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22. 发明授权

US5745387A Augmented reality maintenance system employing manipulator arm with archive and comparison device 失效
标题翻译：增强现实维护系统采用操纵臂与存档和比较装置
公开(公告)号：US5745387A
公开(公告)日：1998-04-28
申请号：US536011
申请日：1995-09-28
申请人： Nelson Raymond Corby, Jr. , Peter Michael Meenan , Claude Homer Solanas, III , David Clark Vickerman , Christopher Allen Nafis
发明人： Nelson Raymond Corby, Jr. , Peter Michael Meenan , Claude Homer Solanas, III , David Clark Vickerman , Christopher Allen Nafis
IPC分类号： B25J9/16 , G06F15/50
CPC分类号： B25J9/1671 , G05B2219/32014
摘要： An enhanced reality maintenance system for operating in a hazardous environment employs an environment modeler which creates a computer model of the environment. An environment renderer creates a plurality of images, each corresponding to a viewing location and orientation, `viewpoint`. A remotely operated manipulator arm is attached at a fixed end to a stationary structure, has a utility package, such as a video camera, attached to a distal end, and actuators which move the manipulator arm to desired locations within the environment. The position and orientation of the manipulator arm, are determined by a position and attitude (P&A) sensing unit. This information is passed to an manipulator arm renderer which creates an image from a prestored model of the manipulator arm, viewed from several different viewpoints. The may be interactively determined as an offset from the current position and orientation of the utility package. Alternative embodiments include an image archive and comparison unit capable of storing images linked to information of the image acquisition, retrieving stored images and transforming the images to match the image acquisition parameters. Also, another embodiment employs an automated positioner, which desired path information is provided by an operator. The environment, manipulator arm size, shape, and motion constraints, are analyzed to result in a trajectory which most closely fits the provided path information which would not cause a collision with structures in the environment. This trajectory, if acceptable, is then automatically executed by an automated positioner.
摘要翻译：用于在危险环境中操作的增强的现实维护系统使用创建环境的计算机模型的环境建模器。环境渲染器创建多个图像，每个图像对应于观看位置和方位“视点”。远程操作的操纵臂在固定端附接到固定结构，具有连接到远端的诸如摄像机的实用包，以及将操纵臂移动到环境中的期望位置的致动器。机械臂的位置和方向由位置和姿态（P＆A）感测单元决定。该信息被传递到操纵器臂渲染器，其从几个不同的观点看，从操纵器臂的预先存储的模型创建图像。可以被交互地确定为与实用程序包的当前位置和取向的偏移。替代实施例包括能够存储与图像获取信息相链接的图像的图像存档和比较单元，检索存储的图像和变换图像以匹配图像采集参数。而且，另一个实施例采用自动定位器，其中希望的路径信息由操作者提供。分析环境，操纵臂尺寸，形状和运动约束，以产生最接近所提供的路径信息的轨迹，这不会导致与环境中的结构的碰撞。这个轨迹，如果可以接受，然后由自动定位器自动执行。

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