公开(公告)号：US09630318B2

公开(公告)日：2017-04-25

申请号：US14542391

申请日：2014-11-14

Applicant: Brain Corporation

Inventor： Borja Ibarz Gabardos ,  Andrew Smith ,  Peter O'Connor

IPC: B25J9/16 ,  G05D1/00 ,  G05D1/02 ,  G06N3/00

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1666 ,  B25J9/1697 ,  G05D1/0088 ,  G05D1/0246 ,  G05D2201/02 ,  G06N3/00 ,  G06N3/008 ,  G06N3/049 ,  Y10S901/01 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/47

Abstract: A robotic device may be operated by a learning controller comprising a feature learning configured to determine control signal based on sensory input. An input may be analyzed in order to determine occurrence of one or more features. Features in the input may be associated with the control signal during online supervised training. During training, learning process may be adapted based on training input and the predicted output. A combination of the predicted and the target output may be provided to a robotic device to execute a task. Feature determination may comprise online adaptation of input, sparse encoding transformations. Computations related to learning process adaptation and feature detection may be performed on board by the robotic device in real time thereby enabling autonomous navigation by trained robots.

公开(公告)号：US20160334804A1

公开(公告)日：2016-11-17

申请号：US15169534

申请日：2016-05-31

Applicant: AgJunction LLC

Inventor： Mark R. Webber ,  Keith R. Jones ,  John A. McClure ,  Andre C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

IPC: G05D1/02 ,  A01B69/04 ,  A01B79/00 ,  E01C19/00 ,  E01H4/00 ,  E02F9/20 ,  E02F9/26 ,  G01C21/16 ,  G01C21/20 ,  G01C25/00 ,  G01S19/04 ,  G01S19/13 ,  G01S19/14 ,  G01S19/24 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/08 ,  A01B69/00

CPC classification number: G05D1/0278 ,  A01B69/007 ,  A01B69/008 ,  A01B79/005 ,  E01C19/004 ,  E01H4/00 ,  E02F9/2029 ,  E02F9/2045 ,  E02F9/2054 ,  E02F9/264 ,  G01C21/165 ,  G01C21/20 ,  G01C25/005 ,  G01S19/04 ,  G01S19/13 ,  G01S19/14 ,  G01S19/24 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0287 ,  G05D1/0891 ,  G05D2201/02 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

公开(公告)号：US20160274591A1

公开(公告)日：2016-09-22

申请号：US15057511

申请日：2016-03-01

Applicant: KUKA Roboter GmbH

Inventor： Christoph Bick ,  Daniel Meyer-Delius ,  Jeremie Tardivon

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0295 ,  B62D59/04 ,  G05D1/0027 ,  G05D2201/02

Abstract: A vehicle combination and a method for forming and operating a vehicle combination that includes at least first and second autonomous vehicles. Each of the autonomous vehicles is configured to automatically control its motions in a state wherein the first and second autonomous vehicles do not form the vehicle combination. When the vehicle combination is formed, the two autonomous vehicles are connected via a communications connection and the first autonomous vehicle automatically controls the motion of the second autonomous vehicle via the communication connection.

Abstract translation: 一种车辆组合以及用于形成和操作包括至少第一和第二自主车辆的车辆组合的方法。 每个自主车辆被配置为在第一和第二自主车辆不形成车辆组合的状态下自动地控制其运动。 当形成车辆组合时，两个自主车辆经由通信连接连接，第一自主车辆经由通信连接自动地控制第二自主车辆的运动。

公开(公告)号：US20160011597A1

公开(公告)日：2016-01-14

申请号：US14862142

申请日：2015-09-22

Applicant: AgJunction LLC

Inventor： Mark R. Webber ,  Keith R. Jones ,  John A. McClure ,  André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

IPC: G05D1/02 ,  G01S19/53 ,  E02F9/26 ,  E02F9/20 ,  E01C19/00 ,  G01S19/24 ,  G01C21/20

CPC classification number: G05D1/0278 ,  A01B69/007 ,  A01B69/008 ,  A01B79/005 ,  E01C19/004 ,  E01H4/00 ,  E02F9/2029 ,  E02F9/2045 ,  E02F9/2054 ,  E02F9/264 ,  G01C21/165 ,  G01C21/20 ,  G01C25/005 ,  G01S19/04 ,  G01S19/13 ,  G01S19/14 ,  G01S19/24 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0287 ,  G05D1/0891 ,  G05D2201/02 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

公开(公告)号：US20150378022A1

公开(公告)日：2015-12-31

申请号：US14761039

申请日：2014-01-14

Applicant: ARCHOS

Inventor： Raul MALLART

IPC: G01S17/46 ,  G01S7/497 ,  G05D1/02 ,  G01S17/89

CPC classification number: G01S17/46 ,  G01S7/4972 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0248 ,  G05D2201/02 ,  Y10S901/01

Abstract: A method is disclosed for providing a mobile device with information on the position thereof relative to a target, including: transmitting, from a laser source connected to the mobile device, a laser beam substantially diverging in an emission plane oriented such that the emitted beam illuminates the target at least partially, capturing an image of the partially illuminated scene from an imaging apparatus that is connected to the mobile device in order to capture an image, and processing the image thus captured in order to generate information on the position of the mobile device relative to the target.

Abstract translation: 公开了一种用于向移动设备提供关于其相对于目标的位置的信息的方法，包括：从连接到移动设备的激光源发射基本上在发射平面中发散的激光束，使得发射的光束照亮 所述目标至少部分地从连接到所述移动设备的成像设备捕获所述部分照亮的场景的图像以便捕获图像，并且处理如此捕获的图像，以便生成关于所述移动设备的位置的信息 相对于目标。

公开(公告)号：US09141111B2

公开(公告)日：2015-09-22

申请号：US14680980

申请日：2015-04-07

Applicant: AgJunction LLC

Inventor： Mark R. Webber ,  Keith R. Jones ,  John A. McClure ,  André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

IPC: G06F17/00 ,  B62C11/00 ,  G05D1/02 ,  G01S19/13 ,  G01C21/16 ,  G05D1/08 ,  A01B69/04 ,  E01H4/00

CPC classification number: G05D1/0278 ,  A01B69/007 ,  A01B69/008 ,  A01B79/005 ,  E01C19/004 ,  E01H4/00 ,  E02F9/2029 ,  E02F9/2045 ,  E02F9/2054 ,  E02F9/264 ,  G01C21/165 ,  G01C21/20 ,  G01C25/005 ,  G01S19/04 ,  G01S19/13 ,  G01S19/14 ,  G01S19/24 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0287 ,  G05D1/0891 ,  G05D2201/02 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

Abstract translation: 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 该系统还包括被配置为接收车辆位置，航向以及滚动和俯仰中的至少一个的控制系统，并被配置为产生对车辆转向系统的转向命令。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 使用光学传感器和相机可以确定动力和工作部件之间的相对方向和态度。 该系统还可以用于引导相互之间的多个车辆。

公开(公告)号：US20150148953A1

公开(公告)日：2015-05-28

申请号：US14088258

申请日：2013-11-22

Applicant: Brain Corporation

Inventor： Patryk Laurent ,  Jean-Baptiste Passot ,  Filip Ponulak ,  Eugene Izhikevich

IPC: B25J9/16

CPC classification number: B25J9/163 ,  G05B13/026 ,  G05B2219/40512 ,  G05B2219/42058 ,  G05D1/0088 ,  G05D2201/02 ,  G06N3/049 ,  G06N99/005

Abstract: A robotic device may comprise an adaptive controller configured to learn to predict consequences of robotic device's actions. During training, the controller may receive a copy of the planned and/or executed motor command and sensory information obtained based on the robot's response to the command. The controller may predict sensory outcome based on the command and one or more prior sensory inputs. The predicted sensory outcome may be compared to the actual outcome. Based on a determination that the prediction matches the actual outcome, the training may stop. Upon detecting a discrepancy between the prediction and the actual outcome, the controller may provide a continuation signal configured to indicate that additional training may be utilized. In some classification implementations, the discrepancy signal may be used to indicate occurrence of novel (not yet learned) objects in the sensory input and/or indicate continuation of training to recognize said objects.

Abstract translation: 机器人设备可以包括被配置为学习预测机器人设备的动作的后果的自适应控制器。 在训练期间，控制器可以接收基于机器人对命令的响应获得的计划和/或执行的电动机命令和感觉信息的副本。 控制器可以基于命令和一个或多个现有的感觉输入来预测感觉结果。 预测的感觉结果可能与实际结果进行比较。 根据预测与实际结果的匹配，培训可能会停止。 在检测到预测和实际结果之间的差异时，控制器可以提供被配置为指示可以利用附加训练的连续信号。 在一些分类实现中，差异信号可以用于指示感觉输入中的新颖（尚未学习）的对象的发生和/或指示用于识别所述对象的训练的继续。

公开(公告)号：US20140236477A1

公开(公告)日：2014-08-21

申请号：US13768471

申请日：2013-02-15

Applicant: CATERPILLAR INC.

Inventor： Qi Chen ,  Michael D. Braunstein ,  Satish Yadav ,  Eric Alan Reiners ,  Kenneth Lee Stratton

IPC: G06F17/00

CPC classification number: G07C5/008 ,  B60W2300/17 ,  G01S13/865 ,  G01S13/867 ,  G01S2013/9332 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/02 ,  G05D2201/0202 ,  G05D2201/021 ,  G07C5/085 ,  G08G1/16

Abstract: A positioning system and method for determining a position of a machine on a worksite are disclosed. The method may store a map of the worksite which includes one or more known objects in the worksite. The method may determine whether a locating device associated with the machine is accurately providing the position of the machine. The method may also include detecting one or more objects in the worksite. The method may further determine an unmatched object from among the detected objects that does not match the one or more known objects stored in the map. The method may also store the unmatched object in the map as a known object of the worksite.

Abstract translation: 公开了一种用于确定机器在工地上的位置的定位系统和方法。 该方法可以存储在工地中包括一个或多个已知对象的工地的地图。 该方法可以确定与机器相关联的定位装置是否准确地提供机器的位置。 该方法还可以包括检测工地中的一个或多个对象。 该方法还可以从检测到的对象中确定与映射中存储的一个或多个已知对象不匹配的不匹配对象。 该方法还可以将不匹配的对象存储在地图中作为工地的已知对象。

公开(公告)号：US20140224559A1

公开(公告)日：2014-08-14

申请号：US13767308

申请日：2013-02-14

Applicant: Toyota Motor Engineering & Manufacturing North America, Inc.

Inventor： Richard Joseph Salek ,  Cristian Ignat ,  William Brad Cheeseman ,  Kevin W. Sharp ,  Brian Linka ,  Rod James Albon ,  John Andrew Szentimrey ,  Jonathan Philip Kenneth Eng

IPC: B62D63/02

CPC classification number: B60N2/00 ,  A47C9/022 ,  B60L11/18 ,  B60L2200/24 ,  B66F9/063 ,  B66F11/04 ,  G05D1/0263 ,  G05D2201/02

Abstract: A method and apparatus for ergonomically supporting a worker while performing a work operation includes an automatic guided vehicle capable of moving a seat carrying the worker between a first non-work position relative to a work piece and a second work position at which the worker performs the work operation. The automatic guided vehicle includes controls to enable the worker to ergonomically position the angle of a seatback relative to a seat bottom and the height of the seat relative to the automatic guided vehicle for ergonomic support of the worker while performing the work operation. Under program control, the automatic guided vehicle is movable from one work position to another work position and/or back to the non-work position.

Abstract translation: 一种用于在进行工作操作的情况下对工作人员进行人体工程学地支撑的方法和装置，其特征在于，包括：自动导引车，其能够使承载所述作业者的座椅相对于工件在第一非工作位置和所述工人进行所述第二工作位置之间移动; 工作操作。 自动引导车辆包括控制装置，以使得工作人员能够在执行工作操作时人体工程学地将座椅靠背相对于座椅底部的角度和座椅相对于自动引导车辆的高度定位在工人的人体工程学支撑上。 在程序控制下，自动引导车辆可以从一个工作位置移动到另一个工作位置和/或返回到非工作位置。

公开(公告)号：US08078349B1

公开(公告)日：2011-12-13

申请号：US13105101

申请日：2011-05-11

Applicant: Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

Inventor： Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

IPC: G05D1/00 ,  G01C22/00

CPC classification number: G05D1/0022 ,  B62D15/0285 ,  G05D1/0061 ,  G05D2201/02

Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

Abstract translation: 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。