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1. 发明申请

US20100263948A1 ROBOTIC VEHICLE 有权
标题翻译：机动车
公开(公告)号：US20100263948A1
公开(公告)日：2010-10-21
申请号：US12444236
申请日：2007-10-02
申请人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
发明人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
IPC分类号： B25J5/00 , B62D55/075 , B62D57/024
CPC分类号： B62D55/075 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D57/024 , Y10S901/01
摘要： A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
摘要翻译：机器人车辆（10,100,150A，150B150C，160,1000,1000A）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（34,44,108,165）上的底架（20,106,152,162）。连杆（70,156,166）连接有效甲板组件（D1，D2，D3,80,158,168,806），其被配置为支撑可拆卸的功能有效载荷，联动装置具有在第一枢轴（71）处可旋转地连接到底架的第一端（70A）和在第二枢轴（73）处可旋转地连接到甲板的第二端（70B），第一端并且第二枢轴包括可独立控制的枢转驱动器（72,74），其可操作以可旋转地定位其对应的枢轴（71,73），以相对于有效载荷甲板（D1，D2，D3,80,158,168,806）的前后位置和俯仰方向（20,106,152,162）。

2. 发明授权

US08327960B2 Robotic vehicle 有权
标题翻译：机器人车
公开(公告)号：US08327960B2
公开(公告)日：2012-12-11
申请号：US12444236
申请日：2007-10-02
申请人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
发明人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
IPC分类号： B62D55/00
CPC分类号： B62D55/075 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D57/024 , Y10S901/01
摘要： A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
摘要翻译：机器人车辆（10,100,150A，150B150C，160,1000,1000A）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（34,44,108,165）上的底架（20,106,152,162）。连杆（70,156,166）连接有效甲板组件（D1，D2，D3,80,158,168,806），其被配置为支撑可拆卸的功能有效载荷，联动装置具有在第一枢轴（71）处可旋转地连接到底架的第一端（70A）和在第二枢轴（73）处可旋转地连接到甲板的第二端（70B），第一端并且第二枢轴包括可独立控制的枢转驱动器（72,74），其可操作以可旋转地定位其对应的枢轴（71,73），以相对于有效载荷甲板（D1，D2，D3,80,158,168,806）的前后位置和俯仰方向（20,106,152,162）。

3. 发明申请

US20090314554A1 ROBOTIC VEHICLE 有权
标题翻译：机动车
公开(公告)号：US20090314554A1
公开(公告)日：2009-12-24
申请号：US12134595
申请日：2008-06-06
申请人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
发明人： Adam P. Couture , Richard Page , John P. O'Brien , Mikhail Filippov , Andrew Shein
IPC分类号： B62D55/065
CPC分类号： B62D55/0655 , B25J5/005 , B62D25/2054 , B62D55/065 , B62D55/075
摘要： A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly.
摘要翻译：移动机器人包括限定至少一个底盘音量的底盘以及与底盘相关联的第一组和第二组左右驱动的脚蹼。每个挡板都有一个驱动轮，并定义了与驱动轮相邻的导板体积。第一套脚蹼设置在第二组脚蹼和底盘之间。动力元件分布在底盘体积和导板体积之间。动力元件包括电池组件，主驱动电机组件和负载移动电动机组件。

4. 发明申请

US20110190933A1 Robotic Vehicle 审中-公开
标题翻译：机器人车
公开(公告)号：US20110190933A1
公开(公告)日：2011-08-04
申请号：US12696795
申请日：2010-01-29
申请人： Andrew Shein , Lee F. Sword
发明人： Andrew Shein , Lee F. Sword
IPC分类号： G05B15/00
CPC分类号： B62D55/075 , B25J5/00
摘要： A mobile robot that includes a chassis, a drive system disposed on the chassis and configured to maneuver the robot over a work surface, a deck system, and a control system connected to the drive system and the deck system. The deck system includes a payload deck configured to receive a removable payload and a deck shifter configured to move the payload deck relative to the chassis. The control system includes a control arbitration system and a behavior system in communication with each other. The behavior system executes a behavior that evaluates and provides an outcome evaluation on a predicted outcome of a robot command. The control arbitration system selects and executes a robot command based at least in part on the outcome evaluation.
摘要翻译：一种移动机器人，其包括底盘，驱动系统，其布置在所述底盘上并且被配置为在所述工作表面上操纵所述机器人，甲板系统以及连接到所述驱动系统和所述甲板系统的控制系统。甲板系统包括配置成接收可拆卸有效载荷的有效载荷甲板和被配置为相对于底盘移动有效载荷甲板的甲板移位器。控制系统包括控制仲裁系统和彼此通信的行为系统。行为系统执行对机器人命令的预测结果进行评估并提供结果评估的行为。控制仲裁系统至少部分地基于结果评估来选择并执行机器人命令。

5. 发明申请

US20110106339A1 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：US20110106339A1
公开(公告)日：2011-05-05
申请号：US12917174
申请日：2010-11-01
申请人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
发明人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
IPC分类号： G06F7/00 , G01C21/00
CPC分类号： G05D1/0033 , G01C21/00 , G01C21/20 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
摘要翻译：一种使用诊断行为提高远程车辆的操作效率的方法。该方法包括输入和分析从多个传感器接收到的数据，以确定与远程车辆的正常操作的偏差的存在，基于与正常操作的偏差来更新参考移动性模型中的参数，以及修改策略以实现操作目标远程车辆以适应偏离正常操作。一种用于远程车辆的嵌入式仿真和训练系统。该系统包括安装在操作员控制单元上的软件架构，并且包括能够进行任务模拟和训练的软件程序和驱动程序。

6. 发明授权

US08736676B2 Imaging based stabilization 有权
标题翻译：基于成像的稳定
公开(公告)号：US08736676B2
公开(公告)日：2014-05-27
申请号：US13079106
申请日：2011-04-04
申请人： Samuel A. Johnson , Helen Greiner , Andrew Shein
发明人： Samuel A. Johnson , Helen Greiner , Andrew Shein
IPC分类号： H04N7/00 , G06K9/00 , G01C3/08 , G01S17/89 , G01C21/20 , B64C1/00
CPC分类号： G01S17/89 , B64C1/00 , G01C21/20 , G06T7/75 , G06T2207/30244 , G06T2207/30252
摘要： An image-based sensor system for a mobile unit makes use of light emitters and imagers to acquire illumination patterns of emitted light impinging on the floor and/or walls surrounding the unit. The illumination pattern is used to estimate location and/or orientation of the unit. These estimates are used for one or more functions of stabilization, calibration, localization, and mapping of or with respect to the unit.
摘要翻译：用于移动单元的基于图像的传感器系统利用光发射器和成像器来获取照射在该单元周围的地板和/或壁上的发射光的照明图案。照明模式用于估计单元的位置和/或取向。这些估计用于一个或多个稳定，校准，定位，映射或相对于单元的功能。

7. 发明授权

US08326469B2 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：US08326469B2
公开(公告)日：2012-12-04
申请号：US11826486
申请日：2007-07-16
申请人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
发明人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
IPC分类号： G05D1/00
CPC分类号： G05D1/0088 , G05D2201/0209
摘要： A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
摘要翻译：一种使用诊断行为提高远程车辆的操作效率的方法。该方法包括输入和分析从多个传感器接收到的数据，以确定与远程车辆的正常操作的偏差的存在，基于与正常操作的偏差来更新参考移动性模型中的参数，以及修改策略以实现操作目标远程车辆以适应偏离正常操作。一种用于远程车辆的嵌入式仿真和训练系统。该系统包括安装在操作员控制单元上的软件架构，并且包括能够进行任务模拟和训练的软件程序和驱动程序。

8. 发明申请

US20090037024A1 Robot Operator Control Unit Configuration System and Method 审中-公开
标题翻译：机器人操作员控制单元配置系统和方法
公开(公告)号：US20090037024A1
公开(公告)日：2009-02-05
申请号：US12058113
申请日：2008-03-28
申请人： Josef Jamieson , Andrew Shein
发明人： Josef Jamieson , Andrew Shein
IPC分类号： G05B19/05
CPC分类号： G05B19/05 , G05B19/00 , G05B19/0426 , G05B2219/23312 , G05B2219/25067 , G05B2219/31422 , G05B2219/36136
摘要： A unified framework is provided for building common functionality into diverse operator control units. A set of tools is provided for creating controller configurations for varied robot types. Preferred controllers do one or more the following: allow uploading of configuration files from a target robot, adhere to common user interface styles and standards, share common functionality, allow extendibility for unique functionality, provide flexibility for rapid prototype design, and allow dynamic communication protocol switching. Configuration files may be uploaded from robots to configure their operator control units. The files may include scene graph control definitions; instrument graphics; control protocols; or mappings of control functions to scene graphics or control inputs.
摘要翻译：提供了一个统一的框架，用于在各种操作员控制单元中构建通用功能。提供了一组工具来创建用于各种机器人类型的控制器配置。首选控制器执行以下一个或多个操作：允许从目标机器人上传配置文件，遵守常见的用户界面样式和标准，共享通用功能，允许独特功能的扩展性，为快速原型设计提供灵活性，并允许动态通信协议交换。可以从机器人上传配置文件以配置其操作员控制单元。文件可能包括场景图控件定义; 仪器图形; 控制协议; 或将控制功能映射到场景图形或控制输入。

9. 发明授权

US08396611B2 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：US08396611B2
公开(公告)日：2013-03-12
申请号：US13331833
申请日：2011-12-20
申请人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
发明人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
IPC分类号： G05D1/00
CPC分类号： G05D1/0033 , G01C21/00 , G01C21/20 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
摘要翻译：一种使用诊断行为提高远程车辆的操作效率的方法。该方法包括输入和分析从多个传感器接收到的数据，以确定与远程车辆的正常操作的偏差的存在，基于与正常操作的偏差来更新参考移动性模型中的参数，以及修改策略以实现操作目标远程车辆以适应偏离正常操作。一种用于远程车辆的嵌入式仿真和训练系统。该系统包括安装在操作员控制单元上的软件架构，并且包括能够进行任务模拟和训练的软件程序和驱动程序。

10. 发明授权

US08108092B2 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：US08108092B2
公开(公告)日：2012-01-31
申请号：US12917174
申请日：2010-11-01
申请人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
发明人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
IPC分类号： G01C22/00
CPC分类号： G05D1/0033 , G01C21/00 , G01C21/20 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
摘要翻译：当没有接收到控制信号时，系统实现了倒退行为。所述系统包括：远程车辆上的控制系统，其包括存储器和处理器，所述处理器被配置成运行所述倒退行为，所述后退行为包括或与维护存储在记忆和分离至少最小的时间和距离差异。航点程序和后退行为之一产生一个返回路径，以相反的时间戳顺序互连先前穿过的航点。远程车辆连续导航到列表中的下一个先前的时间戳路线点，直到从操作员控制单元接收到控制信号。

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