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公开(公告)号：US08935014B2
公开(公告)日：2015-01-13
申请号：US12814304
申请日：2010-06-11
CPC分类号： G05D1/0287 , B64D1/02 , B64D17/00 , F41H13/00 , F42B12/365 , F42B12/58 , G05D1/0011 , G05D1/0206 , G05D1/048 , Y10S901/01
摘要： A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.
摘要翻译： 一种用于在地球表面环境内收集信息并建立监视网络的方法和系统，其包括将具有感测子系统，通信子系统和导航子系统的一个或多个可移动机器人设备插入到地球表面环境中。 移动机器人装置可以被配置成从多个可用行进姿势中选择的行进姿态，并且使用导航子系统指导到地球表面环境内的感测位置。 可以监测环境并且收集的感测信息可以被存储或传送到远程位置。 移动机器人装置可以被配置为与车辆载体一起操作，以便于将机器人车辆插入和展开到地球表面环境中。
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公开(公告)号：US08558489B2
公开(公告)日：2013-10-15
申请号：US12959159
申请日：2010-12-02
IPC分类号： H02P6/00
摘要： A thinly configured and brushless miniature DC micro motor that includes at least two substantially-flat motor cells that are aligned axially. Each motor cell comprises a stator coil having an elongate opening and passage for a rotor shaft, and a cross-polarized rotor magnet carried on the rotor shaft and received within the elongate opening. The micro motor also includes a frame substrate that fixably supports the stator coils of the motor cells while providing a bearing means for rotatably supporting the rotor shaft, so that selectively energizing one of the motor cells creates an electric current in the stator coil interacting with a magnetic field of the received rotor magnet to generate a torque between the rotor shaft and the frame substrate.
摘要翻译： 一种薄配置和无刷的微型DC微型电动机，其包括轴向对准的至少两个基本上平坦的电动机单元。 每个电动机单元包括具有用于转子轴的细长开口和通道的定子线圈和承载在转子轴上并被接收在细长开口内的交叉极化转子磁体。 微型马达还包括框架基板，该框架基板可固定地支撑电动机单元的定子线圈，同时提供用于可旋转地支撑转子轴的支承装置，从而选择性地激励电动机单元之一产生与定子线圈相互作用的电流 接收的转子磁体的磁场，以在转子轴和框架基板之间产生转矩。
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公开(公告)号：US20120139466A1
公开(公告)日：2012-06-07
申请号：US12959159
申请日：2010-12-02
摘要： A thinly configured and brushless miniature DC micro motor that includes at least two substantially-flat motor cells that are aligned axially. Each motor cell comprises a stator coil having an elongate opening and passage for a rotor shaft, and a cross-polarized rotor magnet carried on the rotor shaft and received within the elongate opening. The micro motor also includes a frame substrate that fixably supports the stator coils of the motor cells while providing a bearing means for rotatably supporting the rotor shaft, so that selectively energizing one of the motor cells creates an electric current in the stator coil interacting with a magnetic field of the received rotor magnet to generate a torque between the rotor shaft and the frame substrate.
摘要翻译： 一种薄配置和无刷的微型DC微型电动机，其包括轴向对准的至少两个基本上平坦的电动机单元。 每个电动机单元包括具有用于转子轴的细长开口和通道的定子线圈和承载在转子轴上并被接收在细长开口内的交叉极化转子磁体。 微型马达还包括框架基板，该框架基板可固定地支撑电动机单元的定子线圈，同时提供用于可旋转地支撑转子轴的支承装置，从而选择性地激励电动机单元之一产生与定子线圈相互作用的电流 接收的转子磁体的磁场，以在转子轴和框架基板之间产生转矩。
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公开(公告)号：US20100317244A1
公开(公告)日：2010-12-16
申请号：US12814302
申请日：2010-06-11
摘要： An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
摘要翻译： 一种水陆两用的机器人履带，用于横过具有两个框架单元的水体，该框架单元由致动的连接臂端对端或串联连接。 每个框架单元包括具有可旋转地支撑在其上的可驱动连续轨道的壳体。 框架单元可与电源，驱动机构和控制模块一起操作。 每个框架单元还包括用于将框架单元悬挂在水中的浮力控制元件，并用于控制机器人履带在水中的深度。 控制模块协调连续轨道的旋转，联动臂的位置和浮力控制元件的浮力，以控制机器人履带通过水体的运动，方向和姿态。
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公开(公告)号：US20100174422A1
公开(公告)日：2010-07-08
申请号：US12350693
申请日：2009-01-08
CPC分类号： G05D1/0044
摘要： A remote operator console provides point and go navigation of a robotic vehicle. The remote operator console provides a display for visual representation of the environment in which the robotic vehicle is operating based on sensor information received from the robotic vehicle. An operator may designate a target point on the display. The robotic vehicle is automatically navigated toward a location in the environment corresponding to the designated target point.
摘要翻译： 远程操作员控制台提供机器人车辆的点对点导航。 远程操作员控制台基于从机器人车辆接收的传感器信息提供用于可视化表示机器人车辆在其中操作的环境的显示器。 操作员可以在显示器上指定目标点。 机器人车辆自动导航到与指定的目标点相对应的环境中的位置。
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公开(公告)号：US20130013108A1
公开(公告)日：2013-01-10
申请号：US13332146
申请日：2011-12-20
IPC分类号： G06F19/00
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0087 , B25J13/02
摘要： A mobile robotic lift assistance system that can accommodate and provide for operator manipulation and control of a robotic arm and associated end effector locally from and via the robotic arm itself, and within a zone of operation. The mobile robotic lift assistance system can include one or more robotic arms having an associated extremity control system operable therefrom, wherein the operator enters the zone of operation and engages a control interface device to manipulate and control the robotic arm, any end effector associated therewith, and optionally the mobile platform unit. The control interface system facilitates extremity control by the operator of the mobile robotic lift assistance system.
摘要翻译： 可移动的机器人提升辅助系统，其可以适应并且提供操作者操纵和控制机器人臂和相关联的端部执行器，并且经由机器人本身并且经由机器人本身并且在操作区域内。 移动机器人提升辅助系统可以包括一个或多个机器人臂，其具有可从其操作的相关联的末端控制系统，其中操作者进入操作区域并且与控制接口装置接合以操纵和控制机器人手臂，与其相关联的任何末端执行器， 以及可选的移动平台单元。 控制接口系统便于移动机器人提升辅助系统的操作者的肢体控制。
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17.发明申请公开(公告)号：US20130011220A1
公开(公告)日：2013-01-10
申请号：US13332152
申请日：2011-12-20
IPC分类号： B25J3/00
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0084 , B25J9/1689 , B25J13/025 , B66C1/425 , B66C13/44
摘要： A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
摘要翻译： 公开了一种用于控制远程操作的机器人敏捷升降系统的方法。 该方法包括操纵位于移动平台上的主机器人的人机界面。 人机界面在运动上相当于具有多个支撑构件的使用者手臂。 测量每个支撑构件的位置值和扭矩值。 位置值和扭矩值被传递到运动学等效的从动臂的支撑构件，以将支撑构件定位成与人机界面的位置相对应。
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公开(公告)号：US20120328395A1
公开(公告)日：2012-12-27
申请号：US13332165
申请日：2011-12-20
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, JR. , Wayco Scroggin , Marc X. Olivier
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, JR. , Wayco Scroggin , Marc X. Olivier
IPC分类号： B25J3/00
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
摘要翻译： 包括主控臂，从手臂和移动平台的远程机器人系统。 在使用中，用户操纵主控臂以控制从臂的移动。 远程机器人系统可以包括两个主控臂和两个从站。 主控制臂和从动臂可以安装在平台上。 该平台可以为主控制臂和机器人系统的远程操作员或用户提供支持。 因此，移动平台可以允许机器人系统从一个地方移动到另一个地方，以将从属臂定位在使用位置。 另外，用户可以定位在平台上，使得用户可以直接看到和听到从手臂和从属臂操作的工作空间。
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公开(公告)号：US08317555B2
公开(公告)日：2012-11-27
申请号：US12814302
申请日：2010-06-11
IPC分类号： B63H19/08
摘要： An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
摘要翻译： 一种水陆两用的机器人履带，用于横过具有两个框架单元的水体，该框架单元由致动的连接臂端对端或串联连接。 每个框架单元包括具有可旋转地支撑在其上的可驱动连续轨道的壳体。 框架单元可与电源，驱动机构和控制模块一起操作。 每个框架单元还包括用于将框架单元悬挂在水中的浮力控制元件，并用于控制机器人履带在水中的深度。 控制模块协调连续轨道的旋转，联动臂的位置和浮力控制元件的浮力，以控制机器人履带通过水体的运动，方向和姿态。
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公开(公告)号：US20120237319A1
公开(公告)日：2012-09-20
申请号：US13421612
申请日：2012-03-15
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
IPC分类号： B25J13/00
CPC分类号： B25J3/04 , B25J5/005 , B25J5/007 , B25J9/0087
摘要： An operator controllable robotic device is disclosed. The robotic device comprises a support member, an upper robotic arm, a lower robotic arm, and a control arm. The upper robotic arm is coupled to the support member and has rotational movement in at least one degree of freedom relative to the support member. The lower robotic arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows an operator to control the robotic device. The control arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows a movement of the operator to control a movement of at least one of the upper robotic arm and the lower robotic arm.
摘要翻译： 公开了一种操作者可控机器人装置。 机器人装置包括支撑构件，上机械手臂，下机械手臂和控制臂。 上机械手臂联接到支撑构件并且相对于支撑构件具有至少一个自由度的旋转运动。 下部机器人臂联接到上部机器人手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。 控制臂允许操作者控制机器人装置。 控制臂联接到上部机械手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。 控制臂允许操作者的运动来控制上机械手臂和下机械手臂中的至少一个的运动。
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