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1. 发明授权

US08355818B2 Robots, systems, and methods for hazard evaluation and visualization 有权
标题翻译：用于危害评估和可视化的机器人，系统和方法
公开(公告)号：US08355818B2
公开(公告)日：2013-01-15
申请号：US12553794
申请日：2009-09-03
申请人： Curtis W. Nielsen , David J. Bruemmer , Miles C. Walton , Robert S. Hartley , David I. Gertman , Robert A. Kinoshita , Jonathan Whetten
发明人： Curtis W. Nielsen , David J. Bruemmer , Miles C. Walton , Robert S. Hartley , David I. Gertman , Robert A. Kinoshita , Jonathan Whetten
IPC分类号： G06F19/00
CPC分类号： G05D1/0088 , G05D1/0038 , G05D1/0044 , G05D1/0214 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.
摘要翻译：机器人包括危险传感器，运动器和系统控制器。机器人感测机器人位置处的危险强度，响应于危险强度移动到新位置，并自动重复感测并移动以确定多个位置处的多个危险等级。机器人还可以包括用于将多个危险等级传达给遥控器的通信器。遥控器包括用于向机器人发送用户命令并从机器人接收危险等级的通信器。图形用户界面显示机器人附近环境的环境图和用于指示危险强度的刻度。危险指示符对应于环境地图中的机器人位置，并以图形方式指示机器人位置相对于刻度的危险强度。

2. 发明申请

US20110054689A1 ROBOTS, SYSTEMS, AND METHODS FOR HAZARD EVALUATION AND VISUALIZATION 有权
标题翻译：机器人，系统和危害评估与可视化方法
公开(公告)号：US20110054689A1
公开(公告)日：2011-03-03
申请号：US12553794
申请日：2009-09-03
申请人： Curtis W. Nielsen , David J. Bruemmer , Miles C. Walton , Robert S. Hartley , David I. Gertman , Robert A. Kinoshita , Jonathan Whetten
发明人： Curtis W. Nielsen , David J. Bruemmer , Miles C. Walton , Robert S. Hartley , David I. Gertman , Robert A. Kinoshita , Jonathan Whetten
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： G05D1/0088 , G05D1/0038 , G05D1/0044 , G05D1/0214 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.
摘要翻译：机器人包括危险传感器，运动器和系统控制器。机器人感测机器人位置处的危险强度，响应于危险强度移动到新位置，并自动重复感测并移动以确定多个位置处的多个危险等级。机器人还可以包括用于将多个危险等级传达给遥控器的通信器。遥控器包括用于向机器人发送用户命令并从机器人接收危险等级的通信器。图形用户界面显示机器人附近环境的环境图和用于指示危险强度的刻度。危险指示符对应于环境地图中的机器人位置，并以图形方式指示机器人位置相对于刻度的危险强度。

3. 发明申请

US20080009964A1 Robotics Virtual Rail System and Method 有权
标题翻译：机器人虚拟轨道系统与方法
公开(公告)号：US20080009964A1
公开(公告)日：2008-01-10
申请号：US11428621
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few , Miles C. Walton
发明人： David J. Bruemmer , Douglas A. Few , Miles C. Walton
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/0088 , G05D1/0223 , G05D1/0227 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： A virtual track or rail system and method is described for execution by a robot. A user through a user interface generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
摘要翻译：描述了虚拟轨道或轨道系统和方法来由机器人执行。用户通过用户界面产生期望的路径，其包括代表机器人的虚拟轨道的至少一个段。开始点和终点被分配到期望的路径，速度也与期望路径的至少一个段中的每一个相关联。生成航路文件，其包括沿着虚拟轨道的位置，该位置包括从起始点到终点的位置，该位置包括至少一个段中的每一个的速度。航点文件被发送到机器人，以沿着虚拟轨道进行遍历。

4. 发明授权

US08073564B2 Multi-robot control interface 有权
标题翻译：多机器人控制界面
公开(公告)号：US08073564B2
公开(公告)日：2011-12-06
申请号：US11428757
申请日：2006-07-05
申请人： David J. Bruemmer , Miles C. Walton
发明人： David J. Bruemmer , Miles C. Walton
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05B2219/39448 , G05D1/0027
摘要： Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.
摘要翻译：用于通过单个用户界面来控制多个机器人的方法和系统包括用于所述多个机器人中的每一个的至少一个机器人显示窗口，所述至少一个机器人显示窗口示出所述多个机器人中的相应一个机器人的一个或多个条件。所述用户界面还包括用于所述多个机器人中的每一个的至少一个机器人控制窗口，所述至少一个机器人控制窗口被配置为接收用于发送到所述多个机器人中的相应一个机器人的一个或多个命令。用户界面还包括由从多个机器人中的每一个接收的信息组成的多机器人共用窗口。

5. 发明授权

US07974738B2 Robotics virtual rail system and method 有权
标题翻译：机器人虚拟轨道系统和方法
公开(公告)号：US07974738B2
公开(公告)日：2011-07-05
申请号：US11428621
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few , Miles C. Walton
发明人： David J. Bruemmer , Douglas A. Few , Miles C. Walton
IPC分类号： G05B19/23 , B25J5/02 , G05B19/18 , G06F19/00
CPC分类号： G06N3/008 , G05D1/0088 , G05D1/0223 , G05D1/0227 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
摘要翻译：描述了虚拟轨道或轨道系统和方法来由机器人执行。用户通过用户界面产生期望的路径，其包括代表机器人的虚拟轨道的至少一个段。开始点和终点被分配到期望的路径，速度也与期望路径的至少一个段中的每一个相关联。生成航路文件，其包括沿着虚拟轨道的位置，该位置包括从起始点到终点的位置，该位置包括至少一个段中的每一个的速度。航点文件被发送到机器人，以沿着虚拟轨道进行遍历。

6. 发明申请

US20080009969A1 Multi-Robot Control Interface 有权
标题翻译：多机器人控制接口
公开(公告)号：US20080009969A1
公开(公告)日：2008-01-10
申请号：US11428757
申请日：2006-07-05
申请人： David J. Bruemmer , Miles C. Walton
发明人： David J. Bruemmer , Miles C. Walton
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05B2219/39448 , G05D1/0027
摘要： Methods and system for controlling a plurality of robots through a single user interface includes at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of the respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.
摘要翻译：用于通过单个用户界面来控制多个机器人的方法和系统包括用于所述多个机器人中的每一个的至少一个机器人显示窗口，所述至少一个机器人显示窗口示出所述多个机器人中的相应一个机器人的一个或多个条件。所述用户界面还包括用于所述多个机器人中的每一个的至少一个机器人控制窗口，所述至少一个机器人控制窗口被配置为接收用于发送到所述多个机器人中的相应一个机器人的一个或多个命令。用户界面还包括由从多个机器人中的每一个接收的信息组成的多机器人共用窗口。

7. 发明授权

US08972053B2 Universal payload abstraction 有权
标题翻译：通用有效载荷抽象
公开(公告)号：US08972053B2
公开(公告)日：2015-03-03
申请号：US13598114
申请日：2012-08-29
申请人： David J. Bruemmer , Curtis W. Nielsen , Benjamin C. Hardin , Jonathan M. Whetten
发明人： David J. Bruemmer , Curtis W. Nielsen , Benjamin C. Hardin , Jonathan M. Whetten
IPC分类号： G06F19/00 , G06K9/62 , G06K9/00 , B25J9/08 , G06F3/01
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.
摘要翻译：机器人有效载荷被抽象出来提供即插即用系统，其中特定任务能力可以在各种机器人平台上轻松配置。提出了一种机器人有效载荷架构，其中机器人功能分为内核功能，由核心模块管理，以及任务特定能力，由任务负载模块处理。通过这样做，核心模块管理特定的机器人平台的内在功能，而特定任务则留给任务有效载荷。可以通过将多个任务负载模块添加到由同一个核心模块管理的同一平台中来编译任务特定的机器人配置。在每种情况下，任务负载模块与核心模块进行通信，以获得与其关联的平台的信息。

8. 发明授权

US08732592B2 Methods and systems relating to an augmented virtuality environment 有权
标题翻译：与增强的虚拟环境相关的方法和系统
公开(公告)号：US08732592B2
公开(公告)日：2014-05-20
申请号：US12480459
申请日：2009-06-08
申请人： Curtis W. Nielsen , Matthew O. Anderson , Mark D. McKay , Derek C. Wadsworth , Jodie R. Boyce , Ryan C. Hruska , John A. Koudelka , Jonathon Whetten , David J. Bruemmer
发明人： Curtis W. Nielsen , Matthew O. Anderson , Mark D. McKay , Derek C. Wadsworth , Jodie R. Boyce , Ryan C. Hruska , John A. Koudelka , Jonathon Whetten , David J. Bruemmer
IPC分类号： G06F3/04815
CPC分类号： G06F3/0481 , G06T19/006
摘要： Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.
摘要翻译：公开了与增强虚拟系统相关的系统和方法。操作增强虚拟系统的方法可以包括在操作画面中显示真实环境的图像。该方法还可以包括在操作画面中显示代表位于真实环境中的多个资产的至少一些资产的多个虚拟图标。另外，该方法可以包括在操作画面中显示表示由多个资产中的一个或多个资产感测到的数据的至少一个虚拟项目，并通过与相关联的虚拟图标进行交互来远程控制多个资产中的至少一个资产与至少一个资产。

9. 发明授权

US09235212B2 Conflict resolution based on object behavioral determination and collaborative relative positioning 有权
标题翻译：基于对象行为确定和协同相对定位的冲突解决
公开(公告)号：US09235212B2
公开(公告)日：2016-01-12
申请号：US13873620
申请日：2013-04-30
申请人： David J. Bruemmer , Benjamin C. Hardin , Curtis W. Nielsen
发明人： David J. Bruemmer , Benjamin C. Hardin , Curtis W. Nielsen
IPC分类号： G05D1/00 , G01C21/00 , G05D1/02
CPC分类号： G05D1/0088 , G01C21/00 , G05B19/041 , G05D1/024 , G05D1/0261 , G05D1/0274 , G05D1/0278 , G05D1/0289 , G05D2201/0213 , G06N7/005
摘要： Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.
摘要翻译：使用分布式定位，协同行为确定和概率冲突解决对象可以在发生之前独立地识别和解决潜在的冲突。在本发明的一个实施例中，与多个对象中的每一个相关联的交互式标签和其他传感器资源在对象之间提供相对位置数据和状态信息。使用这些信息，每个对象都会发现其环境的空间意识，包括附近对象的位置和行为，以便在必要时修改其行为以更有效地实现目标并解决潜在的冲突。

10. 发明申请

US20130054024A1 Universal Payload Abstraction 有权
标题翻译：通用有效载荷抽象
公开(公告)号：US20130054024A1
公开(公告)日：2013-02-28
申请号：US13598114
申请日：2012-08-29
申请人： David J. Bruemmer , Curtis W. Nielsen , Benjamin C. Hardin , Jonathan M. Whetten
发明人： David J. Bruemmer , Curtis W. Nielsen , Benjamin C. Hardin , Jonathan M. Whetten
IPC分类号： G06F19/00
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.
摘要翻译：机器人有效载荷被抽象出来提供即插即用系统，其中特定任务能力可以在各种机器人平台上轻松配置。提出了一种机器人有效载荷架构，其中机器人功能分为内核功能，由核心模块管理，以及任务特定能力，由任务负载模块处理。通过这样做，核心模块管理特定的机器人平台的内在功能，而特定任务则留给任务有效载荷。可以通过将多个任务负载模块添加到由同一个核心模块管理的同一平台中来编译任务特定的机器人配置。在每种情况下，任务负载模块与核心模块进行通信，以获得与其关联的平台的信息。

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