公开(公告)号：US20110035054A1

公开(公告)日：2011-02-10

申请号：US12671689

申请日：2008-08-07

Applicant: Ehud Gal ,  Gennadiy Berinsky ,  Yosi Wolf

Inventor： Ehud Gal ,  Gennadiy Berinsky ,  Yosi Wolf

IPC: G05B19/02 ,  B25J13/08 ,  G06F15/00

CPC classification number: G05D1/0038 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: The invention is a system that is integrated with an existing robotic system in order to extend its observation, surveillance, and navigational capabilities. The system comprises: a sensor module comprising imaging and other types of sensors that is attached to the robotic device of the robotic system and a system control station comprising a communication link to the robot control station of the existing robotic system. Both the system control station and the sensor module comprise processing units that are configured to work in complete harmony. These processing units are each supplied with software that enables using information supplied by the sensors and other components in the sensor module to provide the robotic systems with many advanced capabilities that could not be achieves prior to attachment of the sensor module to the robot.

Abstract translation: 本发明是与现有机器人系统集成以便扩展其观察，监视和导航能力的系统。 该系统包括：传感器模块，其包括附接到机器人系统的机器人装置的成像和其它类型的传感器，以及包括到现有机器人系统的机器人控制站的通信链路的系统控制站。 系统控制站和传感器模块都包括被配置为完全和谐地工作的处理单元。 这些处理单元各自提供有使得能够使用由传感器和传感器模块中的其他部件提供的信息的软件，以向机器人系统提供在将传感器模块附接到机器人之前无法实现的许多先进功能。

公开(公告)号：US07885768B2

公开(公告)日：2011-02-08

申请号：US11481944

申请日：2006-07-07

Applicant: Massimo Vergassola ,  Boris Shraiman ,  Emmanuel Villermaux

Inventor： Massimo Vergassola ,  Boris Shraiman ,  Emmanuel Villermaux

IPC: G06F7/00

CPC classification number: G05D1/0274 ,  G01N33/0062 ,  G05D2201/0207

Abstract: A method and systems for locating a source of particles, molecules, or fragments of molecules using particle, molecule, or fragment of molecule reception rate is disclosed. According to the invention, the particle, molecule, or fragment of molecules diffusion parameters in the search space are determined and a lattice is designed on the search space. After having determined whether or not at least one particle, molecule, or fragment of molecule is detected by a sensor, a probability is computed for each node of said search space lattice. The probability associated to each node of the search space lattice corresponds to the probability that the particle, molecule, or fragment of molecule source is located on the node. Then, the move of the sensor is evaluated according to the entropy of the computed probabilities.

Abstract translation: 公开了使用分子接收速率的粒子，分子或片段来定位分子源，分子或分子片段的方法和系统。 根据本发明，确定搜索空间中的分子扩散参数的粒子，分子或片段，并在搜索空间上设计格子。 在确定传感器是否检测到至少一个分子的粒子，分子或片段之后，对所述搜索空间格的每个节点计算概率。 与搜索空间格子的每个节点相关联的概率对应于分子源的粒子，分子或片段位于节点上的概率。 然后，根据计算出的概率的熵来评估传感器的移动。

公开(公告)号：US20100268697A1

公开(公告)日：2010-10-21

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: G06F17/30

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。

公开(公告)号：US07765028B2

公开(公告)日：2010-07-27

申请号：US11108723

申请日：2005-04-19

Applicant: Atsuo Orita

Inventor： Atsuo Orita

IPC: G05B19/418 ,  G06F19/00 ,  G05B19/00

CPC classification number: G05D1/0251 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0207 ,  G05D2201/0217

Abstract: The robot control apparatus has an input-output section, a control section including a priority data generation section, a schedule data generation section, an execution command generation section, and a task data dividing section, a map information database, individual information database, a robot information database, and a task information database. The priority data generation section generates priority data for task data, stored in a task control database that that has not been executed. The schedule data generation section generates schedule data by assigning tasks to the robots on the basis of the priority data to generate schedule data. The execution command generation section generates execution commands for causing the robots to execute the tasks.

Abstract translation: 机器人控制装置具有输入输出部，包括优先数据生成部，调度数据生成部，执行命令生成部和任务数据分割部的控制部，地图信息数据库，个人信息数据库， 机器人信息数据库和任务信息数据库。 优先级数据生成部生成存储在未被执行的任务控制数据库中的任务数据的优先级数据。 调度数据生成部通过基于优先级数据向机器人分配任务来生成调度数据，生成调度数据。 执行命令生成部生成使机器人执行任务的执行命令。

公开(公告)号：US07742845B2

公开(公告)日：2010-06-22

申请号：US11330077

申请日：2006-01-10

Applicant: Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

IPC: G06F19/00 ,  G05D1/00

CPC classification number: G05D1/0246 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

Abstract translation: 一种在操作区域中控制多个飞行物的方法包括提供命令系统，在与命令系统耦合的操作区域中的第一飞行器，以及耦合到命令系统的操作区域中的第二飞行器。 该方法还包括将第一期望目的地和第一轨迹确定到第一期望目的地，从命令系统向第一飞行器发送第一命令以沿着第一轨迹移动第一距离，以及根据第一航迹移动第一飞行器 命令。 确定第二期望目的地和到第二期望目的地的第二轨迹，并且从命令系统向第二飞行器发送第二命令以沿着第二轨迹移动第二距离。

公开(公告)号：US20100094459A1

公开(公告)日：2010-04-15

申请号：US12539724

申请日：2009-08-12

Applicant: Joonmyun CHO ,  Hyoungsun Kim

Inventor： Joonmyun CHO ,  Hyoungsun Kim

IPC: G05B19/418

CPC classification number: G05D1/0291 ,  G05B2219/39151 ,  G05B2219/40475 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0207 ,  G06N3/008

Abstract: The present invention relates to a system for cooperation of multiple mobile robots and a method thereof that allow the multiple mobile robots to cooperatively execute one complicated task. The system and method can use centralized control architecture, create robot cooperation application codes on the basis of conceptual behavior units without depending on actual physical robots, and dynamically bind behavior units used to create the robot cooperation application at the time of executing the robot cooperation application to actual functions of the robots, thereby actively adjusting to changes in a dynamical environment, such as a change in the types, the number, and the functions of robots for cooperation.

Abstract translation: 本发明涉及多个移动机器人的协作系统及其方法，其允许多个移动机器人协同执行一个复杂的任务。 该系统和方法可以使用集中控制架构，在概念行为单元的基础上创建机器人协作应用代码，而不依赖于实际的物理机器人，并且在执行机器人协作应用时动态地绑定用于创建机器人协作应用的行为单元 机器人的实际功能，从而主动地适应动态环境的变化，例如机器人的类型，数量和功能的变化。

公开(公告)号：US20100040279A1

公开(公告)日：2010-02-18

申请号：US12411446

申请日：2009-03-26

Applicant: Sukjune Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim

Inventor： Sukjune Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim

IPC: G06K9/00

CPC classification number: G05D1/0251 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T7/593 ,  G06T2207/30252 ,  G09B25/06

Abstract: A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.

Abstract translation: 一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。 在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

公开(公告)号：US20100030417A1

公开(公告)日：2010-02-04

申请号：US12258596

申请日：2008-10-27

Applicant: HSIN-FA FANG ,  WEI-CHENG YANG ,  ING-JANE CHEN

Inventor： HSIN-FA FANG ,  WEI-CHENG YANG ,  ING-JANE CHEN

IPC: G05D1/00 ,  G05B15/00

CPC classification number: G05D1/0278 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

Abstract: An environmental survey robot suitable for wireless communicating with a survey action management center having a geographic information system to scheme an advance route with multiple check points is provided. The environmental survey robot includes a moving vehicle, a controlling computer, a wireless communication network, a Global positioning system, an environment detector, a solar cell and a power controller. The wireless communication network receives the advance route from the detecting action management center, and the controlling computer autonomously controls the moving vehicle to move in accordance with the advance route. The environmental detector is suitable for detecting the environment information and sending the same to the controlling computer. When the electricity of the solar cell is less than a predetermined value, the power controller will send the signal to the controlling computer such that the action controller will stop the action of the moving vehicle.

Abstract translation: 提供一种适用于具有地理信息系统的调查动作管理中心进行无线通信的环境调查机器，用于配置具有多个检查点的提前路线。 环境调查机器人包括移动车辆，控制计算机，无线通信网络，全球定位系统，环境检测器，太阳能电池和电力控制器。 无线通信网络从检测动作管理中心接收提前路线，并且控制计算机根据提前路线自主地控制移动车辆的移动。 环境检测器适用于检测环境信息并将其发送给控制计算机。 当太阳能电池的电量小于预定值时，功率控制器将信号发送到控制计算机，使得动作控制器停止移动车辆的动作。

公开(公告)号：US07584045B2

公开(公告)日：2009-09-01

申请号：US11170184

申请日：2005-06-30

Applicant: Yossef Peretz

Inventor： Yossef Peretz

IPC: B60D99/00 ,  B60S13/00

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驶阶段，第二机车级是UTP的战术机动阶段，其中UTP 在竞技场执行任务的机动。

公开(公告)号：US20080004749A1

公开(公告)日：2008-01-03

申请号：US11479784

申请日：2006-06-30

Applicant: Randy W. Hostettler

Inventor： Randy W. Hostettler

IPC: G06F19/00

CPC classification number: G05D1/0044 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0207

Abstract: A system and method are provided for generating instructions for at least one robot to execute a mission in an environment. An environment builder is adapted to receive information related to the environment and to form a model of the environment based on the information. A simulator is coupled to the environment builder and its model and adapted to receive inputs from a human operator to virtually execute the mission within the simulation. A blueprint generator is coupled to the simulator and adapted to generate a mission blueprint of the instructions based on the virtual execution of the mission for subsequent execution by one or more robots.

Abstract translation: 提供了一种系统和方法，用于产生至少一个机器人在环境中执行任务的指令。 环境构建器适于接收与环境相关的信息，并且基于该信息形成环境模型。 模拟器耦合到环境构建器及其模型，并适于接收来自人类操作者的输入，以在仿真中虚拟地执行任务。 蓝图发生器耦合到模拟器并且适于基于任务的虚拟执行来生成指令的任务蓝图，以供随后由一个或多个机器人执行。