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公开(公告)号：US09898009B2
公开(公告)日：2018-02-20
申请号：US15119792
申请日：2015-02-06
Applicant: MURATA MACHINERY, LTD.
Inventor： Hideo Shitamoto
CPC classification number: G05D1/0274 , G05D1/0016 , G05D1/0088 , G05D1/0221 , G05D1/0223 , G05D1/024 , G05D2201/02 , G05D2201/0216
Abstract: An autonomous travel vehicle includes a platform, a traveler, a storage, an arrival position predictor, a corrected speed calculator, and a reproduction travel command calculator. The traveler controls the platform to travel in accordance with a travel control command. The storage stores travel route data, which stores subgoal points, arrival times, and traveling speeds in association with each other. In the reproduction travel mode, the arrival position predictor predicts a predicted arrival position. In the reproduction travel mode, the corrected speed calculator calculates a corrected traveling speed based on a predicted traveling distance and a required traveling distance. The reproduction travel command calculator calculates a reproduction travel control command based on the corrected traveling speed, as the travel control command.
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公开(公告)号：US20180031694A1
公开(公告)日：2018-02-01
申请号：US15340350
申请日：2016-11-01
Applicant: Alpha Networks Inc.
Inventor： Rong- Fa KUO
CPC classification number: G01S13/88 , G01S13/06 , G01S13/4463 , G01S13/74 , G01S13/931 , G05D1/0094 , G05D1/0257 , G05D2201/02
Abstract: A mobile navigation system includes a directive beamforming antenna carried by the vehicle, emitting first and second sensing beams in first and second directions at first and second time points, respectively; an electromagnetic wave reflector installed in the target zone, receiving the first and second sensing beams, and transmitting first and second retro waves back; and a processor electrically coupled to the directive beamforming antenna, receiving the first and second retro waves, and determining a direction where the vehicle will be guided to move according to information of the first and second retro waves. A coverage area of the first sensing beam and a coverage area of the second sensing beam partially overlaps with each other, and the direction where the vehicle will be guided to move lies between the first direction and the second direction.
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公开(公告)号：US09844873B2
公开(公告)日：2017-12-19
申请号：US15464104
申请日：2017-03-20
Applicant: Brain Corporation
Inventor： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
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公开(公告)号：US09613308B2
公开(公告)日：2017-04-04
申请号：US14244892
申请日：2014-04-03
Applicant: BRAIN CORPORATION
Inventor： Eugene M. Izhikevich , Patryk Laurent , Vadim Polonichko
CPC classification number: G06N3/008 , G05D1/0022 , G05D1/0088 , G05D1/0246 , G05D2201/02 , G06N3/049 , G06N99/005 , Y10S901/01 , Y10S901/47
Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associated with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.
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公开(公告)号：US09604359B1
公开(公告)日：2017-03-28
申请号：US14607018
申请日：2015-01-27
Applicant: BRAIN CORPORATION
Inventor： Oyvind Grotmol , Oleg Sinyavskiy
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: An apparatus and methods for training and/or operating a robotic device to follow a trajectory. A robotic vehicle may utilize a camera and stores the sequence of images of a visual scene seen when following a trajectory during training in an ordered buffer. Motor commands associated with a given image may be stored. During autonomous operation, an acquired image may be compared with one or more images from the training buffer in order to determine the most likely match. An evaluation may be performed in order to determine if the image may correspond to a shifted (e.g., left/right) version of a stored image as previously observed. If the new image is shifted left, right turn command may be issued. If the new image is shifted right then left turn command may be issued.
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Patent Agency Ranking
公开(公告)号：US20160313738A1
公开(公告)日：2016-10-27
申请号：US15138845
申请日：2016-04-26
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toshiki KINDO , Yoshinori WATANABE
IPC: G05D1/02
CPC classification number: G05D1/0212 , B62D15/025 , B62D15/0255 , G05D1/0251 , G05D1/0257 , G05D1/0274 , G05D2201/02
Abstract: An automatic driving vehicle system includes: a surrounding information recognition unit that recognizes surrounding information of a vehicle; a vehicle state recognition unit that recognizes a vehicle state of the vehicle; a running plan generation unit that generates a running plan based on the surrounding information of the vehicle and that generates a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information; a first computation unit that computes a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan, the vehicle state and the control band; and an actuator that controls the running of the vehicle based on the command control value. The system may also include an actuator control unit.
Abstract translation: 一种自动驾驶车辆系统，包括：周边信息识别单元，其识别车辆的周围信息; 识别车辆的车辆状态的车辆状态识别单元; 运行计划生成单元，其基于车辆的周围信息生成运行计划，并且基于车辆状态和周围信息中的至少一个，生成运行计划中的车辆的目标控制值的控制带 ; 第一计算单元，基于行驶计划，车辆状态和控制带，计算指示控制值，使得车辆状态成为与目标控制值相对应的目标车辆状态; 以及基于命令控制值来控制车辆的行驶的致动器。 该系统还可以包括致动器控制单元。
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17.发明申请公开(公告)号：US20150283702A1
公开(公告)日：2015-10-08
申请号：US14244888
申请日：2014-04-03
Applicant: BRAIN CORPORATION
Inventor： Eugene M. Izhikevich , Patryk Laurent , Micah Richert , Csaba Petre
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/161 , G05D1/0022 , G05D1/0088 , G05D1/0246 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associates with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.
Abstract translation: 机器人设备可以由用户远程操作。 学习控制器装置可以检测包括用户控制指令的远程传输。 学习装置可以接收关于机器人的状态和环境（上下文）的感官输入。 学习装置可以监视一个或多个波长（红外光，无线电信道），并且在用户操作期间检测从用户遥控装置到机器人的传输。 学习装置可以被配置为在给定的上下文之间发展检测到的用户远程控制指令和机器人的动作之间的关联。 当发生给定的感觉上下文时，学习控制器可以自动向可能与给定上下文相关联的机器人提供控制指令。 通过学习控制器向机器人提供控制指令可以避免用户对机器人的远程控制的需要，从而实现机器人的自主操作。
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公开(公告)号：US09033088B2
公开(公告)日：2015-05-19
申请号：US13767308
申请日：2013-02-14
Inventor： Richard Joseph Salek , Cristian Ignat , William Brad Cheeseman , Kevin W. Sharp , Brian Linka , Rod James Albon , John Andrew Szentimrey , Jonathan Philip Kenneth Eng
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。
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公开(公告)号：US20150127150A1
公开(公告)日：2015-05-07
申请号：US14102410
申请日：2013-12-10
Applicant: BRAIN CORPORATION
Inventor： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
Abstract translation: 机器人设备可以由训练者训练，该训练者使用与机器人的物理接触沿着目标轨迹引导机器人。 机器人可以包括自适应控制器，其被配置为基于训练者输入，感觉输入和/或性能测量中的一个或多个来产生控制命令。 训练者可以观察机器人执行任务。 响应于观察目标行为与实际行为之间的差异，培训者可以通过触觉动作提供教学输入。 机器人可以基于由机器人的学习过程产生的内部控制信号与训练输入的组合来执行动作。 机器人可以基于预测状态与机器人的实际状态的比较来推断教学输入。 机器人的学习过程可以根据教学输入进行调整，以减少后续试验期间的差异。
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公开(公告)号：US08996168B2
公开(公告)日：2015-03-31
申请号：US13084350
申请日：2011-04-11
Applicant: Thomas J. Murray, IV , Baoquoc N. Pham , Paolo Pirjanian
Inventor： Thomas J. Murray, IV , Baoquoc N. Pham , Paolo Pirjanian
CPC classification number: G06N3/008 , B25J9/161 , B25J9/1661 , B25J9/1666 , G05B2219/40389 , G05B2219/40397 , G05D1/0088 , G05D2201/02 , G06F9/455 , Y10T436/11
Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.
Abstract translation: 公开了一种为机器人提供硬件抽象层（HAL）的方法和装置。 HAL可以作为软件层或驻留在机器人控制软件和底层机器人硬件和/或硬件的操作系统之间的固件层存在。 HAL为底层硬件的聚合提供了相对均匀的抽象，使得潜在的机器人硬件对感知和控制软件即机器人控制软件是透明的。 这有利地允许以机器人独立的方式写入机器人控制软件。 机器人控制软件的开发者然后摆脱繁琐的低级任务。 便携性是另一个优势。 例如，HAL有效地允许为一个机器人开发的机器人控制软件移植到另一个机器人。 在一个示例中，HAL允许从轮式机器人移植相同的导航算法，并在人形腿式机器人上使用。
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