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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 发明授权

US09053394B2 Vehicle management system 有权
标题翻译：车辆管理系统
公开(公告)号：US09053394B2
公开(公告)日：2015-06-09
申请号：US13597911
申请日：2012-08-29
申请人： David J. Bruemmer , R. Scott Hartley
发明人： David J. Bruemmer , R. Scott Hartley
IPC分类号： G06F17/00 , B25J9/08 , G06K9/62 , G06K9/00 , 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： A system and method to identify fuel consumption optimization based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, which all represent opportunities for fuel savings, are identified and optimized for minimal fuel consumption based on a reactive interaction with the vehicle on a real-time basis. Deliberative analysis of historical data linked to a specific location or route is also conducted to arrive at a historical optimal fuel consumption profile. Similar historical fuel consumption profiles for the same route in question from other nearby vehicles are collected and analyzed to determined a more robust deliberative component of optimal fuel consumption. The reactive and deliberative components are optimized fuel consumption are merged to form a recommended profile for optimal fuel consumption.
摘要翻译：描述了基于反应和审议组件来识别燃料消耗优化的系统和方法。基于与车辆的反应性交互实时地识别和优化用于节省燃料的机会的可更新的使用条件，例如超速，过度怠速，齿轮选择，加速和减速曲线，这些都代表燃料节省的机会。还对特定位置或路线的历史数据进行了审议分析，以得出历史最优燃料消耗曲线。收集和分析与其他附近车辆相同的相同路线的类似历史燃料消耗曲线，以确定更为有力的最佳燃油消耗的考虑因素。反应和审议的组件被优化燃料消耗被合并以形成推荐的轮廓以获得最佳燃料消耗。

8. 发明申请

US20130054125A1 Vehicle Management System 有权
标题翻译：车辆管理系统
公开(公告)号：US20130054125A1
公开(公告)日：2013-02-28
申请号：US13597911
申请日：2012-08-29
申请人： David J. Bruemmer , R. Scott Hartley
发明人： David J. Bruemmer , R. Scott Hartley
IPC分类号： G06F17/00
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： A system and method to identify fuel consumption optimization based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, which all represent opportunities for fuel savings, are identified and optimized for minimal fuel consumption based on a reactive interaction with the vehicle on a real-time basis. Deliberative analysis of historical data linked to a specific location or route is also conducted to arrive at a historical optimal fuel consumption profile. Similar historical fuel consumption profiles for the same route in question from other nearby vehicles are collected and analyzed to determined a more robust deliberative component of optimal fuel consumption. The reactive and deliberative components are optimized fuel consumption are merged to form a recommended profile for optimal fuel consumption.
摘要翻译：描述了基于反应和审议组件来识别燃料消耗优化的系统和方法。基于与车辆的反应性交互实时地识别和优化用于节省燃料的机会的可更新的使用条件，例如超速，过度怠速，齿轮选择，加速和减速曲线，这些都代表燃料节省的机会。还对特定位置或路线的历史数据进行了审议分析，以得出历史最优燃料消耗曲线。收集和分析与其他附近车辆相同的相同路线的类似历史燃料消耗曲线，以确定更为有力的最佳燃油消耗的考虑因素。反应和审议的组件被优化燃料消耗被合并以形成推荐的轮廓以获得最佳燃料消耗。

9. 发明授权

US07587260B2 Autonomous navigation system and method 有权
标题翻译：自主导航系统及方法
公开(公告)号：US07587260B2
公开(公告)日：2009-09-08
申请号：US11428637
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G05B19/18
CPC分类号： G06N3/008 , G05D1/0088 , G05D2201/0209
摘要： A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
摘要翻译：机器人平台包括感知器，运动器和系统控制器，其执行用于自动导航机器人的指令。指令在每次通过事件定时循环的迭代中重复，基于机器人的当前速度来定义事件范围的行为，检测机器人周围的障碍物的范围，通过确定是否存在障碍物的范围来测试事件水平入侵在事件范围内，并相应调整机器人的旋转和平移速度。如果发生事件地平线入侵，旋转速度被当前旋转速度的一部分减小到最近障碍物的一个比例范围，并且平移速度被改变为距离最近的障碍物的范围的比例。如果没有发生事件地平线入侵，平移速度被设置为速度因子相对于最大速度的比率。

10. 发明授权

US09195911B2 Modular robotic manipulation 有权
标题翻译：模块化机器人操纵
公开(公告)号：US09195911B2
公开(公告)日：2015-11-24
申请号：US13597991
申请日：2012-08-29
申请人： David J. Bruemmer
发明人： David J. Bruemmer
IPC分类号： G06F3/041 , 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： A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.
摘要翻译：用于与环境相互作用的系统包括初始操作模块，其可操作以使设备在物体表面的大致方向上定向，并且范围控制模块可操作以使设备和表面收敛。一旦设备和表面彼此靠近，接触传感器就会发现表面和设备之间的物理接触发生。此后，本体感应模块测量表面和装置运动致动器之间的法向力差异，最后，测量表面与设备的相对运动之间的平移阻力差异的外部感应模块。系统使用这些视差测量和执行器位置来修改设备的操作。

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