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公开(公告)号：US09400503B2
公开(公告)日：2016-07-26
申请号：US13032228
申请日：2011-02-22
申请人： Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Michael T. Rosenstein , Michael Halloran , Timothy S. Farlow , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Jasper Fourways Vicenti
发明人： Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Michael T. Rosenstein , Michael Halloran , Timothy S. Farlow , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Jasper Fourways Vicenti
CPC分类号： G05D1/0246 , B25J5/007 , B25J9/1694 , B25J11/009 , B25J13/08 , B25J19/023 , G02B13/22 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , G06K9/00664 , G06T7/248 , G06T7/521 , H04N13/243 , H04N13/271 , H04N2013/0081 , Y10S901/01 , Y10S901/09 , Y10S901/47
摘要： A method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.
摘要翻译： 一种用于移动机器人的物体检测方法包括：在操纵机器人的工作表面上操纵机器人时，将光散射到机器人的场景上，从场景中的目标物体的表面接收发射的斑点图案的反射，确定一个 目标对象的每个反射表面的距离，构建目标对象的三维深度图，并对目标对象进行分类。
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12.发明授权公开(公告)号：US09104202B2
公开(公告)日：2015-08-11
申请号：US13215846
申请日：2011-08-23
CPC分类号： G05D1/0038 , B25J9/161 , G05D1/0016 , G05D1/0088 , G05D1/0242 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0209 , Y10S901/01
摘要： An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.
摘要翻译： 一种操作员控制单元，具有允许用户控制远程车辆的用户接口，所述操作者控制单元包括：发送单元，被配置为向所述远程车辆发送数据; 被配置为从所述远程车辆接收数据的接收器单元，从所述远程车辆接收的包括由所述远程车辆捕获的图像数据的数据; 以及显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以控制至少一个 多个可控元件。 输入控制命令以控制至少一个可控元件包括选择表示至少一个可控元件的图标，输入针对至少一个可控元件的动作，并请求该至少一个可控元件执行动作。
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公开(公告)号：US20120109423A1
公开(公告)日：2012-05-03
申请号：US13323406
申请日：2011-12-12
IPC分类号： G05D1/02
CPC分类号： G05D1/0088 , G05D1/0011 , G05D1/0061 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G06N3/008
摘要： System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
摘要翻译： 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。
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公开(公告)号：US08078338B2
公开(公告)日：2011-12-13
申请号：US10972081
申请日：2004-10-22
CPC分类号： G05D1/0088 , G05D1/0011 , G05D1/0061 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G06N3/008
摘要： System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
摘要翻译： 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。
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公开(公告)号：US20110301786A1
公开(公告)日：2011-12-08
申请号：US13106792
申请日：2011-05-12
申请人： Daniel Allis , Robert Todd Pack
发明人： Daniel Allis , Robert Todd Pack
CPC分类号： G05D1/0011 , G01C21/26 , G05D1/0038 , G05D2201/0209
摘要： A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.
摘要翻译： 当操作员控制远程车辆时，系统增加操作者的情境意识。 该系统包括具有点对点接口的操作员控制单元，其被配置为允许操作者观看围绕远程车辆的环境并控制远程车辆，以及附接到远程车辆的有效载荷，并与至少一个 远程车辆和操作员控制单元。 有效载荷包括一个包括GPS，惯性测量单元，立体视觉摄像机和距离传感器的集成传感器套件，以及从GPS，惯性测量单元，立体视觉摄像机和距离传感器接收数据的计算模块，以及 向CPU提供包括使用来自集成传感器套件的数据的自主行为和半自主行为中的至少一个的数据。
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公开(公告)号：US08019223B2
公开(公告)日：2011-09-13
申请号：US12463416
申请日：2009-05-10
申请人： Edison Hudson , Robert Todd Pack
发明人： Edison Hudson , Robert Todd Pack
IPC分类号： H04B10/00
CPC分类号： G08C23/00 , A63H30/04 , G05D1/0033 , G05D2201/0209 , H04Q9/00 , H04Q2209/40 , H04Q2209/75
摘要： A system and method for controlling a remote vehicle comprises a hand-held controller including a laser generator for generating a laser beam. The hand-held controller is manipulable to aim and actuate the laser beam to designate a destination for the remote vehicle. The remote vehicle senses a reflection of the laser beam and moves toward the designated destination. The hand-held controller allows single-handed control of the remote vehicle and one or more of its payloads. A method for controlling a remote vehicle via a laser beam comprises encoding control signals for a remote vehicle into a laser beam that is aimed and sent to a designated destination for the remote vehicle, and sensing a reflection of the laser beam, decoding the control signals for the remote vehicle, and moving toward the designated destination.
摘要翻译： 用于控制远程车辆的系统和方法包括：手持式控制器，包括用于产生激光束的激光发生器。 手持式控制器可操作以瞄准和致动激光束以指定远程车辆的目的地。 远程车辆感测激光束的反射并朝向指定的目的地移动。 手持控制器允许单手控制远程车辆及其有效载荷中的一个或多个。 一种用于经由激光束控制远程车辆的方法包括将远程车辆的控制信号编码成瞄准并发送到远程车辆的指定目的地的激光束，并感测激光束的反射，解码控制信号 用于远程车辆，并朝向指定的目的地移动。
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公开(公告)号：US09002535B2
公开(公告)日：2015-04-07
申请号：US13105883
申请日：2011-05-11
申请人： Aaron Powers , Justin Kearns , Robert Todd Pack , Orjeta Taka , Eben Rauhut , Marshall Vale
发明人： Aaron Powers , Justin Kearns , Robert Todd Pack , Orjeta Taka , Eben Rauhut , Marshall Vale
IPC分类号： G05D1/00 , G06F3/0481 , G05D1/02
CPC分类号： G06F3/04815 , G05D1/0044 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207
摘要： An operator control unit has a user interface that allows a user to identify a mode of display and interaction that narrows the user's options for his next interaction with the user interface. The user interface utilizes portals to transition between environments such as indoors to outdoors, outdoors to indoors, different rooms of a building, and different floors of a building, the portals representing one or more of stairways and doors, and being used in remote vehicle path planning as waypoints that may require execution of predetermined behaviors.
摘要翻译： 操作员控制单元具有允许用户识别显示和交互的模式的用户界面，该模式缩小用户下一次与用户界面交互的选项。 用户界面利用门户在诸如室内到户外，室外到室内，建筑物的不同房间以及建筑物的不同楼层之间的过渡，代表一个或多个楼梯和门的门户，并被用于远程车辆路径 计划可能需要执行预定行为的路标。
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18.发明申请公开(公告)号：US20120095619A1
公开(公告)日：2012-04-19
申请号：US13215846
申请日：2011-08-23
IPC分类号： G05D1/00
CPC分类号： G05D1/0038 , B25J9/161 , G05D1/0016 , G05D1/0088 , G05D1/0242 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0209 , Y10S901/01
摘要： An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.
摘要翻译： 一种操作员控制单元，具有允许用户控制远程车辆的用户接口，所述操作者控制单元包括：发送单元，被配置为向所述远程车辆发送数据; 被配置为从所述远程车辆接收数据的接收器单元，从所述远程车辆接收的包括由所述远程车辆捕获的图像数据的数据; 以及显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以控制至少一个 多个可控元件。 输入控制命令以控制至少一个可控元件包括选择表示至少一个可控元件的图标，输入针对至少一个可控元件的动作，并请求该至少一个可控元件执行动作。
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公开(公告)号：US20090198400A1
公开(公告)日：2009-08-06
申请号：US12357151
申请日：2009-01-21
IPC分类号： B60W50/02
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
摘要翻译： 车辆可中断自主控制的系统和方法。 通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，节流杆或加速器）以引导车辆的操作。 虽然自动操作，但是在检测到希望手动控制的事件之后，可以手动操作车辆。 随后的自主控制可以被允许，在规定的延迟之后允许或被阻止。
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20.发明授权公开(公告)号：US07499774B2
公开(公告)日：2009-03-03
申请号：US10971724
申请日：2004-10-22
CPC分类号： G05D1/0061
摘要： System and method for processing a safety signal in an autonomous vehicle. Safety signals are typically generated in response to the detection of unsafe conditions or are sent by the vehicle operator. In either case, the safety signals are conveyed using redundant communication paths. The paths include a computer network and a current loop. The safety signals are processed, thereby causing actuators (e.g., linkages) to manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, accelerator, or transmission shifter). The manipulation ensures the vehicle responds appropriately to the safety signals, for example, by shutting down the vehicle.
摘要翻译： 用于处理自主车辆中的安全信号的系统和方法。 安全信号通常是响应于不安全条件的检测而产生的，或由车辆操作者发送。 在任一种情况下，使用冗余通信路径传送安全信号。 路径包括计算机网络和电流环路。 处理安全信号，从而使致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，油门杆，加速器或变速器换档器）。 该操作确保车辆对安全信号进行适当的响应，例如通过关闭车辆。
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