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1. 发明申请

US20050195387A1 Apparatus and method for determining orientation parameters of an elongate object 有权
标题翻译：用于确定细长物体的取向参数的装置和方法
公开(公告)号：US20050195387A1
公开(公告)日：2005-09-08
申请号：US10796236
申请日：2004-03-08
申请人： Guanghua Zhang , Dale Buermann , Michael Mandella , Hector Gonzalez-Banos , Stewart Carl
发明人： Guanghua Zhang , Dale Buermann , Michael Mandella , Hector Gonzalez-Banos , Stewart Carl
IPC分类号： G01B11/26 , G01C1/00
CPC分类号： G01B11/002 , G01B11/272 , G01S17/46 , G06F3/0304 , G06F3/03545
摘要： An apparatus and method employing principles of stereo vision for determining one or more orientation parameters and especially the second and third Euler angles θ, ψ of an elongate object whose tip is contacting a surface at a contact point. The apparatus has a projector mounted on the elongate object for illuminating the surface with a probe radiation in a known pattern from a first point of view and a detector mounted on the elongate object for detecting a scattered portion of the probe radiation returning from the surface to the elongate object from a second point of view. The orientation parameters are determined from a difference between the projected and detected probe radiation such as the difference between the shape of the feature produced by the projected probe radiation and the shape of the feature detected by the detector. The pattern of probe radiation is chosen to provide information for determination of the one or more orientation parameters and can include asymmetric patterns such as lines, ellipses, rectangles, polygons or the symmetric cases including circles, squares and regular polygons. To produce the patterns the projector can use a scanning arrangement or a structured light optic such as a holographic, diffractive, refractive or reflective element and any combinations thereof. The apparatus is suitable for determining the orientation of a jotting implement such as a pen, pencil or stylus.
摘要翻译：一种采用立体视觉原理的装置和方法，用于确定一个或多个取向参数，特别是尖端在接触点处接触表面的细长物体的第二和第三欧拉角θ，psi。该装置具有安装在细长物体上的投影仪，用于从第一角度以已知图案的探测辐射照射表面，以及安装在细长物体上的检测器，用于检测从表面返回的探针辐射的散射部分细长物体从第二个角度来看。取向参数根据投射和检测的探针辐射之间的差异确定，例如由投射的探针辐射产生的特征的形状与由检测器检测到的特征的形状之间的差异。选择探针辐射的图案以提供用于确定一个或多个取向参数的信息，并且可以包括不对称图案，例如线，椭圆，矩形，多边形或包括圆形，正方形和正多边形的对称情况。为了产生图案，投影仪可以使用扫描装置或诸如全息衍射，折射或反射元件的结构化光学元件及其任何组合。该装置适用于确定诸如笔，铅笔或触笔之类的记录工具的取向。

2. 发明申请

US20050133700A1 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features 有权
标题翻译：用于确定具有不变特征的平面上的细长物体的尖端的绝对位置的方法和装置
公开(公告)号：US20050133700A1
公开(公告)日：2005-06-23
申请号：US10745371
申请日：2003-12-22
申请人： Dale Buermann , Michael Mandella , Stewart Carl , Guanghua Zhang , Hector Gonzalez-Banos
发明人： Dale Buermann , Michael Mandella , Stewart Carl , Guanghua Zhang , Hector Gonzalez-Banos
IPC分类号： G06F3/03 , G06F3/033 , G06M7/00
CPC分类号： G06F3/03545 , G06F3/0321
摘要： A method and apparatus for determining a pose of an elongate object and an absolute position of its tip while the tip is in contact with a plane surface having invariant features. The surface and features are illuminated with a probe radiation and a scattered portion, e.g., the back-scattered portion, of the probe radiation returning from the plane surface and the feature to the elongate object at an angle τ with respect to an axis of the object is detected. The pose is derived from a response of the scattered portion to the surface and the features and the absolute position of the tip on the surface is obtained from the pose and knowledge about the feature. The probe radiation can be directed from the object to the surface at an angle σ to the axis of the object in the form of a scan beam. The scan beam can be made to follow a scan pattern with the aid of a scanning arrangement with one or more arms and one or more uniaxial or biaxial scanners. Angle τ can also be varied, e.g., with the aid of a separate or the same scanning arrangement as used to direct probe radiation to the surface. The object can be a pointer, a robotic arm, a cane or a jotting implement such as a pen, and the features can be edges, micro-structure or macro-structure belonging to, deposited on or attached to the surface which the tip of the object is contacting.
摘要翻译：一种用于在尖端与具有不变特征的平面接触的情况下，确定细长物体的姿态和其尖端的绝对位置的方法和装置。表面和特征被探针辐射照射，并且探针辐射的散射部分（例如，背散射部分）从平面表面和特征向细长物体返回，其角度τ相对于检测到物体。姿势是从分散部分到表面的响应导出的，并且从关于特征的姿势和知识中获得尖端在表面上的特征和绝对位置。探针辐射可以以扫描光束的形式从物体以角度与物体的轴线指向表面。借助于具有一个或多个臂和一个或多个单轴或双轴扫描器的扫描装置，可以使扫描光束跟随扫描图案。角度tau也可以变化，例如借助于将探针辐射引导到表面的单独或相同的扫描布置。该物体可以是指针，机器人手臂，手杖或笔记本记录工具，并且特征可以是属于，沉积在或附着到表面上的边缘，微结构或宏观结构，其表面的尖端对象正在联系。

3. 发明申请

US20050107979A1 Apparatus and method for determining an inclination of an elongate object contacting a plane surface 失效
标题翻译：用于确定接触平面的细长物体的倾斜度的装置和方法
公开(公告)号：US20050107979A1
公开(公告)日：2005-05-19
申请号：US10701817
申请日：2003-11-04
申请人： Dale Buermann , Hector Gonzalez-Banos , Michael Mandella , Stewart Carl
发明人： Dale Buermann , Hector Gonzalez-Banos , Michael Mandella , Stewart Carl
IPC分类号： G06F3/033 , G06F15/00
CPC分类号： G06F3/03545
摘要： An apparatus and method for determining an inclination angle θ between an axis of an elongate object such as a cane, a pointer or a jotting implement such as a pen, pencil, stylus or the like and a normal to a plane surface at times when a tip of the elongate object is contacting that plane surface. The apparatus has an emitter mounted on the object for illuminating the plane surface with a probe radiation at an angle σ with respect to the axis of the object. The apparatus also has a detector mounted on the elongate object for detecting a radiation characteristic of a scattered portion of the probe radiation returning from the plane surface and a computing unit for deriving the inclination angle θ from the radiation characteristic. A scanning arrangement, such as a uniaxial or biaxial scanner, or a light guiding optic can be used for varying angle σ, and the probe radiation can be emitted in the form of a scan beam. Preferably, the emitter and detector of the scattered portion of the probe radiation are integrated and the scattered portion of the probe radiation whose characteristic is being measured is the back-scattered portion. The radiation characteristic detected by the detector can be the intensity, polarization, time-of-flight or any combination thereof.
摘要翻译：一种用于确定细长物体的轴线之间的倾斜角度θ的装置和方法，所述细长物体诸如手杖，指针或诸如笔，铅笔，触笔等的记录工具以及在平面表面的法线细长物体的尖端与该平面接触。该装置具有安装在物体上的发射器，用于以相对于物体的轴线的角度σ来探测辐射照射平面。该装置还具有安装在细长物体上的检测器，用于检测从平面表面返回的探针辐射的散射部分的辐射特性，以及用于从辐射特性导出倾斜角度θ的计算单元。可以使用诸如单轴或双轴扫描仪或导光光学器件的扫描装置来改变角度，并且可以以扫描光束的形式发射探测辐射。优选地，探测辐射的散射部分的发射极和检测器是一体的，并且其特征被测量的探测辐射的散射部分是反向散射部分。由检测器检测的辐射特性可以是强度，极化，飞行时间或其任何组合。

4. 发明申请

US20080080791A1 Implement for optically inferring information from a jotting surface and environmental landmarks 有权
标题翻译：实现从注释表面和环境地标光学推断信息
公开(公告)号：US20080080791A1
公开(公告)日：2008-04-03
申请号：US11728951
申请日：2007-03-26
申请人： Stewart Carl , Michael Mandella , Hector Gonzalez-Banos , Timothy Hawks , Marek Alboszta
发明人： Stewart Carl , Michael Mandella , Hector Gonzalez-Banos , Timothy Hawks , Marek Alboszta
IPC分类号： G06K9/22
CPC分类号： G06F3/0325 , G06F3/03545 , G06F3/03546
摘要： The present invention relates to a jotting implement that infers hand-jotted information from viewing a jotting surface and environmental landmarks. The hand-jotted information is any information marked on the jotting surface as a result of writing, jotting, drawing, sketching or otherwise operating on the jotting surface as well as hand-generated information produced by moving the implement in the air with respect to the jotting surface. The jotting implement has a nib for jotting and an arrangement for determining when the nib is jotting on the jotting surface. Further, the implement has an optical unit for viewing an environmental landmark and the jotting surface. The implement has a processing unit for receiving optical data of the environmental landmark and the jotting surface from the optical unit and determining from the optical data the physical coordinates of the nib with respect to the jotting surface. The environmental landmark is preferably made up several beacons that emit electromagnetic radiation and are affixed to a host structure.
摘要翻译：本发明涉及一种记录工具，其通过查看记录表面和环境标志来推断手动记录的信息。手动记录的信息是通过在记录表面上书写，记录，绘图，草图或以其他方式操作的记录表面上标记的任何信息，以及通过在空气中相对于移动的方式移动工具而产生的手工产生的信息记录表面。记录工具具有用于记录的笔尖和用于确定笔尖何时在笔记表面上记录的布置。此外，该工具具有用于观察环境地标和记录表面的光学单元。该工具具有处理单元，用于从光学单元接收环境地标和记录表面的光学数据，并根据光学数据确定笔尖相对于记录表面的物理坐标。环境标志优选地由发射电磁辐射的几个信标构成，并且固定到主机结构。

5. 发明申请

US20050168437A1 Processing pose data derived from the pose of an elongate object 有权
标题翻译：处理从细长物体的姿态得出的姿势数据
公开(公告)号：US20050168437A1
公开(公告)日：2005-08-04
申请号：US10769484
申请日：2004-01-30
申请人： Stewart Carl , Michael Mandella , Guanghua Zhang , Hector Gonzalez-Banos
发明人： Stewart Carl , Michael Mandella , Guanghua Zhang , Hector Gonzalez-Banos
IPC分类号： G06F3/01 , G09G5/00
CPC分类号： G06F3/011 , G06F3/03545
摘要： An apparatus and method for processing pose data derived from a pose of an elongate object such as, for example, a jotting implement, a pointer, a robotic arm or a cane. The elongate object has a tip contacting a plane surface with one or more invariant features. The pose of the elongate object is measured optically from on-board by an optical measuring system with the aid of the invariant feature. The pose is used for preparing a corresponding pose data and a subset of the pose data is identified and transmitted to an application such as a user application, where the subset can serve as command data or input data. Since the elongate object moves while its tip is contacting the surface the pose is measured periodically at sufficiently frequent measurement times ti to describe the motion at a desired temporal resolution. The subset can include all or a portion of the orientation data that describe the orientation of the elongate object in space and/or position data of the tip on the surface. The position can be a relative position of the tip with respect to any feature or its previous position, or an absolute position in world coordinates. The subset can also contain a mix of orientation and position data.
摘要翻译：一种用于处理从诸如记录工具，指针，机器人手臂或手杖的细长物体的姿势导出的姿势数据的装置和方法。细长物体具有使平面与一个或多个不变特征接触的尖端。借助于不变特征，通过光学测量系统从板上光学地测量细长物体的姿态。该姿势用于准备对应的姿势数据，并且识别姿势数据的子集并将其发送到诸如用户应用的应用，其中该子集可以用作命令数据或输入数据。由于细长物体在其尖端接触表面时移动，所以以足够频繁的测量时间t i周期性地测量姿态以便以期望的时间分辨率描述运动。子集可以包括描述细长物体在空间中的取向的定向数据的全部或一部分和/或表面上的尖端的位置数据。该位置可以是尖端相对于任何特征或其先前位置或世界坐标中的绝对位置的相对位置。子集还可以包含方向和位置数据的混合。

6. 发明申请

US20050151759A1 Systems and methods for directly generating a view using a layered approach 有权
标题翻译：使用分层方法直接生成视图的系统和方法
公开(公告)号：US20050151759A1
公开(公告)日：2005-07-14
申请号：US10937034
申请日：2004-09-08
申请人： Hector Gonzalez-Banos , Hai Tao , Dan Kong
发明人： Hector Gonzalez-Banos , Hai Tao , Dan Kong
IPC分类号： G06T20060101 , G06T3/00 , G06T15/00
CPC分类号： G06T3/0068
摘要： Apparatuses and methods are presented that use a direct synthesis approach using layers in order to directly generate a virtual view from a pair of images. In one embodiment, a range space is discretized into a plurality of layers. For each layer, the first input image and the second input image are warped to the layer. A matching score is then determined for each pixel in the new view based on the warped input images. For each pixel in the virtual view, a best layer is determined. After the best layer has been determined, the color of the pixel in that layer is used for that pixel in the generated view.
摘要翻译：提出了使用使用层的直接合成方法以便从一对图像直接生成虚拟视图的装置和方法。在一个实施例中，将范围空间离散成多个层。对于每个层，第一个输入图像和第二个输入图像都向该层弯曲。然后，基于变形的输入图像，确定新视图中的每个像素的匹配分数。对于虚拟视图中的每个像素，确定最佳图层。在确定最佳图层之后，该层中的像素的颜色用于生成的视图中的该像素。

7. 发明申请

US20070070738A1 Motor and controller inversion: commanding torque to position-controlled robot 有权
标题翻译：电机和控制器反转：指向定位控制机器人的扭矩
公开(公告)号：US20070070738A1
公开(公告)日：2007-03-29
申请号：US11541001
申请日：2006-09-29
申请人： Hector Gonzalez-Banos , Behzad Dariush
发明人： Hector Gonzalez-Banos , Behzad Dariush
IPC分类号： G11C29/00
CPC分类号： B25J9/1628 , B25J9/1633 , G05B2219/42042
摘要： Systems and methods are presented that cancel the dynamics of a motor and a joint controller in the presence of communication time delays, measurement noise, and controller parameter uncertainties inherent in a robot system. A cancellation system includes feedback of the measured output Ê of a controller block C. A first summing node (Σ1) subtracts Ê from the desired voltage Ed to determine a voltage error, which is fed into a G(s) block. A second summing node (Σ2) adds the output of the G(s) block to the desired voltage Ed to generate the signal E, which is fed into a non-robust controller inversion block C−1. The block C−1 outputs a value μ, which is fed into the block C. The block C outputs the actual voltage E, which is input into a motor block M. Under perfect conditions, the voltage error is zero, in which case the input to block G(s) is zero.
摘要翻译：提出了系统和方法，其在存在通信时间延迟，测量噪声和机器人系统固有的控制器参数不确定性的情况下抵消电动机和联合控制器的动力学。取消系统包括控制器块C的测量输出的反馈。第一求和节点（Sigma＆lt; 1＆gt; 1＆gt;）从期望的电压E 中减去E以确定电压错误，它被馈送到G（s）块。第二求和节点（Sigma＆gt; 2＆gt;）将G（s）块的输出相加到期望的电压E 以产生信号{过滤（E，被馈送）进入非鲁棒控制器反转块C 0〜1，块C 1〜0输出输入到块C的值mu，块C输出实际电压E被输入到电动机块M.在完美的条件下，电压误差为零，在这种情况下，块G（s）的输入为零。

8. 发明申请

US20060161300A1 Interface for robot motion control 失效
标题翻译：机器人运动控制界面
公开(公告)号：US20060161300A1
公开(公告)日：2006-07-20
申请号：US11296174
申请日：2005-12-06
申请人： Hector Gonzalez-Banos , Victor Ng-Thow-Hing , Allen Yang
发明人： Hector Gonzalez-Banos , Victor Ng-Thow-Hing , Allen Yang
IPC分类号： G06F19/00
CPC分类号： B25J9/161 , G05B2219/33148 , G05B2219/40147
摘要： Systems and methods are presented that enable a higher-level software application to control a robot's motion through a generic motion interface. In one embodiment, a system includes a controller, an interface, and a set of robot driver modules. The interface receives a command from the controller and translates the command into another command to send to the driver modules. The interface includes a client, a server, and a network. The server includes two interfaces: a client interface to communicate with the client and a driver interface to communicate with the driver modules. The server also includes two buffers: a command queue and a reply queue. The command queue stores commands received from the controller (via the client). The reply queue stores replies received from the driver modules.
摘要翻译：提出了系统和方法，使得更高级别的软件应用程序能够通过通用运动界面来控制机器人的运动。在一个实施例中，系统包括控制器，接口和一组机器人驱动器模块。该接口从控制器接收一个命令，并将该命令转换为另一个命令以发送到驱动程序模块。该接口包括客户端，服务器和网络。服务器包括两个接口：与客户端通信的客户端界面和与驱动程序模块进行通信的驱动程序接口。服务器还包括两个缓冲区：一个命令队列和一个应答队列。命令队列存储从控制器（通过客户端）接收的命令。回复队列存储从驱动程序模块接收的回复。

9. 发明申请

US20050280801A1 Systems and methods for determining depth using shuttered light pulses 有权
标题翻译：使用快门光脉冲确定深度的系统和方法
公开(公告)号：US20050280801A1
公开(公告)日：2005-12-22
申请号：US10964334
申请日：2004-10-12
申请人： Hector Gonzalez-Banos , James Davis
发明人： Hector Gonzalez-Banos , James Davis
IPC分类号： G01C3/08 , G01S17/10 , G01S17/89 , G02B7/32 , G03B13/00 , G03B13/36 , G03B15/02 , G06F20060101
CPC分类号： G03B13/36 , G01C3/08 , G01S17/10 , G01S17/107 , G01S17/89 , G02B7/32
摘要： Systems and methods are presented that use light sensors and computing devices to compute the depth of an object using shuttered light pulses. In one embodiment, depth is determined as follows: A light emitter emits a pulse of light that is directed toward an object. The pulse is reflected off the object and travels toward a beam splitter. The beam splitter splits the reflected pulse into multiple pulses, with each pulse directed to a shuttered sensor with a different shutter location. The shuttered sensors measure the integrated intensity of the light, and these values are used to determine the depth of the object. A method is presented which calibrates a system that has an arbitrary number of shutters and enables the system to determine the depth of an object, even in the presence of ambient illumination and scattered light.
摘要翻译：提出了使用光传感器和计算装置使用快门光脉冲来计算物体的深度的系统和方法。在一个实施例中，深度确定如下：光发射器发射指向物体的光脉冲。脉冲从物体反射并朝向分束器行进。分束器将反射脉冲分成多个脉冲，每个脉冲指向具有不同快门位置的快门传感器。快门传感器测量光的积分强度，这些值用于确定物体的深度。提出了一种校准具有任意数量的快门的系统的方法，并且使得系统即使在存在环境照明和散射光的情况下也能够确定物体的深度。

10. 发明申请

US20080306628A1 Multi-Modal Push Planner for Humanoid Robots 有权
标题翻译：用于人型机器人的多模式推送计划
公开(公告)号：US20080306628A1
公开(公告)日：2008-12-11
申请号：US12134078
申请日：2008-06-05
申请人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
发明人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
IPC分类号： B25J11/00
CPC分类号： B25J9/1664
摘要： Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.
摘要翻译：首先搜索最受约束模式的路径的多模态规划方法和系统，然后以较少限制的模式扩展路径搜索。通过首先搜索最受约束模式的路径，在搜索不会导致最受约束模式中的可行路径的路径时，浪费较少的资源。多模式规划通过预计算可行性和两种相邻模式的转换配置的实用性来执行。可行性用于排除最受约束模式的不可行过渡配置以进行采样。该实用程序用于偏移过渡配置的采样，以便更高效率的转换配置以更高的概率进行采样。通过偏置过渡配置的采样获得具有更高效用和效率的配置路径。

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