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公开(公告)号：EP3438031A1
公开(公告)日：2019-02-06
申请号：EP18185663.4
申请日：2018-07-26
申请人： HARRIS CORPORATION
摘要： Systems (100) and methods (1400) for operating a Spool Mechanism ("SM"). The methods comprise: transitioning an operational mode of SM from a first operational mode in which a drag torque is not settable to a second operational mode in which the drag torque is settable; selectively mechanically coupling a rewind motor to a spool (612) of SM by engaging a coupler (1014) in response to the SM's transition into the second operational mode; activating the rewind motor (610) such that the rewind motor applies a motor torque having a pre-defined value selected for facilitating a setting of the drag torque to an optimal value; mechanically gradually adjusting an amount of drag resistance applied to the spool by a drag mechanism (1012) ; and discontinuing the mechanical adjustment of the drag resistance when the spool's speed is within a threshold percentage range of a zero resistance speed.
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3.发明授权Robotic apparatus implementing collision avoidance scheme and associated methods 有权具有冲突避免方案和相关方法机器人装置
公开(公告)号：EP2561964B1
公开(公告)日：2014-11-12
申请号：EP12007380.4
申请日：2010-09-16
申请人： HARRIS CORPORATION
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/39082 , G05B2219/39085 , G05B2219/39091 , G05B2219/40492 , Y02P90/20
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公开(公告)号：EP2765469A3
公开(公告)日：2017-08-16
申请号：EP14000436.7
申请日：2014-02-06
申请人： HARRIS CORPORATION
CPC分类号： G05D1/0016 , B25J5/005 , B25J13/006 , B25J13/065 , B25J19/023 , G05D1/021 , G05D2201/0207
摘要： Control units (10) for use with unmanned vehicles (12) include an input device (50) that moves in response to a user input, sensors (70) coupled to the input device (50), and a controller (16). The sensors (70) generate outputs related to the movement of the input device (50). The controller (16) determines a target displacement of the unmanned vehicle (12) based on the outputs of the sensors (70), and generates a control input related to the target displacement. The control input, when received by the unmanned vehicle (12), causes the unmanned vehicle (12) to substantially attain the target displacement. The position of the vehicle (12) is thus controlled by directly controlling the displacement of the vehicle (12).
摘要翻译： 用于无人驾驶车辆（12）的控制单元（10）包括响应于用户输入而移动的输入装置（50），耦合到输入装置（50）的传感器（70）以及控制器（16）。 传感器（70）产生与输入装置（50）的移动有关的输出。 控制器（16）基于传感器（70）的输出来确定无人驾驶车辆（12）的目标位移，并且生成与目标位移有关的控制输入。 当无人驾驶车辆（12）接收到控制输入时，控制输入使无人驾驶车辆（12）基本达到目标排量。 因此车辆（12）的位置通过直接控制车辆（12）的位移来控制。
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公开(公告)号：EP2865496A1
公开(公告)日：2015-04-29
申请号：EP14003204.6
申请日：2014-09-16
申请人： HARRIS CORPORATION
IPC分类号： B25J9/16
CPC分类号： H04L1/0002 , B25J9/1689 , G05B2219/40147 , G05B2219/40149 , G05B2219/40151 , G05B2219/40174 , G05D1/0022 , H04L1/0019 , H04L43/0852
摘要： Systems ( 100 ) and methods ( 700 ) for increasing a predictability of Telematic Operations ("TOs") of a Teleoperation System ("TS"). The methods involve: measuring an inherent latency of a Communications Link ("CL") of TS which varies unpredictably over at least a first window of time; analyzing the inherent latency, which was previously measured, to determine a first reference value useful for increasing the predictability of the TOs; using the first reference value to select an amount of controlled latency to be added to CL ( 120 ) at each of a plurality of time points ( 502-518 ); and adding the amount of controlled latency to CL at each of the plurality of time points so as to increase the predictability of the TOs. In some scenarios, the amount of controlled latency added at a first time point is different than the amount of controlled latency added at a second time point.
摘要翻译： 用于增加远程操作系统（“TS”）的远程信息业务（“TOs”）的可预测性的系统（100）和方法（700）。 所述方法包括：测量TS的通信链路（“CL”）的固有等待时间，其至少在第一时间窗口上不可预测地改变; 分析先前测量的固有潜伏期，以确定可用于增加TO的可预测性的第一参考值; 使用第一参考值来选择在多个时间点（502-518）中的每个时刻被添加到CL（120）的受控等待时间量; 以及在所述多个时间点的每一个时刻将所述受控延迟量加到CL中，以增加所述TO的可预测性。 在某些情况下，在第一时间点添加的受控延迟量不同于在第二时间点添加的受控延迟量。
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6.发明公开
公开(公告)号：EP2561964A1
公开(公告)日：2013-02-27
申请号：EP12007380.4
申请日：2010-09-16
申请人： HARRIS CORPORATION
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/39082 , G05B2219/39085 , G05B2219/39091 , G05B2219/40492 , Y02P90/20
摘要： A robotic system implements a collision avoidance scheme and includes a first robotic manipulator and a first controller configured to control the first robotic manipulator for movement along a first pre-planned actual path. A second controller is configured to control movement of a second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator without prior knowledge of the first pre-planned actual path.
摘要翻译： 机器人系统实现避碰方案，并且包括第一机器人操纵器和第一控制器，其被配置为控制第一机器人操纵器沿着第一预先计划的实际路径移动。 第二控制器被配置为控制第二机器人操纵器的运动，以便沿着第二预先计划的预期路径移动，并且偏离其运动，以便在远离第一预先计划的实际路径的躲避路径中移动，基于确定与第一预定路径的潜在碰撞 机器人操纵器没有事先知道第一个预先计划的实际路径。
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公开(公告)号：EP3332924A1
公开(公告)日：2018-06-13
申请号：EP17001940.0
申请日：2017-11-27
申请人： Harris Corporation
摘要： A shock absorbing disruptor mounting system for a robotic arm (102) includes a rack (112) comprised of a linear guide structure and a carriage (114) which is configured to travel on the linear guide structure. The carriage (114) is selectively movable between a retracted position and an extended position and includes a plurality of wheels (314,614) along its length. Each of the wheels (314,614) has a wheel (314, 614) axis of rotation which is transverse to the direction of the linear guide structure centerline (308,608) to facilitate rotation of the wheels (314,614) on at least a portion of the linear guide structure responsive to the travel.
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9.发明公开System and methods for controlling movement of unmanned vehicles 审中-公开系统与Verfahren zur Steuerung der Bewegung von unbemannten Fahrzeugen
公开(公告)号：EP2765469A2
公开(公告)日：2014-08-13
申请号：EP14000436.7
申请日：2014-02-06
申请人： HARRIS CORPORATION
IPC分类号： G05D1/02
CPC分类号： G05D1/0016 , B25J5/005 , B25J13/006 , B25J13/065 , B25J19/023 , G05D1/021 , G05D2201/0207
摘要： Control units (10) for use with unmanned vehicles (12) include an input device (50) that moves in response to a user input, sensors (70) coupled to the input device (50), and a controller (16). The sensors (70) generate outputs related to the movement of the input device (50). The controller (16) determines a target displacement of the unmanned vehicle (12) based on the outputs of the sensors (70), and generates a control input related to the target displacement. The control input, when received by the unmanned vehicle (12), causes the unmanned vehicle (12) to substantially attain the target displacement. The position of the vehicle (12) is thus controlled by directly controlling the displacement of the vehicle (12).
摘要翻译： 与无人驾驶车辆（12）一起使用的控制单元（10）包括响应于用户输入而移动的输入设备（50），耦合到输入设备（50）的传感器（70）和控制器（16）。 传感器（70）产生与输入装置（50）的移动有关的输出。 控制器（16）基于传感器（70）的输出确定无人驾驶车辆（12）的目标位移，并且生成与目标位移有关的控制输入。 当由无人驾驶车辆（12）接收时，控制输入使得无人驾驶车辆（12）基本达到目标位移。 因此，通过直接控制车辆（12）的位移来控制车辆（12）的位置。
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公开(公告)号：EP3332925A1
公开(公告)日：2018-06-13
申请号：EP17001944.2
申请日：2017-11-28
申请人： Harris Corporation
IPC分类号： B25J15/04
CPC分类号： B25J9/1664 , B25J15/0066 , B25J15/0483 , G05B2219/39468
摘要： Robotic manipulator arm has an end portion to which one or more end effector appliances can be operably mounted for performing one or more manipulator arm operations. A control system has access to a plurality of different end effector appliance parameter sets which are respectively associated with the plurality of different end effector appliances. A user interface facilitates identification to the control system of one or more of the different end effector appliances which are installed on the manipulator arm. The control system is responsive to the identification to modify a control algorithm.
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