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1. 发明申请

US20140250684A1 SCALABLE COMMON INTERFACE PLATE SYSTEM (SCIPS) 有权
标题翻译：可扩展通用接口板系统（SCIPS）
公开(公告)号：US20140250684A1
公开(公告)日：2014-09-11
申请号：US14221946
申请日：2014-03-21
申请人： MACDONALD DETTWILER & ASSOCIATES INC.
发明人： Rangaswamy RAVINDRAN , Sean Andrew DOWLING , Ming Kit CHAN
IPC分类号： B25J15/04
CPC分类号： B25J15/0425 , B23B31/107 , B23B31/1074 , B23B31/1078 , B25J15/04 , B25J15/0408 , F16B21/02 , Y10T29/49117 , Y10T29/49771 , Y10T29/49826 , Y10T29/49876 , Y10T29/49897 , Y10T403/7075
摘要： The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.
摘要翻译：本发明提供了一种用于机器人处理应用的低调，紧凑，可扩展的概念端部执行器。末端执行器作为多自由度（DOF）机械手及其基座（如果适用）之间的界面，以及它所处理的工具，并与大型机械手系统（如Shuttle Remote Manipulator System）兼容（SRMS）和空间站远程机械手系统（SSRMS）以及较小的灵巧机械手，如轨道交通快速机械手系统。主动/受控部件在操纵器的一端或两端连接到辊接头，其中完全被动部件附接到机械手与之接合的结构/工具。接口接合和配合操作通过机械手滚动接头进行。一旦配合，剪切销被延伸以将配合的组件锁定在适当的位置，并实现高刚度，零游隙配合界面。

2. 发明授权

US08702341B2 Scalable common interface plate system (SCIPS) 有权
标题翻译：可扩展通用接口板系统（SCIPS）
公开(公告)号：US08702341B2
公开(公告)日：2014-04-22
申请号：US13028051
申请日：2011-02-15
申请人： Rangaswamy Ravindran , Sean Andrew Dowling , Ming Kit Chan
发明人： Rangaswamy Ravindran , Sean Andrew Dowling , Ming Kit Chan
IPC分类号： F16D1/00 , B23Q17/00
CPC分类号： B25J15/0425 , B23B31/107 , B23B31/1074 , B23B31/1078 , B25J15/04 , B25J15/0408 , F16B21/02 , Y10T29/49117 , Y10T29/49771 , Y10T29/49826 , Y10T29/49876 , Y10T29/49897 , Y10T403/7075
摘要： The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.
摘要翻译：本发明提供了一种用于机器人处理应用的低调，紧凑，可扩展的概念端部执行器。末端执行器作为多自由度（DOF）机械手及其基座（如果适用）之间的界面，以及它所处理的工具，并与大型机械手系统（如Shuttle Remote Manipulator System）兼容（SRMS）和空间站远程机械手系统（SSRMS）以及较小的灵巧机械手，如轨道交通快速机械手系统。主动/受控部件在操纵器的一端或两端连接到辊接头，其中完全被动部件附接到机械手与之接合的结构/工具。接口接合和配合操作通过机械手滚动接头进行。一旦配合，剪切销被延伸以将配合的组件锁定在适当的位置，并实现高刚度，零游隙配合界面。

3. 发明申请

US20140018821A1 SURGICAL MANIPULATOR 有权
标题翻译：外科手术
公开(公告)号：US20140018821A1
公开(公告)日：2014-01-16
申请号：US13899300
申请日：2013-05-21
申请人： MACDONALD DETTWILER & ASSOCIATES INC
发明人： Benny Hon Bun YEUNG , Dennis GREGORIS , Bronislaw BEDNARZ , Michael A. GRAY
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B2034/305 , A61B2034/715 , A61B2090/064 , B25J9/047 , B25J9/104
摘要： The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.
摘要翻译：本发明提供了一种外科手术器械，其包括操纵臂，由机器臂保持的端部执行器，由末端执行器和操纵器接头保持的手术工具，特别是用于将一个轴上的旋转运动传递到垂直的直角驱动装置轴。

4. 发明申请

US20130119204A1 PROPELLANT TRANSFER SYSTEM AND METHOD FOR RESUPPLY OF PROPELLANT TO ON-ORBIT SPACECRAFT 有权
标题翻译：推进剂转运系统和方法，用于替代推进剂到达ORBIT SPACECRAFT
公开(公告)号：US20130119204A1
公开(公告)日：2013-05-16
申请号：US13678281
申请日：2012-11-15
申请人： MACDONALD DETTWILER & ASSOCIATES INC.
发明人： Andrew ALLEN , John LYMER , Kerry SPRING , Rangaswamy RAVINDRAN
IPC分类号： B64G1/64
CPC分类号： B64G1/402 , B64G1/1078 , B64G1/222 , B64G1/24 , B64G1/405 , B64G1/64 , B64G1/646 , B64G4/00 , B64G2004/005
摘要： Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.
摘要翻译：本文公开了一种用于加油在轨航天器的推进剂转移系统和方法。该系统和方法被配置为允许配置为由双组元推进剂（氧化剂和燃料）或单组分推进剂（通常为肼）燃料的航天器的补给。该系统和方法特别适用于原先准备加油的卫星的再补给，但该系统也可用作专门用于加油的卫星。

5. 发明授权

US08031933B2 Method and apparatus for producing an enhanced 3D model of an environment or an object 有权
标题翻译：用于生成环境或物体的增强3D模型的方法和装置
公开(公告)号：US08031933B2
公开(公告)日：2011-10-04
申请号：US12654452
申请日：2009-12-18
申请人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
发明人： Shuen Yan Stephen Se , Piotr Jasiobedzki , David Owen Parry , Roy Henry Jakola
IPC分类号： G06K9/00
CPC分类号： G01C11/06 , A61B5/113 , G06T7/285 , G06T7/33 , G06T7/579 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10021
摘要： The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes. The present invention also provides a system (method and apparatus) for enhancing 3D models of environments or objects by registering information from additional sensors to improve model fidelity or to augment it with supplementary information by using a light pattern projector. The present invention also provides a system (method and apparatus) for generating photo-realistic 3D models of underground environments such as tunnels, mines, voids and caves, including automatic registration of the 3D models with pre-existing underground maps.
摘要翻译：本发明提供了一种用于从从移动立体相机和可选的单目相机获得的多个立体图像中创建环境和/或物体的逼真3D模型的系统（方法和装置）。相机可以是手持式的，安装在移动平台，操纵器或定位装置上。系统自动检测和跟踪图像序列中的特征，并通过将特征与数据库进行匹配来自动参考立体相机，以跟踪摄像机运动，同时构建数据库。还可以从外部传感器提供运动估计，并与从图像计算的运动融合。处理各个立体声对以计算表示场景的密集3D数据，并使用估计的摄像机运动将其变换成公共参考并融合在一起。所得到的3D数据表示为点云，曲面或卷。本发明还提供一种用于通过从附加传感器登记信息来提高模型保真度或通过使用光图案投影仪用补充信息来增加环境或对象的3D模型来增强3D模型的系统（方法和装置）。本发明还提供了一种用于产生诸如隧道，矿井，空洞和洞穴的地下环境的逼真3D模型的系统（方法和装置），包括具有预先存在的地下地图的3D模型的自动注册。

6. 发明授权

US08448904B2 Robotic satellite refuelling tool 有权
标题翻译：机器人卫星加油工具
公开(公告)号：US08448904B2
公开(公告)日：2013-05-28
申请号：US13470661
申请日：2012-05-14
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： A tool mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite. The tool includes a robotic arm mounted on the servicer satellite and a valve tool configured to be releasibly gripped by the robotic arm. The valve tool includes a housing with a support frame and a wrench mechanism mounted on the support frame. The wrench mechanism is configured for removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.
摘要翻译：一个安装在服务卫星上的工具，用于加油未经准备或部分准备好的客户端卫星。该工具包括安装在服务器卫星上的机器人手臂和构造成可被机器臂可释放地夹持的阀工具。阀门工具包括具有支撑框架和安装在支撑框架上的扳手机构的壳体。扳手机构构造成用于移除和更换第一填充排放阀上的第一进入阀盖并将第一推进剂填充管线联接到第一推进剂罐，任选地移除和更换第二排水阀上的第二进气阀盖，所述第二推进剂罐并且将第二推进剂填充管线联接到所述第二推进剂罐，并且致动所述第一填充排放阀上的所述阀致动螺母，并且可选地致动所述第二填充排放阀上的所述阀致动螺母。

7. 发明授权

US08260483B2 Guidance, navigation, and control system for a vehicle 有权
标题翻译：车辆指导，导航和控制系统
公开(公告)号：US08260483B2
公开(公告)日：2012-09-04
申请号：US13209247
申请日：2011-08-12
申请人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
发明人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
IPC分类号： G01C22/00
CPC分类号： G08G1/20 , B60W10/04 , B60W10/20 , B60W2050/0028 , B60W2550/14 , B60W2550/402 , G05B2219/40555 , G05B2219/45004 , G05D1/024 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/202
摘要： The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile, and a profile of desired speed as a function of distance along the path.
摘要翻译：本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人操作者教导路线，然后使其无需人为干预地自动地驱动路线。该方法分为三个步骤：教学，路线分析和播放。在教学步骤中，车辆由操作人员沿着可以由任意一系列操纵组成的路线手动驾驶，包括向前行驶，切换方向，往返行驶，转弯或暂停运动。在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。在（离线）路线分析步骤中，日志文件中的原始数据被处理为路线简档，以及作为沿路径的距离的函数的期望速度的轮廓。

8. 发明授权

US08181911B1 Satellite refuelling system and method 有权
标题翻译：卫星加油系统及方法
公开(公告)号：US08181911B1
公开(公告)日：2012-05-22
申请号：US13196750
申请日：2011-08-02
申请人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
发明人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refueling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

9. 发明授权

US08444631B2 Surgical manipulator 有权
公开(公告)号：US08444631B2
公开(公告)日：2013-05-21
申请号：US12318151
申请日：2008-12-22
申请人： Benny Hon Bun Yeung , Dennis Gregoris , Bronislaw Bednarz , Michael A. Gray
发明人： Benny Hon Bun Yeung , Dennis Gregoris , Bronislaw Bednarz , Michael A. Gray
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B2034/305 , A61B2034/715 , A61B2090/064 , B25J9/047 , B25J9/104
摘要： The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.

10. 发明申请

US20130103193A1 ROBOTIC SERVICING MULTIFUNCTIONAL TOOL 有权
标题翻译：机动车维修多功能工具
公开(公告)号：US20130103193A1
公开(公告)日：2013-04-25
申请号：US13652339
申请日：2012-10-15
申请人： MACDONALD DETTWILER & ASSOCIATES INC.
发明人： Paul ROBERTS , Stephen BRATSBERG , Joe RAGO
IPC分类号： B25J9/16 , B23Q3/155
CPC分类号： B25J9/16 , B23Q3/155 , B23Q3/15526 , B25J15/04
摘要： Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.
摘要翻译：这里公开了具有可更换工具尖端的多功能工具。所公开的多功能工具可以用作空间中的机器人臂上的端部执行器。在工具架中时，每个工具尖端由普通电机驱动。也可以使用相同的电机来控制工具尖端绕轴线的方向。工具尖端可以通过简单而坚固的手段在刀架上更换，从而产生更轻便更便宜的多功能工具。工具尖端可以进行各种调整，以执行各种功能，包括切割，抓取，钻孔，驱动等。由于刀具只能由一个执行器驱动，单个执行器可用于驱动刀具和旋转的工具，质量可以节省。使用这种多功能工具还可以降低整体系统功耗要求和系统复杂性。

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