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21. 发明授权

US08760397B2 Control system for a remote vehicle 有权
标题翻译：远程车辆控制系统
公开(公告)号：US08760397B2
公开(公告)日：2014-06-24
申请号：US13705417
申请日：2012-12-05
申请人： iRobot Corporation
发明人： Michael Anthony Robbins , Samuel H. Kenyon , Roger Gerson , Travis Woodbury , Melissa N. Ledoux
IPC分类号： G09G5/00 , G06F3/02
CPC分类号： G05G1/01 , G05D1/0016 , G05D1/0038 , G05D1/0044 , G05D2201/0209 , G05G1/02 , G05G1/04 , G08B5/36 , G08C19/16
摘要： A hand-held controller for operating a remote vehicle includes a controller body having right and left grips, a first set of input devices are disposed in a left control zone adjacent the left grip, and a second set of input devices are disposed in a right control zone adjacent the right grip. The first set of input devices includes a first analog joystick, a 4-way directional control, and a left rocker control. The second set of input devices includes a second analog joystick, an array of at least four buttons, and a right rocker control. The hand-held controller also includes a mode changer disposed on the controller body and configured to receive an input to change between two or more function modes. Each function mode assigns different functions to one or more of the input devices.
摘要翻译：用于操作远程车辆的手持控制器包括具有左右把手的控制器主体，第一组输入装置设置在与左手柄相邻的左控制区域中，第二组输入装置设置在右侧控制区邻近右手柄。第一组输入设备包括第一模拟操纵杆，四向方向控制和左摇杆控制。第二组输入设备包括第二模拟操纵杆，至少四个按钮的阵列和右摇杆控制。手持式控制器还包括设置在控制器主体上并被配置为接收在两个或多个功能模式之间变化的输入的模式转换器。每个功能模式为一个或多个输入设备分配不同的功能。

22. 发明授权

US08738198B2 Robot surveillance system and method 有权
标题翻译：机器人监控系统及方法
公开(公告)号：US08738198B2
公开(公告)日：2014-05-27
申请号：US13134009
申请日：2011-05-26
申请人： Hagen Schempf
发明人： Hagen Schempf
IPC分类号： G06F17/00 , B64C39/02
CPC分类号： B64C39/022 , B25J11/002 , B64C27/20 , B64C39/024 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/127 , B64C2201/148 , F41H7/005 , G05D1/0038 , G05D1/0866 , G05D2201/0209
摘要： A robot surveillance system includes a robot chassis, a drive subsystem for the chassis, a dock on the chassis, and a payout device associated with the chassis. A flying module is configured to be received in the dock and includes at least one rotor powered by a motor and a body portion including an imager. A tether is coupled to the payout device of the robot and to the flying module for allowing the flying module to climb out of the dock when powered to gain elevation for surveillance and imaging via the imager and for retracting the flying module to land on the robot and reside in the chassis dock after surveillance.
摘要翻译：机器人监视系统包括机器人底盘，用于机箱的驱动子系统，底盘上的坞站以及与底盘相关联的支付设备。飞行模块被配置为被接纳在码头中并且包括由马达供电的至少一个转子和包括成像器的主体部分。系绳连接到机器人的支付装置和飞行模块，用于允许飞行模块在通电时获得升高以便通过成像器进行监视和成像并使飞行模块缩回到机器人上并在监视后驻留在底盘底座。

23. 发明授权

US08736820B2 Apparatus and method for distinguishing ground and obstacles for autonomous mobile vehicle 有权
标题翻译：用于区分自主移动车辆的地面和障碍物的装置和方法
公开(公告)号：US08736820B2
公开(公告)日：2014-05-27
申请号：US13254099
申请日：2010-03-03
申请人： Tok Son Choe , Jeong Sook Chae , Yong Woon Park , Jun Kim
发明人： Tok Son Choe , Jeong Sook Chae , Yong Woon Park , Jun Kim
IPC分类号： G01C3/08
CPC分类号： G05D1/024 , G01S17/87 , G01S17/875 , G01S17/936 , G05D2201/0209
摘要： Disclosed is apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle, comprising an upper 2D laser radar 1, a lower 2D laser radar 2, and a processing unit 10, the processing unit 10 comprising a distance data receiving part 11, an inclination calculating part 12, a ground and obstacle determining part 13, and a transmitting part. Also disclosed is a method for distinguishing between ground and an obstacle for autonomous mobile vehicle by using the apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle of claim 1, in which the detected object is determined as an obstacle when the actual inclination (g) of the detected object is larger than the reference inclination, and as ground when the actual inclination (g) of the detected object is smaller than the reference inclination.
摘要翻译：公开了用于区分自主移动车辆的地面和障碍物的装置，包括上2D激光雷达1，下2D激光雷达2和处理单元10，处理单元10包括距离数据接收部分11，倾斜度计算部分12，地面和障碍物确定部分13以及发射部分。还公开了一种通过使用权利要求1所述的用于区分自动移动车辆的地面和障碍物的装置来区分自主移动车辆的地面和障碍物的方法，其中，当实际倾斜度检测对象的实际倾斜度（g）小于参考倾斜度，并且当检测到的物体的实际倾斜度（g）小于参考倾斜度时，作为接地。

24. 发明授权

US08577538B2 Method and system for controlling a remote vehicle 有权
标题翻译：用于控制远程车辆的方法和系统
公开(公告)号：US08577538B2
公开(公告)日：2013-11-05
申请号：US11826541
申请日：2007-07-16
申请人： Scott Raymond Lenser , Christopher Vernon Jones , Brian Masao Yamauchi
发明人： Scott Raymond Lenser , Christopher Vernon Jones , Brian Masao Yamauchi
IPC分类号： G05D1/00
CPC分类号： G05D1/0038 , G05D1/0027 , G05D1/0088 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D1/0297 , G05D2201/0209 , G06F3/0412 , H04L67/125
摘要： A system for controlling more than one remote vehicle. The system comprises an operator control unit allowing an operator to receive information from the remote vehicles and send commands to the remote vehicles via a touch-screen interface, the remote vehicles being capable of performing autonomous behaviors using information received from at least one sensor on each remote vehicle. The operator control unit sends commands to the remote vehicles to perform autonomous behaviors in a cooperative effort, such that high-level mission commands entered by the operator cause the remote vehicles to perform more than one autonomous behavior sequentially or concurrently. The system may perform a method for generating obstacle detection information from image data received from one of a time-of-flight sensor and a stereo vision camera sensor.
摘要翻译：用于控制多个远程车辆的系统。该系统包括操作员控制单元，其允许操作者从远程车辆接收信息并且经由触摸屏界面向远程车辆发送命令，远程车辆能够使用从每个上至少一个传感器接收的信息来执行自主行为远程车辆。操作员控制单元向远程车辆发送命令以在协作努力中执行自主行为，使得由操作者输入的高级任务命令使得远程车辆顺序地或同时地执行多于一个的自主行为。该系统可以执行从从飞行时间传感器和立体视觉摄像机传感器之一接收的图像数据产生障碍物检测信息的方法。

25. 发明申请

US20130232717A1 ROBOT CLEANER AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：机器清洁器及其控制方法
公开(公告)号：US20130232717A1
公开(公告)日：2013-09-12
申请号：US13785782
申请日：2013-03-05
申请人： LG ELECTRONICS INC.
发明人： Heungkyu Lee , Hyejeong Jeon , Byounggi Lee
IPC分类号： A47L9/00 , B25J9/00 , B25J9/16 , G05D1/02
CPC分类号： A47L9/009 , B25J9/0003 , B25J9/1697 , G05D1/0255 , G05D2201/0203 , G05D2201/0209 , G08B13/19613 , G08B13/19695 , G10L25/27 , G10L25/51 , Y10S901/01
摘要： Disclosed are a robot cleaner, and a method for controlling the same.Firstly, a sound source direction and a sound source position may be detected by one or more microphones, e,g., three microphones, and a specific event sound may be recognized. Then, the recognized specific event sound may be output to a cleaner body in the form of a message, or may be provided via a communication network. This can allow the circumstances to be easily monitored.Secondly, a sound recognition function may be updated using an ambient sound, for sound recognition from background noise and environmental noise, in a robust and precise manner. This can enhance a sound recognition rate, and improve stability and efficiency.Thirdly, the robot cleaner may be moved to a detected direction or position of a sound source with respect to an event sound. Then, image information may be detected, or whether an abnormal situation has occurred or not may be determined. Such information may be provided via a communication network.
摘要翻译：公开了一种机器人清洁器及其控制方法。首先，可以通过一个或多个麦克风，例如三个麦克风来检测声源方向和声源位置，并且可以识别特定的事件声音。然后，识别的特定事件声音可以以消息的形式输出到清洁器主体，或者可以经由通信网络提供。这样可以方便地监控情况。其次，可以以鲁棒且精确的方式使用环境声音来更新声音识别功能，以用于从背景噪声和环境噪声的声音识别。这可以提高声音识别率，提高稳定性和效率。第三，可以将机器人清洁器相对于事件声音移动到检测到的声源的方向或位置。然后，可以确定图像信息，或者是否发生异常情况。这样的信息可以经由通信网络来提供。

26. 发明授权

US08447440B2 Autonomous behaviors for a remote vehicle 有权
标题翻译：远程车辆的自主行为
公开(公告)号：US08447440B2
公开(公告)日：2013-05-21
申请号：US13412177
申请日：2012-03-05
申请人： Emilie Phillips , Pavlo E. Rudakevych , Orjeta Taka , James Gordon Wolfe, Jr. , Tom Frost
发明人： Emilie Phillips , Pavlo E. Rudakevych , Orjeta Taka , James Gordon Wolfe, Jr. , Tom Frost
IPC分类号： G05D1/00
CPC分类号： G05D1/0088 , G05D1/0251 , G05D1/027 , G05D1/0278 , G05D2201/0209 , G06F9/451 , G07C5/008
摘要： A method comprising running a persistent self-righting behavior comprising sensing an orientation of the remote vehicle and performing a progression of flipper movements until the remote vehicle is righted, and performing a retrotraverse behavior comprising: generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.
摘要翻译：一种方法，包括运行持久的自我纠正行为，包括感测所述远程车辆的方位并执行直升机行驶直到所述远程车辆被行驶的行进，并且执行后退行为，包括：生成至少被分隔的时间戳路径列表时间和距离的最小差异; 将时间戳的航路点列表存储在内存中; 以及当与所述操作员控制单元失去通信时或在从所述操作员控制单元接收到命令时，使用控制系统生成当前返回路径，该当前返回路径以相反的时间戳顺序互连先前遍历的路点。

27. 发明授权

US08396620B2 Patrol device and patrol path planning method for the same 有权
标题翻译：巡逻装置和巡逻路径规划方法相同
公开(公告)号：US08396620B2
公开(公告)日：2013-03-12
申请号：US12507747
申请日：2009-07-22
申请人： Wei-Han Hung , Shih-Chung Kang , Peter Liu
发明人： Wei-Han Hung , Shih-Chung Kang , Peter Liu
IPC分类号： G01C22/00 , G05D1/00
CPC分类号： G05D1/0214 , G05D1/0274 , G05D2201/0209
摘要： The present invention relates to a patrol device and a patrol path planning method. The patrol device includes an operating unit configured to establish a plurality of patrol paths, each of which has an Average Patrol Omission (APO) value and an Average Patrol Quality (APQ) value, and to determine an optimum patrol path from the plurality of patrol paths according to the APO value and the APQ value; and a moving unit configured to move along the optimum patrol path. The method includes providing a plurality of patrol paths, each of which has an Average Patrol Omission (APO) value and an Average Patrol Quality (APQ) value; and evaluating the plurality of patrol paths according to the respective APO values and the respective APQ values so as to select an optimum patrol path therefrom.
摘要翻译：本发明涉及一种巡逻装置和巡检路径规划方法。巡检装置包括：操作单元，其被配置为建立多个巡视路径，每个巡视路径具有平均巡逻省略值（APO）值和平均巡逻质量（APQ）值，并且从多个巡逻程序确定最佳巡逻路径根据APO值和APQ值的路径; 以及被配置为沿着最佳巡视路径移动的移动单元。该方法包括提供多个巡视路径，每个巡视路径具有平均巡逻省略（APO）值和平均巡逻质量（APQ）值; 以及根据各个APO值和各个APQ值来评估多个巡视路径，以便从中选择最佳巡视路径。

28. 发明申请

US20130054029A1 AUTO-REACH METHOD FOR A REMOTE VEHICLE 有权
标题翻译：用于远程车辆的自动对准方法
公开(公告)号：US20130054029A1
公开(公告)日：2013-02-28
申请号：US13448043
申请日：2012-04-16
申请人： Wesley Hanan Huang , Emilie A. Phillips
发明人： Wesley Hanan Huang , Emilie A. Phillips
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J5/005 , B25J9/162 , B25J9/1697 , B25J11/002 , B25J19/023 , G05B2219/39391 , G05B2219/40003 , G05B2219/40062 , G05D1/0038 , G05D2201/0207 , G05D2201/0209 , Y10S901/09 , Y10S901/47
摘要： The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
摘要翻译：本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及沿着确定的射线移动末端执行器以接近对象。

29. 发明授权

US08244469B2 Collaborative engagement for target identification and tracking 有权
标题翻译：合作参与目标识别和跟踪
公开(公告)号：US08244469B2
公开(公告)日：2012-08-14
申请号：US12405207
申请日：2009-03-16
申请人： Carol Carlin Cheung , Brian Masao Yamauchi , Christopher Vernon Jones , Mark Bourne Moseley , Sanjiv Singh , Christopher Michael Geyer , Benjamin Peter Grocholsky , Earl Clyde Cox
发明人： Carol Carlin Cheung , Brian Masao Yamauchi , Christopher Vernon Jones , Mark Bourne Moseley , Sanjiv Singh , Christopher Michael Geyer , Benjamin Peter Grocholsky , Earl Clyde Cox
IPC分类号： G05D1/12 , B25J9/16
CPC分类号： G05D1/0038 , G01S7/003 , G05D1/0088 , G05D1/0094 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D1/104 , G05D2201/0209
摘要： A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.
摘要翻译：协作参与系统包括：至少两个无人驾驶车辆，包括无人驾驶飞行器，其包括配置成定位目标的传感器和包括被配置为定位和跟踪目标的传感器的无人地面车辆; 以及控制器，便于对无人驾驶车辆之间和之间的数据的控制和通信和交换，控制器便于通过通用协议进行数据交换。协作参与系统控制无人驾驶车辆以保持预定目标和至少一个无人驾驶车辆之间的视线。

30. 发明申请

US20120185115A1 LASERBOT: PROGRAMMABLE ROBOTIC APPARATUS WITH LASER 审中-公开
标题翻译：激光：可编程机器人与激光
公开(公告)号：US20120185115A1
公开(公告)日：2012-07-19
申请号：US11868161
申请日：2007-10-05
申请人： Jason Dean
发明人： Jason Dean
IPC分类号： G05D1/00
CPC分类号： G05D1/0022 , F41H7/005 , F41H11/16 , F41H13/0062 , G05D1/0038 , G05D2201/0209
摘要： A remotely-controlled robotic apparatus for deactivating explosive ordinance, such as IEDs. The remotely-controlled robotic apparatus is provided with a robotic portion that provides mobility, and a laser portion configured to be aimed at an object of interest (for example an object believed to comprise an IED) and to deactivate the object by destroying, damaging or disconnecting at least one of a control apparatus and a power supply from the object of interest. The remotely-controlled robotic apparatus provides the capability to dispose of IEDs without having an explosion. The remote-controlled robotic apparatus can include a camera and an illumination source for examining objects of interest. A remote control console is provided for the use of an operator in controlling the robotic apparatus.
摘要翻译：遥控机器人设备，用于停用爆炸条例，如IED。远程控制的机器人设备设置有提供移动性的机器人部分，以及被配置为瞄准感兴趣对象（例如被认为包括IED的对象）的激光部分，并且通过破坏，损坏或从感兴趣对象中断开控制装置和电源中的至少一个。远程控制的机器人设备提供处理IED而不发生爆炸的能力。遥控机器人装置可以包括照相机和用于检查感兴趣对象的照明源。提供遥控控制台用于操作者在控制机器人装置中的使用。

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