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1. 发明授权

US09440717B2 Hull robot 有权
标题翻译：船体机器人
公开(公告)号：US09440717B2
公开(公告)日：2016-09-13
申请号：US12313643
申请日：2008-11-21
申请人： James H. Rooney, III , Jonathan T. Longley , Joel N. Harris , Fraser Smith , Stephen C. Jacobsen
发明人： James H. Rooney, III , Jonathan T. Longley , Joel N. Harris , Fraser Smith , Stephen C. Jacobsen
IPC分类号： B63B59/10 , G05D1/02
CPC分类号： B63B59/10 , G05D1/0227 , G05D1/0274 , G05D1/0276 , Y02T70/32
摘要： A hull cleaning robot includes at least one cleaning apparatus for cleaning the hull of a vessel, at least one drive track holding the robot on the hull as the robot maneuvers about the hull, and at least one turbine actuatable by water flowing past the hull for operating the at least one drive track and, optionally, the cleaning apparatus.
摘要翻译：一种船体清洁机器人包括至少一个用于清洁船体的清洁装置的清洁装置，当机器人围绕船体操纵时，将机器人保持在船体上的至少一个驱动轨道以及至少一个可通过水流过船体的涡轮机，操作所述至少一个驱动轨道和可选地所述清洁装置。

2. 发明申请

US20100126403A1 Hull Robot 有权
标题翻译：船体机器人
公开(公告)号：US20100126403A1
公开(公告)日：2010-05-27
申请号：US12313643
申请日：2008-11-21
申请人： James H. Rooney, III , Jonathan T. Longley , Joel N. Harris , Fraser Smith , Stephen C. Jacobsen
发明人： James H. Rooney, III , Jonathan T. Longley , Joel N. Harris , Fraser Smith , Stephen C. Jacobsen
IPC分类号： B63B59/06
CPC分类号： B63B59/10 , G05D1/0227 , G05D1/0274 , G05D1/0276 , Y02T70/32
摘要： A hull cleaning robot includes at least one cleaning apparatus for cleaning the hull of a vessel, at least one drive track holding the robot on the hull as the robot maneuvers about the hull, and at least one turbine actuatable by water flowing past the hull for operating the at least one drive track and, optionally, the cleaning apparatus.
摘要翻译：一种船体清洁机器人包括至少一个用于清洁船体的清洁装置的清洁装置，当机器人围绕船体操纵时，将机器人保持在船体上的至少一个驱动轨道以及至少一个可通过水流过船体的涡轮机，操作所述至少一个驱动轨道和可选地所述清洁装置。

3. 发明授权

US08386112B2 Vessel hull robot navigation subsystem 有权
标题翻译：船体机器人导航子系统
公开(公告)号：US08386112B2
公开(公告)日：2013-02-26
申请号：US12800486
申请日：2010-05-17
申请人： James H. Rooney, III , Stephen C. Jacobsen , Fraser Smith
发明人： James H. Rooney, III , Stephen C. Jacobsen , Fraser Smith
IPC分类号： G01C22/00
CPC分类号： G05D1/0276 , B63B59/10 , G05D1/027 , G05D1/0272
摘要： A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion. The navigation processor controls the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull.
摘要翻译：一种用于机器人的船体机器人导航子系统和方法，包括机器人上的驱动子系统，用于围绕船体驱动机器人。机器人上的传感器子系统输出结合机器人和船只运动的数据。机器人上的存储器包括关于船体的配置和机器人的期望的行进路径的数据。修理子系统将定位数据传送给机器人。机器人上的导航处理器响应于存储器数据，传感器子系统，定位数据以及关于船只运动的数据。导航处理器被配置为通过取消来确定机器人在船体上的位置，形成结合机器人和船只运动的传感器子系统输出数据，确定的船只运动。导航处理器基于固定数据，船体的构造，机器人的所需行进路径以及机器人在船体上的确定的位置来控制驱动子系统来操纵船体上的机器人。

4. 发明申请

US20110286089A1 MINI-SCOPE FOR MULTI-DIRECTIONAL IMAGING 有权
标题翻译：用于多方向成像的MINI-SCOPE
公开(公告)号：US20110286089A1
公开(公告)日：2011-11-24
申请号：US12946442
申请日：2010-11-15
申请人： Stephen C. Jacobsen , David Marceau , Fraser Smith
发明人： Stephen C. Jacobsen , David Marceau , Fraser Smith
IPC分类号： G02B23/00
CPC分类号： G02B23/2423 , A61B1/00181 , A61B1/00183 , A61B1/05 , G02B23/2484 , G02B27/141 , G02B27/283 , H04N2005/2255
摘要： A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A solid state imaging device is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
摘要翻译：公开了一种用于多方向成像的微型镜。迷你镜包括一个细长的迷你镜框。放射孔设置在细长微型体的远端上，其可被配置为发射通过柔性光导体传播的光能束。选择镜还定位在细长微型镜体的远端，并且被配置为基于光束的光学特性选择性地通过或反射光能束。固态成像装置还设置在细长微型主体的远端上，用于响应于光能束而成像由外部物体反射的照明。该照明被引导以基于光束的光学特性从选择镜穿过或反射到照相机。

5. 发明授权

US6053423A Fountain with variable spray patterns 有权
标题翻译：具有可变喷雾图案的喷泉
公开(公告)号：US6053423A
公开(公告)日：2000-04-25
申请号：US170479
申请日：1998-10-13
申请人： Stephen C. Jacobsen , Fraser Smith , David F. Knutti , Mike Morrison
发明人： Stephen C. Jacobsen , Fraser Smith , David F. Knutti , Mike Morrison
IPC分类号： B05B15/68 , B05B17/08 , F21S8/00
CPC分类号： B05B17/08 , B05B15/08 , F21W2121/02
摘要： A fountain apparatus includes a nozzle and lights which are selectable and moveable in at least two degrees of freedom about axes that are approximately perpendicular. Nozzle movement is preferably controlled by preprogrammed electronics which control movement of the nozzle and selective activation of the lights. Such an automated control system also may control the spray stream velocity. The flow streams are controlled to create a dynamic display which may be synchronized to music or other light shows.
摘要翻译：喷泉装置包括喷嘴和灯，其可以围绕近似垂直的轴线以至少两个自由度自由选择和移动。喷嘴运动优选地由预编程的电子装置控制，其控制喷嘴的运动和选择性地激活灯。这样的自动化控制系统也可以控制喷射流速度。流动流被控制以产生动态显示，其可以与音乐或其他轻型显示同步。

6. 发明授权

US07835074B2 Mini-scope for multi-directional imaging 有权
标题翻译：小范围多向成像
公开(公告)号：US07835074B2
公开(公告)日：2010-11-16
申请号：US11810702
申请日：2007-06-05
申请人： Stephen C. Jacobsen , David Marceau , Fraser Smith
发明人： Stephen C. Jacobsen , David Marceau , Fraser Smith
IPC分类号： G02B23/00 , G02B5/28
CPC分类号： G02B23/2423 , A61B1/00181 , A61B1/00183 , A61B1/05 , G02B23/2484 , G02B27/141 , G02B27/283 , H04N2005/2255
摘要： A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A SSID is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
摘要翻译：公开了一种用于多方向成像的微型镜。迷你镜包括一个细长的迷你镜框。放射孔设置在细长微型体的远端上，其可被配置为发射通过柔性光导体传播的光能束。选择镜还定位在细长微型镜体的远端，并且被配置为基于光束的光学特性选择性地通过或反射光能束。 SSID还设置在细长微型镜体的远端上，用于响应于光能束而成像由外部物体反射的照明。该照明被引导以基于光束的光学特性从选择镜穿过或反射到照相机。

7. 发明申请

US20080304143A1 Mini-scope for multi-directional imaging 有权
标题翻译：小范围多向成像
公开(公告)号：US20080304143A1
公开(公告)日：2008-12-11
申请号：US11810702
申请日：2007-06-05
申请人： Stephen C. Jacobsen , David Marceau , Fraser Smith
发明人： Stephen C. Jacobsen , David Marceau , Fraser Smith
IPC分类号： G02B21/00
CPC分类号： G02B23/2423 , A61B1/00181 , A61B1/00183 , A61B1/05 , G02B23/2484 , G02B27/141 , G02B27/283 , H04N2005/2255
摘要： A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A SSID is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
摘要翻译：公开了一种用于多方向成像的微型镜。迷你镜包括一个细长的迷你镜框。放射孔设置在细长微型体的远端上，其可被配置为发射通过柔性光导体传播的光能束。选择镜还定位在细长微型镜体的远端，并且被配置为基于光束的光学特性选择性地通过或反射光能束。 SSID还设置在细长微型镜体的远端上，用于响应于光能束而成像由外部物体反射的照明。该照明被引导以基于光束的光学特性从选择镜穿过或反射到照相机。

8. 发明授权

US08358462B2 Mini-scope for multi-directional imaging 有权
标题翻译：小范围多向成像
公开(公告)号：US08358462B2
公开(公告)日：2013-01-22
申请号：US12946442
申请日：2010-11-15
申请人： Stephen C. Jacobsen , David Marceau , Fraser Smith
发明人： Stephen C. Jacobsen , David Marceau , Fraser Smith
IPC分类号： G02B23/00 , G02B5/28
CPC分类号： G02B23/2423 , A61B1/00181 , A61B1/00183 , A61B1/05 , G02B23/2484 , G02B27/141 , G02B27/283 , H04N2005/2255
摘要： A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A solid state imaging device is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
摘要翻译：公开了一种用于多方向成像的微型镜。迷你镜包括一个细长的迷你镜框。放射孔设置在细长微型体的远端上，其可被配置为发射通过柔性光导体传播的光能束。选择镜还定位在细长微型镜体的远端，并且被配置为基于光束的光学特性选择性地通过或反射光能束。固态成像装置还设置在细长微型体的远端上，用于响应于光能束而成像由外部物体反射的照明。该照明被引导以基于光束的光学特性从选择镜穿过或反射到照相机。

9. 发明授权

US5588688A Robotic grasping apparatus 失效
标题翻译：机器人掌握装置
公开(公告)号：US5588688A
公开(公告)日：1996-12-31
申请号：US272196
申请日：1994-07-08
申请人： Stephen C. Jacobsen , Dwight Potter , Fraser Smith
发明人： Stephen C. Jacobsen , Dwight Potter , Fraser Smith
IPC分类号： A61F2/58 , B25J15/00 , B25J15/02 , B25J15/10
CPC分类号： A61F2/588 , B25J15/0009 , B25J15/0028 , B25J15/0266 , B25J15/10 , B25J15/103 , Y10S294/902
摘要： A robotic grasping manipulator includes a support base, a pair of fingers disposed on the base which extend forwardly a certain distance therefrom, and a two-degree of freedom elongate thumb. The thumb is pivotally attached at a proximal end to the base to extend generally forwardly therefrom, and terminates in a distal end tip which may be moved vertically and laterally with respect to the fingers to thereby enable holding objects between one or both fingers and the thumb. The fingers are moveable in a plane toward or away from each other, and include tip sections which are pivotable downwardly in a direction generally normal to the plane of movement of the fingers. A unique linkage apparatus intercouples the fingers with the base such that a non-pivotal, back-and-forth-moving piston rod can be used to move the fingers. The fingers contain gripping structure including rigid, pointed protuberances interleaved with flexible, blunt protuberances which are longer than the rigid protuberances. With the two-degree of freedom movement of the thumb and the movement of the fingers and their tip sections, a variety of different shaped objects may be grasped and held between the two fingers and thumb.
摘要翻译：机器人抓取机械手包括支撑基座，设置在基部上的一对指状物，其向前延伸一定距离，以及两自由度的细长拇指。拇指在近端枢转地附接到基部以从其大致向前延伸，并且终止于可以相对于手指垂直和横向地移动的远端末端，从而能够在一个或两个手指和拇指之间保持物体。手指可以在平面中朝向或远离彼此移动，并且包括尖端部分，其可以在大体上垂直于手指的运动平面的方向上向下枢转。独特的联动装置将手指与基座相互联接，使得可以使用非枢转的，前后移动的活塞杆来移动手指。指状物包括夹持结构，其包括刚性尖锐的突起，其与柔性的钝的突起交错，其比刚性突起长。通过拇指的两自由度运动和手指及其尖端部分的移动，可以将各种不同的成形物体夹持并保持在两个手指和拇指之间。

10. 发明授权

US5328224A Robotic grasping apparatus 失效
标题翻译：机器人掌握装置
公开(公告)号：US5328224A
公开(公告)日：1994-07-12
申请号：US58690
申请日：1993-05-07
申请人： Stephen C. Jacobsen , Fraser Smith
发明人： Stephen C. Jacobsen , Fraser Smith
IPC分类号： B25J15/08 , A61F2/58 , B25J15/00 , B25J15/10
CPC分类号： A61F2/588 , B25J15/0009 , B25J15/103
摘要： A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers. With the two-degree of freedom movement of the thumb and the one-degree of freedom movement of the moveable finger, a variety of different shaped objects may be grasped and held between the two fingers and thumb.
摘要翻译：机器人抓握机械手包括支撑基座，固定的细长食指，其从基部向前延伸一定距离，然后向上弯曲以终止于尖端，并且两自由度细长的拇指在近端枢转地附接到基部从其大致向前延伸以终止于可相对于固定手指垂直和横向移动的远端，从而能够在手指和拇指之间保持物体。还包括可移动的细长指状物，其在近端处枢转地附接到基部，以向前延伸一定距离，然后向上（通常沿着食指沿着食指）终止于远端。远端可以横向移动远离食指，从而能够在两个手指之间保持物体。通过拇指的两自由度运动和可移动的手指的一个自由度的运动，可以把握各种各样的不同形状的物体并保持在两个手指和拇指之间。

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