公开(公告)号：US20170095383A1

公开(公告)日：2017-04-06

申请号：US15380047

申请日：2016-12-15

Applicant: SOUTH CHINA UNIVERSITY OF TECHNOLOGY

Inventor： Yuanqing LI ,  Rui ZHANG

IPC: A61G5/04 ,  G06F3/01 ,  G05B6/02 ,  G05D1/02 ,  G06N99/00

CPC classification number: A61G5/04 ,  A61G2203/18 ,  A61G2203/22 ,  A61G2203/70 ,  G01C21/206 ,  G05B6/02 ,  G05D1/0212 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0253 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G06F3/013 ,  G06F3/015 ,  G06F3/0482 ,  G06N5/003 ,  G06N20/00 ,  G06N20/20

Abstract: Disclosed is an intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by webcams to perform obstacle localization; generating candidate destinations and waypoints for path planning according to the current obstacle information; performing self-localization of the wheel chair; selecting a destination by a user through the brain computer interface (BCI); planning an optimal path according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints; calculating a position error between the current position of the wheel chair and the optimal path as the feedback of aPID path tracking algorithm; and calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm and transmitting them to a PID motion controller, converting odometry data from encoders into current angular and linear velocities as a feedback of the PID motion controller, and controlling the driving of the wheel chair in real time to the destination. The intelligent wheel chair control method greatly relieves the mental burden of a user, can adapt to changes in the environment, and improves the self-care ability of patients with severe paralysis.

公开(公告)号：US09592609B2

公开(公告)日：2017-03-14

申请号：US14370372

申请日：2013-01-25

Applicant: Adept Technology, Inc.

Inventor： Matthew LaFary ,  Matthew Vestal ,  George V. Paul

IPC: G05B19/00 ,  B25J9/16 ,  G06N3/00 ,  G05D1/02 ,  G05B19/4061

CPC classification number: B25J9/1676 ,  G05B19/4061 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05D1/024 ,  G05D1/0274 ,  G06N3/008 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/50

Abstract: An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.

Abstract translation: 一种具有机器人基本控制器和机载导航系统的智能移动机器人，其响应于接收到指定与一个或多个作业操作相关联的作业位置的作业分配，激活所述车载导航系统以自动确定所述移动机器人 应该用于驾驶到作业位置，自动确定使用初始选择的路径可能导致移动机器人在物理环境中运行到静止或非静止障碍物（例如人或其他移动机器人）中，自动确定新的 避免静止和非固定障碍物的路径，并使用新路径自动将移动机器人驱动到作业位置，从而避免与这些障碍物的接触或碰撞。 在移动机器人到达作业位置之后，其自动执行与该作业位置相关联的所述一个或多个作业操作。

公开(公告)号：US09576185B1

公开(公告)日：2017-02-21

申请号：US14852806

申请日：2015-09-14

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

Inventor： Michael J. Delp

IPC: G06K9/00 ,  G05D1/02

CPC classification number: G05D1/0242 ,  G05D1/024 ,  G05D1/0251 ,  G05D2201/0213 ,  G06K9/00201 ,  G06K9/00805

Abstract: A method of autonomous driving includes generating, with a 3D sensor, 3D points representing objects in the environment surrounding a vehicle. The method further includes, with a computing device, identifying, from the 3D points, a temporal series of clusters of 3D points representing the same object in the environment surrounding the vehicle as a track, identifying cluster-based classifiers for the object based on identified local features for the clusters in the track, identifying track-based classifiers for the object based on identified global features for the track, combining the cluster-based classifiers and the track-based classifiers to classify the object, with the cluster-based classifiers being weighted based on an amount of information on the clusters from which they are identified, and with the weight increasing with increasing amounts of information, and driving the vehicle along a route based on the object's classification.

Abstract translation: 自主驾驶的方法包括使用3D传感器生成表示车辆周围的环境中的物体的3D点。 该方法还包括：使用计算设备，从3D点识别表示作为轨道的车辆周围的环境中的相同对象的3D点的群集的时间序列，基于所识别的标识来识别对象的基于群的分类器 基于轨道的标识的全局特征，为基于轨道的分类器识别轨道中的集群的本地特征，组合基于集群的分类器和基于轨道的分类器来对对象进行分类，基于集群的分类器 基于它们被识别的群集上的信息量加权，并且随着信息量的增加，权重增加，并且基于对象的分类沿着路线驾驶车辆。

公开(公告)号：US20170031363A1

公开(公告)日：2017-02-02

申请号：US14815343

申请日：2015-07-31

Applicant: Delphi Technologies, Inc.

Inventor： Michael H. Laur ,  Serge Lambermont ,  John P. Absmeier

IPC: G05D1/02 ,  G08G1/16 ,  G05D1/00

CPC classification number: G05D1/0257 ,  G01S13/931 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213 ,  G08G1/163 ,  G08G1/166

Abstract: A system for automated operation of a host-vehicle includes an object-detection device and a controller. The object-detection device is operable to detect an object in a field-of-view proximate to a host-vehicle. The object-detection device is operable to vary a field-of-focus of the object-detection device used to observe a portion of the field-of-view. The controller is configured to determine, based on information received from the object-detection device, a travel-direction of the object relative to a travel-path of the host-vehicle. The controller is also configured to adjust the field-of-focus of the object-detection device based on the travel-direction.

Abstract translation: 用于主车辆的自动操作的系统包括物体检测装置和控制器。 物体检测装置可操作以在接近主车辆的视场中检测物体。 物体检测装置可操作以改变用于观察视野的一部分的物体检测装置的焦点。 控制器被配置为基于从对象检测装置接收的信息来确定对象相对于主车辆的行进路径的行进方向。 控制器还被配置为基于行进方向来调整对象检测装置的焦点。

公开(公告)号：US20170023942A1

公开(公告)日：2017-01-26

申请号：US15284853

申请日：2016-10-04

Applicant: iRobot Corporation

Inventor： Joseph M. Johnson ,  Christopher John Morse ,  Marcus Williams

IPC: G05D1/02

CPC classification number: G05D1/024 ,  A47L2201/04 ,  G05D1/0027 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A mobile robot that includes a robot body having a forward drive direction, a drive system supporting the robot body above a cleaning surface for maneuvering the robot across the cleaning surface, and a robot controller in communication with the drive system. The robot also includes a bumper movably supported by a forward portion of the robot body and a obstacle sensor system disposed on the bumper. The obstacle sensor system includes at least one contact sensor disposed on the bumper, at least one proximity sensor disposed on the bumper and a auxiliary circuit board disposed on the bumper and in communication with the at least one contact sensor, the at least one proximity sensor, and the robot controller.

Abstract translation: 一种移动机器人，其包括具有向前驱动方向的机器人主体，将清洁表面上的机器人主体支撑以使机器人横过清洁表面操纵的驱动系统，以及与驱动系统通信的机器人控制器。 机器人还包括由机器人主体的前部可移动地支撑的保险杠和设置在保险杠上的障碍物传感器系统。 所述障碍物传感器系统包括布置在所述保险杠上的至少一个接触传感器，设置在所述保险杠上的至少一个接近传感器和设置在所述保险杠上并与所述至少一个接触传感器连通的辅助电路板，所述至少一个接近传感器 ，和机器人控制器。

公开(公告)号：US20170021767A1

公开(公告)日：2017-01-26

申请号：US15216987

申请日：2016-07-22

Applicant: Jiang Lu ,  Fangqin Liu

Inventor： Jiang Lu ,  Fangqin Liu

IPC: B60Q9/00 ,  F21S9/03 ,  F21V23/04 ,  G05D1/02 ,  H05B37/02

CPC classification number: B60Q9/004 ,  B62D15/027 ,  G05D1/024 ,  H05B33/0806 ,  H05B33/0842

Abstract: A laser guided parking assistance device and methods of operation are disclosed. An example laser guided parking assistance device includes a tilt switch to detect a vertical orientation of a horizontal orientation. The laser guided parking assistance device also includes a laser to emit a laser light beam in response to the tilt switch detecting the horizontal orientation. In an example, a laser guided parking assistance device is configured as a circuit including a battery power source, a laser diode connected in series with the battery power source, and a first tilt switch connected between the battery power source and the laser diode. The tilt switch opens in a vertical position to cut electrical power from the battery power source to the laser diode The first tilt switch closes in a horizontal position to connect electrical power from the battery power source to the laser diode.

Abstract translation: 公开了一种激光引导停车辅助装置和操作方法。 示例性激光引导停车辅助装置包括用于检测水平取向的垂直取向的倾斜开关。 激光引导停车辅助装置还包括激光器，响应于倾斜开关检测水平方向而发射激光束。 在一个示例中，激光引导停车辅助装置被配置为包括电池电源，与电池电源串联的激光二极管和连接在电池电源和激光二极管之间的第一倾斜开关的电路。 倾斜开关处于垂直位置，以将电力从电池电源切割到激光二极管。第一倾斜开关处于水平位置，以将来自电池电源的电力连接到激光二极管。

公开(公告)号：US09529088B2

公开(公告)日：2016-12-27

申请号：US14597879

申请日：2015-01-15

Applicant: HYUNDAI MOBIS CO., LTD. ,  The Industry & Academic Cooperation in Chungnam National University (IAC)

Inventor： Jeong Ku Kim ,  Seul Jung ,  Yun Ho Ko

IPC: G01C22/00 ,  G05D1/00 ,  G01S17/93 ,  G05D1/02

CPC classification number: G01S17/936 ,  G05D1/024

Abstract: Provided is an apparatus for determining an available driving space, including a laser distance sensor installed in a vehicle and configured to sense a region in front of the vehicle by a predetermined distance to generate distance information, a signal processing unit configured to generate plane distance information by using the distance information generated by the laser distance sensor, a curb searching unit configured to determine correlation and similarity between the generated plane distance information and previous plane distance information to search for a curb, and a determining unit configured to determine whether the region in front of the vehicle by the predetermined distance is an available driving space depending on whether a route of a curb searched by the curb searching unit is included in a driving region.

Abstract translation: 提供了一种用于确定可用的驱动空间的装置，包括安装在车辆中的激光距离传感器，并且被配置为感测车辆前方的预定距离以产生距离信息;信号处理单元，被配置为生成平面距离信息 通过使用由激光距离传感器生成的距离信息，路缘搜索单元，被配置为确定所生成的平面距离信息和先前平面距离信息之间的相关性和相似度以搜索路缘，以及确定单元， 车辆前方预定距离是取决于路边搜索单元搜索的路缘路由是否包括在驾驶区域中的可用驾驶空间。

公开(公告)号：US09529087B2

公开(公告)日：2016-12-27

申请号：US14339515

申请日：2014-07-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Inna Stainvas Olshansky ,  Yosi Buda

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/89 ,  G01S7/48 ,  G05D1/02 ,  G06K9/00

CPC classification number: G01S17/936 ,  G01S7/4802 ,  G01S17/89 ,  G05D1/024 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00791

Abstract: A method of detecting curb-like barriers along a route of travel using a lidar sensing system. Sparse measurement per each ray tracing is captured from a sensor using the lidar sensing system. Each ray tracing is analyzed separately by a processor. Curb candidates are identified for each respective beam. Curb candidates are combined to generate multiple curb representative hypotheses. A weighting factor is applied to each curb hypothesis. Curb hypothesis that represents the curb is selected. The curb detection is applied to an autonomous guidance system related to guiding a vehicle along the route of travel.

Abstract translation: 一种使用激光雷达感测系统沿着行进路线检测路缘形障碍物的方法。 使用激光雷达传感系统从传感器捕获每个光线跟踪的稀疏测量。 每个光线跟踪由处理器单独分析。 针对每个相应的光束识别路缘候选。 遏制候选人被组合以产生多个遏制代表假设。 每个路边假设应用加权因子。 选择代表路缘的遏制假设。 路边检测应用于沿着行进路线引导车辆的自主引导系统。

公开(公告)号：US09510715B2

公开(公告)日：2016-12-06

申请号：US12278976

申请日：2007-01-31

Applicant: Willem Frederik Van Den Bogert

Inventor： Willem Frederik Van Den Bogert

IPC: A47L5/36 ,  A47L9/04 ,  G05D1/02

CPC classification number: A47L5/362 ,  A47L9/04 ,  A47L2201/04 ,  G05D1/0225 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D2201/0215

Abstract: A robotic vacuum cleaner including a control system and a suction nozzle with a cleaning brush. The control system controls at least one of frequency and intensity of contact between the cleaning brush and each brushable portion of a floor surface to be cleaned such that at least one of the frequency and the intensity of contact between the cleaning brush and the floor surface decreases with a decrease of the distance to the at least one boundary of the floor surface.

Abstract translation: 一种机器人吸尘器，包括一个控制系统和一个带清洁刷的吸嘴。 所述控制系统控制所述清洁刷与要清洁的地板表面的每个可刷涂部分之间的接触频率和强度中的至少一个，使得所述清洁刷和所述地面之间的接触频率和强度中的至少一个减小 与地板表面的至少一个边界的距离减小。

公开(公告)号：US09504367B2

公开(公告)日：2016-11-29

申请号：US14531511

申请日：2014-11-03

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： In Joo Kim ,  Jeong Ki Yoo ,  Dong Hyun Lee ,  Dong Hun Lee ,  Jin Sung Kim

IPC: A47L11/282 ,  A47L11/40 ,  G05D1/02

CPC classification number: A47L11/4011 ,  A47L11/282 ,  A47L11/283 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4069 ,  A47L11/4083 ,  A47L2201/022 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0217 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A cleaning robot including a main body, a pad mounted below the main body to implement cleaning, and a drive assembly to apply drive power to the pad. The drive assembly moves the main body to a target position by adjusting the drive power. The cleaning robot may move at a high speed owing to omni-directional movement thereof without rotation of the main body. Further, the cleaning robot may imitate a human wiping pattern, thus achieving enhanced cleaning efficiency. Furthermore, various cleaning patterns including a straight pattern and a curvilinear pattern may be applied to the cleaning robot.

Abstract translation: 一种清洁机器人，包括主体，安装在主体下方以实现清洁的垫，以及驱动组件，用于向垫施加驱动力。 驱动组件通过调节驱动力将主体移动到目标位置。 清洁机器人可以由于其全方位的运动而以高速运动而不会旋转主体。 此外，清洁机器人可以模拟人的擦拭图案，从而实现提高的清洁效率。 此外，可以将包括直线图案和曲线图案的各种清洁图案应用于清洁机器人。