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1. 发明授权

US09400503B2 Mobile human interface robot 有权
标题翻译：移动人机接口机器人
公开(公告)号：US09400503B2
公开(公告)日：2016-07-26
申请号：US13032228
申请日：2011-02-22
申请人： Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Michael T. Rosenstein , Michael Halloran , Timothy S. Farlow , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Jasper Fourways Vicenti
发明人： Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Michael T. Rosenstein , Michael Halloran , Timothy S. Farlow , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Jasper Fourways Vicenti
IPC分类号： G05D1/00 , G05D1/02 , B25J11/00 , G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G05D1/0246 , B25J5/007 , B25J9/1694 , B25J11/009 , B25J13/08 , B25J19/023 , G02B13/22 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , G06K9/00664 , G06T7/248 , G06T7/521 , H04N13/243 , H04N13/271 , H04N2013/0081 , Y10S901/01 , Y10S901/09 , Y10S901/47
摘要： A method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.
摘要翻译：一种用于移动机器人的物体检测方法包括：在操纵机器人的工作表面上操纵机器人时，将光散射到机器人的场景上，从场景中的目标物体的表面接收发射的斑点图案的反射，确定一个目标对象的每个反射表面的距离，构建目标对象的三维深度图，并对目标对象进行分类。

2. 发明申请

US20120072052A1 Navigation Portals for a Remote Vehicle Control User Interface 有权
标题翻译：用于远程车辆控制用户界面的导航门户
公开(公告)号：US20120072052A1
公开(公告)日：2012-03-22
申请号：US13105883
申请日：2011-05-11
申请人： Aaron Powers , Justin Kearns , Robert Todd Pack , Orjeta Taka , Eben Rauhut , Marshall Vale
发明人： Aaron Powers , Justin Kearns , Robert Todd Pack , Orjeta Taka , Eben Rauhut , Marshall Vale
IPC分类号： G05D1/00 , G06F3/00
CPC分类号： G06F3/04815 , G05D1/0044 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207
摘要： An operator control unit has a user interface that allows a user to identify a mode of display and interaction that narrows the user's options for his next interaction with the user interface. The user interface utilizes portals to transition between environments such as indoors to outdoors, outdoors to indoors, different rooms of a building, and different floors of a building, the portals representing one or more of stairways and doors, and being used in remote vehicle path planning as waypoints that may require execution of predetermined behaviors.
摘要翻译：操作员控制单元具有允许用户识别显示和交互的模式的用户界面，该模式缩小用户下一次与用户界面交互的选项。用户界面利用门户在诸如室内到户外，室外到室内，建筑物的不同房间以及建筑物的不同楼层之间的过渡，代表一个或多个楼梯和门的门户，并被用于远程车辆路径计划可能需要执行预定行为的路标。

3. 发明申请

US20130226344A1 Mobile Robot 有权
公开(公告)号：US20130226344A1
公开(公告)日：2013-08-29
申请号：US13555529
申请日：2012-07-23
申请人： Cheuk Wah Wong , Eben Rauhut , Brian C. Benson , Peter J. Lydon , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Timothy S. Farlow , Jasper Fourways Vicenti
发明人： Cheuk Wah Wong , Eben Rauhut , Brian C. Benson , Peter J. Lydon , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Timothy S. Farlow , Jasper Fourways Vicenti
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1694 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D2201/0206 , G05D2201/0211 , Y10S901/01 , Y10S901/09 , Y10S901/46 , Y10S901/47
摘要： A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

4. 发明申请

US20120010772A1 Advanced Behavior Engine 有权
标题翻译：高级行为引擎
公开(公告)号：US20120010772A1
公开(公告)日：2012-01-12
申请号：US13105872
申请日：2011-05-11
申请人： Robert Todd Pack , Orjeta Taka
发明人： Robert Todd Pack , Orjeta Taka
IPC分类号： G05D1/00
CPC分类号： B25J9/1664 , G05B2219/40519 , G05D1/0088 , G05D1/0238 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0209 , G05D2201/0213 , G06N3/008
摘要： A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.
摘要翻译：通过采取从行为输入和动作模型编制的目标和约束来生成用于远程车辆控制器的命令的方法，以及通过产生实现由行为表达的目标的低级致动器命令来控制资源的方法。该方法包括：执行基于动力学固定深度运动规划（KFDMP）算法的命令来规划具有较长时间间隔的路径，并使用来自评估者的增量反馈来选择最佳可行的行动过程; 并将所选择的最佳可行行动作为伺服命令馈送到远程车辆控制器的驱动系统或操纵系统。所选择的最佳可行行动包括在每次选择行动时从当前时间几秒钟的固定时间范围内的目标实现动作。

5. 发明授权

US08843244B2 Autonomous behaviors for a remove vehicle 有权
标题翻译：远程车辆的自主行为
公开(公告)号：US08843244B2
公开(公告)日：2014-09-23
申请号：US11748363
申请日：2007-05-14
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： G05D1/10 , G05D1/00 , G06F17/00
CPC分类号： G05D1/0038 , G05D1/0088 , G05D1/0094 , G05D2201/0209
摘要： A system and method for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, or for implementing remote vehicle autonomous behaviors. The system comprises an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior, and a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.
摘要翻译：一种用于允许操作者在远程车辆远程操作与一个或多个远程车辆自主行为之间切换或用于实现远程车辆自主行为的系统和方法。该系统包括操作员控制系统，其接收来自操作者的输入，包括用于远程车辆执行自主行为的指令，以及远程车辆上的控制系统，用于从操作员控制系统接收执行自主行为的指令。在接收到执行自主行为的指令时，远程车辆执行该自主行为。

6. 发明申请

US20120166024A1 AUTONOMOUS BEHAVIORS FOR A REMOTE VEHICLE 有权
标题翻译：远程车辆的自动行为
公开(公告)号：US20120166024A1
公开(公告)日：2012-06-28
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： G06F17/00
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。

7. 发明申请

US20090037033A1 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：US20090037033A1
公开(公告)日：2009-02-05
申请号：US12102838
申请日：2008-04-14
申请人： Emilie Phillips , Pavlo E. Rudakevych , Orjeta Taka , James Gordon Wolf, JR. , Tom Frost
发明人： Emilie Phillips , Pavlo E. Rudakevych , Orjeta Taka , James Gordon Wolf, 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 system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors. The system comprises: an operator control unit receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior; a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control unit; and a GPS receiver, an inertial measurement unit, and a navigation CPU on the remote vehicle. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior using input from the GPS receiver, the inertial measurement unit (IMU), and the navigation CPU.
摘要翻译：一种用于允许操作者在远程车辆远程操作与一个或多个远程车辆自主行为之间切换的系统。该系统包括：操作员控制单元，接收来自操作者的输入，包括用于远程车辆执行自主行为的指令; 远程车辆上的控制系统，用于从操作者控制单元接收执行自主行为的指令; 和远程车辆上的GPS接收器，惯性测量单元和导航CPU。在接收到执行自主行为的指令时，远程车辆使用来自GPS接收机，惯性测量单元（IMU）和导航CPU的输入来执行该自主行为。

8. 发明授权

US08930019B2 Mobile human interface robot 有权
标题翻译：移动人机接口机器人
公开(公告)号：US08930019B2
公开(公告)日：2015-01-06
申请号：US13241765
申请日：2011-09-23
申请人： Thomas P. Allen , Justin H. Kearns , Orjeta Taka , Timothy S. Farlow , Robert Todd Pack , Chikyung Won , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Mark Chiappetta
发明人： Thomas P. Allen , Justin H. Kearns , Orjeta Taka , Timothy S. Farlow , Robert Todd Pack , Chikyung Won , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Mark Chiappetta
IPC分类号： B25J9/16 , G05D1/02 , B25J5/00 , B25J9/00 , B25J11/00 , B25J13/00 , B25J13/06 , B25J19/02 , G06F1/16
CPC分类号： G05D1/0248 , B25J5/007 , B25J9/0003 , B25J11/008 , B25J13/006 , B25J13/06 , B25J19/023 , G05D1/024 , G05D1/0253 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , G06F1/1632
摘要： A mobile human interface robot that includes a drive system, a controller in communication with the dive system, and an electronic display supported above the drive system and in communication with the controller. The controller includes a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.
摘要翻译：一种移动人机接口机器人，其包括驱动系统，与潜水系统通信的控制器，以及支撑在驱动系统上方并与控制器通信的电子显示器。控制器包括中央处理单元，通用图形处理单元和与中央处理单元和通用图形处理单元进行电通信的存储器。此外，控制器具有显示操作状态和驾驶操作状态。控制器在通用图形处理单元上执行图形计算，以在显示操作状态期间在电子显示器上显示图形; 并且控制器在通用图形处理单元上执行移动性计算，用于在驱动操作状态期间向驱动系统发出命令。

9. 发明授权

US08571745B2 Advanced behavior engine 有权
标题翻译：高级行为引擎
公开(公告)号：US08571745B2
公开(公告)日：2013-10-29
申请号：US13105872
申请日：2011-05-11
申请人： Robert Todd Pack , Orjeta Taka
发明人： Robert Todd Pack , Orjeta Taka
IPC分类号： G01C22/00 , G05D1/00
CPC分类号： B25J9/1664 , G05B2219/40519 , G05D1/0088 , G05D1/0238 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0209 , G05D2201/0213 , G06N3/008
摘要： A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.
摘要翻译：通过采取从行为输入和动作模型编制的目标和约束来生成远程车辆控制器的命令的方法，以及通过产生实现由行为表达的目标的低级致动器命令来控制资源的方法。该方法包括：执行基于动力学固定深度运动规划（KFDMP）算法的命令来规划具有较长时间间隔的路径，并使用来自评估者的增量反馈来选择最佳可行的行动过程; 并将所选择的最佳可行行动作为伺服命令馈送到远程车辆控制器的驱动系统或操纵系统。所选择的最佳可行行动包括在每次选择行动时从当前时间几秒钟的固定时间范围内的目标实现动作。

10. 发明授权

US08255092B2 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：US08255092B2
公开(公告)日：2012-08-28
申请号：US12102838
申请日：2008-04-14
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： G05D1/10
CPC分类号： G05D1/0088 , G05D1/0251 , G05D1/027 , G05D1/0278 , G05D2201/0209 , G06F9/451 , G07C5/008
摘要： A system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors. The system comprises: an operator control unit receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior; a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control unit; and a GPS receiver, an inertial measurement unit, and a navigation CPU on the remote vehicle. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior using input from the GPS receiver, the inertial measurement unit (IMU), and the navigation CPU.
摘要翻译：一种用于允许操作者在远程车辆远程操作与一个或多个远程车辆自主行为之间切换的系统。该系统包括：操作员控制单元，接收来自操作者的输入，包括用于远程车辆执行自主行为的指令; 远程车辆上的控制系统，用于从操作者控制单元接收执行自主行为的指令; 和远程车辆上的GPS接收器，惯性测量单元和导航CPU。在接收到执行自主行为的指令时，远程车辆使用来自GPS接收机，惯性测量单元（IMU）和导航CPU的输入来执行该自主行为。

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