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121. 发明申请

US20160121483A1 SYSTEM AND METHOD FOR THE CREATION AND UTILIZATION OF MULTI-AGENT DYNAMIC SITUATIONAL AWARENESS MODELS 审中-公开
标题翻译：多动态动态意识模型的创建与利用系统与方法
公开(公告)号：US20160121483A1
公开(公告)日：2016-05-05
申请号：US14530399
申请日：2014-10-31
申请人： General Electric Company
发明人： Justin McHugh, IV , Kareem Sherif Aggour , John Michael Lizzi , Charles Burton Theurer
IPC分类号： B25J9/16 , B25J9/00
CPC分类号： B25J9/163 , G05B2219/39146 , G05B2219/40323
摘要： A method, system, and non-transitory computer-readable medium, the method including receiving notifications from a plurality of agents, the notifications being associated with the plurality of agents sensing aspects of an environment; determining, based at least in part on the received notifications from the plurality of agents, a situational model of the environment from the notifications; determining a status of the environment based on the situational model; and reporting the status of the environment to at least one of the plurality of agents.
摘要翻译：一种方法，系统和非暂时性计算机可读介质，所述方法包括从多个代理接收通知，所述通知与感测环境方面的所述多个代理相关联; 至少部分地基于所接收的来自所述多个代理的通知，从所述通知中确定所述环境的情境模型; 基于情境模型确定环境状况; 以及将所述环境的状态报告给所述多个代理中的至少一个。

122. 发明申请

US20150251316A1 Coordinated Robotic Control 有权
标题翻译：协调机器人控制
公开(公告)号：US20150251316A1
公开(公告)日：2015-09-10
申请号：US14196951
申请日：2014-03-04
申请人： Sarcos LC
发明人： Fraser M. Smith
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1682 , B25J9/1625 , B25J9/1689 , B25J9/1694 , G05B19/41815 , G05B2219/35444 , G05B2219/39001 , G05B2219/39146 , G05B2219/40134 , G05B2219/40136 , G05B2219/40176 , G05B2219/40234 , G05B2219/40413 , G05B2219/40414 , Y10S901/27 , Y10S901/28 , Y10S901/46
摘要： Device coordinated robotic control technology is described. A network of robotic devices is established. An anthropomorphic motion is sensed from an operator. One or more signals are generated that are representative of at least a portion of the anthropomorphic motion. The one or more signals are converted into a collective set of commands to actuate the network of robotic devices. The collective set of commands is functionally equivalent to the anthropomorphic motion.
摘要翻译：描述了设备协调的机器人控制技术。建立了机器人设备网络。从操作员感觉到人形运动。生成代表人形运动的至少一部分的一个或多个信号。一个或多个信号被转换成集合的一组命令来致动机器人设备的网络。集体命令在功能上等同于人形运动。

123. 发明申请

US20150185729A1 Systems and Methods for Allocating Tasks to a Plurality of Robotic Devices 有权
标题翻译：将任务分配给多个机器人设备的系统和方法
公开(公告)号：US20150185729A1
公开(公告)日：2015-07-02
申请号：US14645135
申请日：2015-03-11
申请人： GOOGLE INC.
发明人： James J. Kuffner, JR. , Ryan Hickman
IPC分类号： G05B19/418
CPC分类号： B25J9/0084 , B25J9/1679 , G05B19/4187 , G05B2219/39117 , G05B2219/39146 , G05B2219/40095 , G06Q10/06 , Y02P90/205 , Y02P90/86 , Y10S901/01
摘要： Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.
摘要翻译：提供了将任务分配给机器人设备的方法和系统。示例性方法包括接收与多个机器人设备的任务日志相关联的信息，并且在被配置为访问处理器和存储器的计算系统中，基于与所述任务相关联的信息确定与所述多个机器人设备的健康水平相关联的信息日志。给定机器人设备的健康水平可以与执行功能的当前能力水平成比例，其可以在给定的机器人设备的寿命期内改变。还可以确定与由一个或多个或机器人设备执行的多个任务相关联的信息。计算系统可以优化多个任务的分配，使得可以将高精度任务分配给具有比另一机器人设备更大的当前健康水平的机器人设备。

124. 发明申请

US20140342834A1 MOBILE AGENTS FOR MANIPULATING, MOVING, AND/OR REORIENTING COMPONENTS 有权
标题翻译：用于操纵，移动和/或重新组装的移动代理
公开(公告)号：US20140342834A1
公开(公告)日：2014-11-20
申请号：US14291513
申请日：2014-05-30
申请人： Anki, Inc.
发明人： Hanns Tappeiner , Boris Sofman , Patrick DeNeale
IPC分类号： A63F13/30
CPC分类号： A63H30/02 , A63F13/00 , A63F13/30 , A63H17/32 , A63H17/40 , A63H18/16 , A63H30/04 , A63H33/04 , A63H33/042 , A63H33/046 , B25J9/08 , B25J9/1617 , G05B2219/39146 , G05B2219/40109 , G05B2219/40302 , G05D1/0088
摘要： Mobile agents automatically manipulate components such as blocks on a working surface, to perform operations such as construction of generalized structures. The working surface and/or the components can have machine-readable codes to assist the agents in maintaining current knowledge of their respective locations. Agents identify components by type and location, and can move components according to directions; such directions can be provided by a user, or can be based on a pre-programmed directive, or can be determined dynamically based on current conditions or in response to actions of other agents. Agents may cooperate with one another. Agents can also respond to changes in the environment, alterations in works in progress, and/or other conditions, and may be configured to exhibit responses simulating emotional reactions. Different mobile agents can be associated with different character traits, which may be configured to change based on environmental conditions and/or the behavior of other mobile agents.
摘要翻译：移动代理自动操作诸如工作表面上的块的组件，以执行诸如构造广义结构的操作。工作表面和/或组件可以具有机器可读代码，以帮助代理人保持其各自位置的当前知识。代理人根据类型和位置识别组件，并可以根据方向移动组件; 这样的指示可以由用户提供，或者可以基于预编程的指令，或者可以基于当前条件或响应于其他代理的动作来动态地确定。代理商可以相互合作。代理人还可以响应环境的变化，正在进行的工作的改变和/或其他条件，并且可以配置为展现模拟情绪反应的响应。不同的移动代理可以与不同的角色特征相关联，其可以被配置为基于环境条件和/或其他移动代理的行为而改变。

125. 发明授权

US08379967B1 Swarm control systems and methods 有权
标题翻译：群控系统和方法
公开(公告)号：US08379967B1
公开(公告)日：2013-02-19
申请号：US12328744
申请日：2008-12-04
申请人： Stephen Francis Bush , John Hershey , Ralph Thomas Hoctor , Glen William Brooksby , Ambalangoda Gurunnanselage Amitha Perera , Anthony James Hoogs
发明人： Stephen Francis Bush , John Hershey , Ralph Thomas Hoctor , Glen William Brooksby , Ambalangoda Gurunnanselage Amitha Perera , Anthony James Hoogs
IPC分类号： G05B19/418
CPC分类号： G05D1/0297 , G05B2219/39146 , G05D1/104
摘要： A system for controlling a swarm that includes a plurality of autonomous objects may include a processing system and a controller. The processing system may compute the primitives to be applied to each pair of objects in the swarm, and may combine the primitives to generate higher-level primitives. The processing system may generate a graph of the computed primitives, and identify the cliques in the graph. The controller may cause the primitives to be applied between each pair of objects in the swarm, and cause each object to maximize its respective set of primitives so as to induce the desired group behavior. The controller may detect the desired group behavior in the swarm by monitoring the primitives computed by the processing system and the cliques identified by the processing system.
摘要翻译：用于控制包括多个自主对象的群集的系统可以包括处理系统和控制器。处理系统可以计算要应用于群组中的每对对象的原语，并且可以组合基元以生成较高级别的基元。处理系统可以生成所计算的图元的图形，并且识别图中的团块。控制器可以使得基元在群体中的每对对象之间被应用，并且使得每个对象最大化其各自的基元集合，以便引起所需的群体行为。控制器可以通过监视由处理系统计算的原语和由处理系统识别的群集来检测群中的期望群体行为。

126. 发明授权

US08019472B2 Crawler robot equipped with a work unit, and governing equipment for such crawler robots 有权
标题翻译：履带式机器人配有工作单元，以及用于这种履带式机器人的管理设备
公开(公告)号：US08019472B2
公开(公告)日：2011-09-13
申请号：US11797470
申请日：2007-05-03
申请人： Pedro Montero SanJuan , José Luis Ramallo Gutierrez
发明人： Pedro Montero SanJuan , José Luis Ramallo Gutierrez
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B21J15/14 , B21J15/142 , B23B39/14 , B23P2700/01 , B23Q9/0014 , B62D57/024 , B64F5/10 , G05B2219/39146
摘要： The robot comprises a chassis (1) with a first set of legs (2a, 2b) with suction pads (6) on tilting supports (7) mounted in a linearly displaceable manner with regard to the chassis and a second set of legs (4) with suction pads (17) mounted in a rotary manner with regard to the chassis. Certain control means are adapted in order to control the functioning of said first and second sets of legs in a coordinated manner for displacing the chassis in any direction on the work surface (S). It includes support feet (9) and a system for leveling the chassis in relation to a curvature of the work surface. Fitted on the chassis is a work unit (44) with a head (19) for working on the work surface via an opening (12) in the chassis. It includes means for displacing said head along three axes and pivoting the head on two axes with respect to the chassis.
摘要翻译：所述机器人包括具有第一组腿部（2a，2b）的底盘（1），所述第一组腿部（2a，2b）具有在相对于所述底盘线性可移位的方式安装的倾斜支撑件（7）上的吸盘（6）和第二组腿部），其具有相对于底盘以旋转方式安装的吸盘（17）。某些控制装置适于以协调的方式控制所述第一和第二组腿的功能，以便使底盘在工作表面（S）上的任何方向移动。它包括支撑脚（9）和用于相对于工作表面的曲率调平底盘的系统。在机箱上安装有一个工作单元（44），其具有头部（19），用于通过底盘中的开口（12）在工作表面上工作。它包括用于沿着三个轴移动所述头并且使头相对于底盘在两个轴线上枢转的装置。

127. 发明申请

US20080077276A1 Crawler robot equipped with a work unit, and governing equipment for such crawler robots 有权
标题翻译：履带式机器人配有工作单元，以及用于这种履带式机器人的管理设备
公开(公告)号：US20080077276A1
公开(公告)日：2008-03-27
申请号：US11797470
申请日：2007-05-03
申请人： Pedro Montero Sanjuan , Jose Ramallo Gutierrez
发明人： Pedro Montero Sanjuan , Jose Ramallo Gutierrez
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B21J15/14 , B21J15/142 , B23B39/14 , B23P2700/01 , B23Q9/0014 , B62D57/024 , B64F5/10 , G05B2219/39146
摘要： The robot comprises a chassis (1) with a first set of legs (2a, 2b) with suction pads (6) on tilting supports (7) mounted in a linearly displaceable manner with regard to the chassis and a second set of legs (4) with suction pads (17) mounted in a rotary manner with regard to the chassis. Certain control means are adapted in order to control the functioning of said first and second sets of legs in a coordinated manner for displacing the chassis in any direction on the work surface (S). It includes support feet (9) and a system for leveling the chassis in relation to a curvature of the work surface. Fitted on the chassis is a work unit (44) with a head (19) for working on the work surface via an opening (12) in the chassis. It includes means for displacing said head along three axes and pivoting the head on two axes with respect to the chassis
摘要翻译：机器人包括具有第一组腿部（2a，2b）的底盘（1），其具有相对于底盘以线性可位移方式安装的倾斜支撑件（7）上的吸盘（6）和第二组腿（4），其具有相对于底盘以旋转方式安装的吸盘（17）。某些控制装置适于以协调的方式控制所述第一和第二组腿的功能，以便使底盘在工作表面（S）上的任何方向移动。它包括支撑脚（9）和用于相对于工作表面的曲率调平底盘的系统。在机箱上安装有一个工作单元（44），其具有头部（19），用于通过底盘中的开口（12）在工作表面上工作。它包括用于沿着三个轴移动所述头并且使头相对于底盘在两个轴线上枢转的装置

128. 发明授权

US06385506B1 Robot 失效
标题翻译：机器人
公开(公告)号：US06385506B1
公开(公告)日：2002-05-07
申请号：US09701091
申请日：2000-11-22
申请人： Rika Hasegawa , Makoto Inoue
发明人： Rika Hasegawa , Makoto Inoue
IPC分类号： G06F1900
CPC分类号： G05B19/042 , G05B2219/39146 , G05B2219/39155 , Y10T29/49769 , Y10T408/175 , Y10T408/356 , Y10T408/37
摘要： A motion deciding means is provided to decide a motion based on transmitted information which is transmitted from another robot apparatus, so that it is possible to realize a robot apparatus which operates in cooperation with other robot apparatuses regardless of operator's instructions. Thus, such robot apparatuses can constitute a group of robot apparatuses which autonomously move in cooperation.
摘要翻译：提供一种运动判定装置，用于基于从另一机器人装置发送的发送信息来决定运动，从而可以实现与其他机器人装置协作操作的机器人装置，而不管操作者的指示。因此，这样的机器人装置可以组合自主地协作移动的一组机器人装置。

129. 发明授权

KR101912001B1 복수의 로봇들을 항해시키기 위한 방법 및 장치 有权
公开(公告)号：KR101912001B1
公开(公告)日：2018-10-25
申请号：KR1020157030839
申请日：2012-11-27
申请人： 인터내셔널 비지네스 머신즈 코포레이션
发明人： 궈,샹,큐 , 이씨,캔투르크 , 랜취너,조나단 , 무커지,마하라지
IPC分类号： G06G7/78 , G06G7/80 , G05B19/418 , G05D1/02
CPC分类号： G05D1/0291 , G05B19/41815 , G05B2219/39146 , G05B2219/39168 , G05D1/0274 , G05D2201/0207 , G08G1/20
摘要： 복수의로봇들을사용하여환경을발견하고감시하기위한기술들이제공된다. 복수의로봇들이환경을항해하되상기로봇들각각을위한내비게이션버퍼를결정하는단계; 및상기로봇들각각이다른로봇들로부터실질적으로최소의거리를유지하면서상기환경내에서항해하도록허용하는단계에의해서하고, 상기실질적으로최소의거리는상기내비게이션버퍼들에대응하며, 상기내비게이션버퍼들각각의사이즈는항해될(to be navigated) 남아있는상기환경의백분율에기초하여시간에따라감소된다. 상기로봇들은또한환경을항해할수 있는데, 상기환경에대해복수의개별영역들(discrete regions)로의개별화(a discretization)를획득하는단계; 및상기복수의로봇들중 하나가폭-우선탐색(a breadth-first search)을사용하여상기예시적환경에서탐색하기(explore) 위해방문안된다음개별영역(a next unvisited discrete region)을결정하는단계에의해서할 수있다. 상기복수의개별영역들은, 예를들어, 복수의실제또는가상의타일들이될 수있다.

130. 发明授权

KR101627519B1 로봇 원격 제어 장치 및 그 방법 有权
标题翻译：机器人远程控制装置及其方法
公开(公告)号：KR101627519B1
公开(公告)日：2016-06-08
申请号：KR1020150062727
申请日：2015-05-04
申请人： 재단법인대구경북과학기술원
发明人： 이승열 , 김대진 , 엄성훈 , 문전일
IPC分类号： G05D1/00 , B25J9/16 , B25J13/00 , B25J13/08
CPC分类号： B25J9/1682 , B25J9/1689 , G05B2219/39146 , Y10S901/02
摘要： 본발명은로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른로봇원격제어장치는사용자원격조작장치로부터원격조종의대상이되는필드로봇의운용정보및 상기필드로봇의작동모드를선택받고, 상기필드로봇의동작을제어하는조작명령신호를입력받는인터페이스부, 수신된상기작동모드정보및 상기조작명령신호에대응하는상기원격조종의대상이되는필드로봇의동작또는작업대상사물의동작에대한작업명령신호를생성하는작업명령생성부, 상기사용자로부터추종모드가선택된경우, 제1 필드로봇에대한상기작업명령신호가생성되면제2 필드로봇의동작을제어하는자율동작명령신호를생성하고, 상기사용자로부터사물모드가선택된경우, 상기작업대상사물에대한상기작업명령신호가생성되면상기작업대상사물을동작시키기위한상기제1 필드로봇및 상기제2 필드로봇의동작을제어하는자율동작명령신호를생성하는자율명령생성부, 그리고생성된상기자율동작신호를상기제1 필드로봇및 상기제2 필드로봇으로전달하는통신부를포함한다.
摘要翻译：远程机器人控制装置及其方法技术领域本发明涉及远程机器人控制装置及其方法。根据本发明的一个实施例，远程机器人控制装置包括接收单元，用于接收远程控制的现场机器人的操作信息的选择以及来自用户遥控器的现场机器人的操作模式，以及接收控制现场机器人的操作的操作指令信号; 作业指令生成单元，其生成用于远程控制的野外机器人的操作的作业命令信号，或者响应于所接收的操作模式信息和操作命令信号的对象的操作; 如果在用户选择了后续模式时为第一场机器人生成了作业命令信号，则产生自动操作命令信号的自主命令产生单元，该自主操作指令信号控制第二场机器人的操作，并且产生控制如果在用户选择对象模式时产生作业命令信号，则第一场地机器人和第二场地机器人操作对象的操作; 以及通信单元，将生成的自主操作命令信号发送到第一场机器人和第二场机器人。因此，远程机器人控制装置可以通过现场机器人之间的协作来执行特定的工作，所述现场机器人可以替代在偏远地区的无定形或危险的工作环境中的工人。

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