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1. 发明授权

US07676440B2 Neuromorphic motion controller for controlling a joint using winner take all 失效
标题翻译：使用优胜者控制联合的神经运动控制器全部采用
公开(公告)号：US07676440B2
公开(公告)日：2010-03-09
申请号：US11578020
申请日：2005-04-26
申请人： Vladmir A. Gorelik , Pavel V. Gorelik
发明人： Vladmir A. Gorelik , Pavel V. Gorelik
IPC分类号： G06N3/02
CPC分类号： B62D57/032 , B25J9/1602 , B25J9/161 , B25J17/0241 , G05B2219/37289 , G05B2219/37297 , G05B2219/39262 , G05B2219/39474 , G05B2219/39484 , G05B2219/40236 , G05B2219/40617 , H04N13/239
摘要： An intrinsically stable neuromorphic motion controller comprising of two an agonistic actuators coupled with paired torque and position sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons with built-in stretch (torque) sensors.
摘要翻译：本征稳定的神经形态运动控制器，包括两个与成对的扭矩和位置传感器耦合的激动执行器。具有至少一个自由度的每个机械联动器通过具有内置拉伸（扭矩）传感器的两个柔性腱由两个电动机致动。

2. 发明申请

US20090154801A1 SYSTEM AND METHOD FOR AUTOMATICALLY ADJUSTING A DISPLAY PANEL 审中-公开
标题翻译：用于自动调整显示面板的系统和方法
公开(公告)号：US20090154801A1
公开(公告)日：2009-06-18
申请号：US12331379
申请日：2008-12-09
申请人： MENG-CHIEH CHOU
发明人： MENG-CHIEH CHOU
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06K9/00248 , G05B2219/39387 , G05B2219/40617
摘要： A system for adjusting position of a display panel is provided. The system captures a reference facial image and a present facial image of a user at different time frames, and calculates adjustment parameters according to the reference facial image and the present facial image. The display panel is then driven to a proper position according to the adjusting parameters.
摘要翻译：提供一种用于调节显示面板的位置的系统。该系统以不同的时间帧捕获用户的参考面部图像和当前面部图像，并且根据参考面部图像和当前面部图像来计算调整参数。然后根据调整参数将显示面板驱动到适当的位置。

3. 发明申请

US20050234566A1 Self-calibrating orienting system for a manipulating device 失效
标题翻译：用于操纵装置的自校准定向系统
公开(公告)号：US20050234566A1
公开(公告)日：2005-10-20
申请号：US11101952
申请日：2005-04-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： B25J19/04 , B25J9/16 , G05B13/02 , G05B19/401 , G05B19/18 , G06F19/00
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39391 , G05B2219/40617
摘要： The invention relates to the control of an orienting/positioning system comprising comprising at least a sensor and an actuator for controlling an orienting and/or positioning action adapted to change an input space of the sensor. A first step evaluates pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor. A second step decides on a targeted post-action position of the manipulating device in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step orients/positions the manipulating device according to the defined command in order to carry out the orienting/positioning action. A fifth step detects a real post-action position of the manipulating device in the input space of the sensor. A sixth step adapts the mapping function used in step three based on any difference of the real post-action position and the targeted post-action position of the manipulating device in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function. According to one embodiment of the present invention, steps S 1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.
摘要翻译：本发明涉及定向/定位系统的控制，其包括至少一个传感器和致动器，用于控制适于改变传感器的输入空间的定向和/或定位动作。第一步骤评估传感器的动作前输出信息，以便检测传感器的输入空间中的操纵装置的预作用位置。第二步决定传感器的输入空间中的操纵装置的目标后动作位置。第三步通过使用预定义的映射函数将传感器的输入空间中的预作用位置和目标后动作位置的任何偏差映射到致动器控制坐标来定义致动器的命令。第四步根据所定义的命令定位/定位操纵装置，以便执行定向/定位动作。第五步骤检测传感器的输入空间中的操作装置的实际位置。基于传感器的输入空间中的操作装置的真实后动作位置和目标动作位置的任何差异，第六步骤适应步骤3中使用的映射函数，以便执行增量自适应学习映射功能。根据本发明的一个实施例，步骤S1至S6使用分别适应的映射函数循环重复至少一次。

4. 发明申请

US20170039671A1 ROBOTIC SELF-FILMING SYSTEM 审中-公开
标题翻译：机械自动成型系统
公开(公告)号：US20170039671A1
公开(公告)日：2017-02-09
申请号：US14820950
申请日：2015-08-07
申请人： Seoul National University R&DB Foundation , Selvidea Co., Ltd
发明人： Seung-Woo Seo , Seong-Woo Kim
IPC分类号： G06T1/00 , B25J9/16 , H04N5/232
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/40617 , H04N5/23222 , H04N5/23229 , H04N5/77 , Y10S901/02 , Y10S901/30
摘要： In general, embodiments of the present invention relate to a robotic self-filming system. Specifically, the robotic self-filming system includes a base, robot arm, video recording device holder, a video recording device mounted on the video device holder, and a robot control unit. The robot control unit receives video data from the video recording device. Using the video data, the robot control unit detects an object and tracks the object as the object moves freely about the environment. The robotic self-filming system then produces a final video product based on the video data and predefined parameters.
摘要翻译：通常，本发明的实施例涉及机器人自拍系统。具体地，机器人自拍系统包括基座，机器人手臂，视频记录装置保持器，安装在视频装置保持器上的视频记录装置和机器人控制单元。机器人控制单元从视频记录装置接收视频数据。使用视频数据，机器人控制单元检测对象，并且随着对象围绕环境自由移动，跟踪对象。机器人自拍系统然后基于视频数据和预定义的参数产生最终视频产品。

5. 发明申请

US20170006209A1 TECHNOLOGIES FOR PAN TILT UNIT CALIBRATION 有权
标题翻译： PAN TILT UNIT校准技术
公开(公告)号：US20170006209A1
公开(公告)日：2017-01-05
申请号：US14755476
申请日：2015-06-30
申请人： ABB Technology Ltd.
发明人： Remus Boca , Jianjun Wang , Thomas Fuhlbrigge , Biao Zhang
IPC分类号： H04N5/232 , H04N17/00 , B25J9/16 , G06T7/60 , G06K9/52 , G06T7/20 , H04N7/18 , G06T7/00
CPC分类号： H04N5/23203 , B25J9/161 , B25J9/1692 , B25J9/1697 , G05B2219/40617 , G06K9/52 , G06T7/20 , G06T7/60 , G06T7/70 , H04N5/232 , H04N7/18 , H04N17/002 , Y10S901/09
摘要： Technologies for calibrating a pan tilt unit with a robot include a robot controller to move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions. The robot controller records a first set of positions of a monitored component of the robot in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different first axis positions. Further, the robot controller moves the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions and records a second set of positions of the monitored component in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different second axis positions. Further, the robot controller determines a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.
摘要翻译：用于用机器人校准摇摄倾斜单元的技术包括机器人控制器，用于将摇摄倾斜单元的摄像机围绕摇摄倾斜单元的第一旋转轴线移动到至少三个不同的第一轴位置。机器人控制器将机器人的监视部件的第一组位置记录在机器人的参考系中，并且在所监视的部件在其中的时间段期间相机在基准俯仰单元的参考系中的位置记录对于至少三个不同的第一轴位置中的每一个的相机的视场。此外，机器人控制器将相机围绕摇摄倾斜单元的第二旋转轴线移动到至少三个不同的第二轴位置，并且将所监视的组件的第二组位置记录在机器人的参考系中，并且将位置在所监视的部件在所述至少三个不同的第二轴位置中的每一个的所述摄像机的视野内的期间中，所述摇摄倾斜单元的所述参考系的摄像机。此外，机器人控制器基于第一组记录位置和第二组记录位置确定从机器人的参照系到摇摄倾斜单元的参考系的变换。

6. 发明申请

US20140350727A1 Methods and Systems for Providing Functionality of an Interface to Control Orientations of a Camera on a Device 有权
标题翻译：用于提供控制设备上相机方向的界面功能的方法和系统
公开(公告)号：US20140350727A1
公开(公告)日：2014-11-27
申请号：US14453809
申请日：2014-08-07
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
IPC分类号： B25J9/16 , G05B19/18
CPC分类号： H04N5/23216 , B25J9/1697 , G05B2219/40002 , G05B2219/40617 , H04N5/23206 , Y10S901/47 , Y10S901/50
摘要： Methods and systems for providing functionality of an interface to control orientations of a camera on a device are provided. In one example, a method includes receiving an input on an interface indicating a command for an orientation of a camera on a robotic device, and the interface may be provided on a device remote from the robotic device. An indicator may be provided on the interface representing a location of the input, and the indicator may be representative of the command for the orientation of the camera on the robotic device. The method may also include determining that the location of the input on the interface is within a distance threshold to a pre-set location on the interface, and repositioning the indicator on the interface to be at the pre-set location.
摘要翻译：提供了用于提供用于控制设备上的相机的取向的界面的功能的方法和系统。在一个示例中，一种方法包括在界面上接收指示用于机器人设备上的相机的定向的命令的输入，并且该接口可以设置在远离该机器人设备的设备上。可以在界面上提供指示符，该指示符表示输入的位置，并且指示符可以代表在机器人装置上相机的取向的命令。该方法还可以包括确定接口上的输入的位置在接口上的预设位置的距离阈值内，以及将接口上的指示符重新定位在预设位置。

7. 发明授权

US09807292B2 Technologies for pan tilt unit calibration 有权
公开(公告)号：US09807292B2
公开(公告)日：2017-10-31
申请号：US14755476
申请日：2015-06-30
申请人： ABB Technology Ltd.
发明人： Remus Boca , Jianjun Wang , Thomas Fuhlbrigge , Biao Zhang
IPC分类号： H04N5/232 , H04N17/00 , H04N7/18 , B25J9/16 , G06T7/60 , G06K9/52 , G06T7/20 , G06T7/00 , G06T7/70
CPC分类号： H04N5/23203 , B25J9/161 , B25J9/1692 , B25J9/1697 , G05B2219/40617 , G06K9/52 , G06T7/20 , G06T7/60 , G06T7/70 , H04N5/232 , H04N7/18 , H04N17/002 , Y10S901/09
摘要： Technologies for calibrating a pan tilt unit with a robot include a robot controller to move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions. The robot controller records a first set of positions of a monitored component of the robot in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different first axis positions. Further, the robot controller moves the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions and records a second set of positions of the monitored component in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different second axis positions. Further, the robot controller determines a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.

8. 发明申请

US20170160737A1 ACTIVE CAMERA MOVEMENT DETERMINATION FOR OBJECT POSITION AND EXTENT IN THREE-DIMENSIONAL SPACE 审中-公开
公开(公告)号：US20170160737A1
公开(公告)日：2017-06-08
申请号：US15069834
申请日：2016-03-14
申请人： QUALCOMM Incorporated
发明人： Regan Blythe TOWAL , Shayegan OMIDSHAFIEI , Aliakbar AGHAMOHAMMADI
IPC分类号： G05D1/00 , G06K9/00 , H04N5/232
CPC分类号： G05D1/0011 , B25J9/1697 , G05B2219/40617 , G05D1/0094 , G06K9/00664 , G06T7/564 , H04N5/23203
摘要： A method of motion planning includes observing an object from a first pose of an agent having a controllable camera. The method also includes determining one or more subsequent control inputs to move the agent and the camera to observe the object from at least one subsequent pose. The subsequent control input(s) are determined so as to minimize an expected enclosing measure of the object based on visual data collected from the camera. The method further includes controlling the agent and the camera based on the subsequent control input(s).

9. 发明授权

US08002694B2 Master-slave manipulator system 有权
标题翻译：主从机械手系统
公开(公告)号：US08002694B2
公开(公告)日：2011-08-23
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： A61B17/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译：在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间切换的模式切换装置，其中操作命令从从操纵器向切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

10. 发明申请

US20080234866A1 MASTER-SLAVE MANIPULATOR SYSTEM 有权
标题翻译：主从制操纵器系统
公开(公告)号：US20080234866A1
公开(公告)日：2008-09-25
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： G05B19/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译：在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间进行切换的模式切换装置，其中操作命令从从操纵器向切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

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