告)日：2011-08-25
申请号：US12709413
申请日：2010-02-19
Applicant: Qingfeng Huang , Ying Zhang
Inventor： Qingfeng Huang , Ying Zhang
CPC classification number: G05D1/0272 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/0274 , G05D2201/0207
Abstract: A system and method for determining characteristics of a physical environment with simple motion patterns are provided. A plurality of raw orientation readings are received from a simple motion pattern. A distribution of possible wall orientations upon each raw reading is determined. Wall direction is determined as the mean value of the distribution.
Abstract translation: 提供了一种用简单运动模式确定物理环境特性的系统和方法。 从简单的运动模式接收多个原始取向读数。 确定每个原始读数时可能的墙壁取向的分布。 墙面方向被确定为分布的平均值。
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69.发明申请SYSTEM AND METHOD CAPABLE OF NAVIGATING AND/OR MAPPING ANY MULTI-DIMENSIONAL SPACE 有权能够导航和/或绘制任何多维空间的系统和方法公开(公告)号：US20110043515A1
公开(公告)日：2011-02-24
申请号：US12098656
申请日：2008-04-07
Applicant: Sam Stathis
Inventor： Sam Stathis
CPC classification number: G06T17/00 , G01C15/002 , G05D1/024 , G05D1/027 , G05D2201/0207 , G06T17/20
Abstract: A method and system that allows a user to perform automatic study, layout and verification of a multidimensional space in real time where the study can be displayed graphically, in 3-dimensions for example, via a handheld unit allowing the system to guide and/or navigate the user throughout the multidimensional space as the automatic study and/or layout is being performed.
Abstract translation: 一种方法和系统，其允许用户实时地执行学习的自动学习，布局和验证，其中研究可以以图形方式显示，例如，通过手持单元，可以通过手持单元，以允许系统引导和/或 在执行自动学习和/或布局时，在整个多维空间中导航用户。
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公开(公告)号：US20110035086A1
公开(公告)日：2011-02-10
申请号：US12937521
申请日：2009-01-13
Applicant: Hyoun Jin Kim , Yongsoon Yoon
Inventor： Hyoun Jin Kim , Yongsoon Yoon
IPC: G06F17/10
CPC classification number: G05D1/0238 , G05D1/0217 , G05D2201/0207
Abstract: The present invention relates to an apparatus and a method for steering a vehicle, and more particularly to an apparatus and a method for steering an autonomous vehicle. One aspect of the present invention provides a method of steering a vehicle in an apparatus for steering the vehicle, the method comprising: (a) determining a first path by using a starting point and a destination of the vehicle; (b) generating an obstacle position signal when a plurality of obstacle sensors mounted on the vehicle detect an obstacle during an operation of the vehicle; (c) generating a parallax information using the obstacle position signal received from the plurality of the obstacle sensors; and (d) determining a second path avoiding the obstacle by using the parallax information. According to the method and the apparatus for steering a vehicle of the present invention, a vehicle may avoid obstacles in real-time in complex environments.
Abstract translation: 本发明涉及一种用于转向车辆的装置和方法，更具体地涉及用于转向自主车辆的装置和方法。 本发明的一个方面提供了一种在用于转向车辆的装置中转向车辆的方法，所述方法包括：（a）通过使用车辆的起点和目的地来确定第一路径; （b）当安装在车辆上的多个障碍物传感器在车辆的操作期间检测到障碍物时，产生障碍物位置信号; （c）使用从所述多个所述障碍物传感器接收的所述障碍物位置信号来生成视差信息; 和（d）通过使用视差信息来确定避开障碍物的第二路径。 根据本发明的车辆转向方法和装置，车辆可以在复杂的环境中实时地避免障碍物。
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