公开(公告)号：US06889118B2

公开(公告)日：2005-05-03

申请号：US10307199

申请日：2002-11-27

申请人： Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

发明人： Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

IPC分类号： B25J13/00 ,  B25J9/16 ,  G06F9/44 ,  G06F13/10 ,  G06N3/00 ,  G05B19/04 ,  G05B19/18

CPC分类号： G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

摘要： 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.

摘要翻译： 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。 便携性是另一个优点。 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。

公开(公告)号：US20050021186A1

公开(公告)日：2005-01-27

申请号：US10924100

申请日：2004-08-23

申请人： Thomas Murray ,  Baoquoc Pham ,  Paolo Pirjanian

发明人： Thomas Murray ,  Baoquoc Pham ,  Paolo Pirjanian

IPC分类号： B25J13/00 ,  B25J9/16 ,  G06F9/44 ,  G06F13/10 ,  G06N3/00 ,  G06F19/00 ,  G05B15/00

CPC分类号： G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

摘要： 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.

摘要翻译： 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。 便携性是另一个优点。 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。

公开(公告)号：US20030171846A1

公开(公告)日：2003-09-11

申请号：US10307199

申请日：2002-11-27

发明人： Thomas J. Murray IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

IPC分类号： G06F019/00

CPC分类号： G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

摘要： The invention is related to methods and apparatus that provide a hardware abstraction layer (HAL) for a robot. 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.

摘要翻译： 本发明涉及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。 便携性是另一个优点。 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。

公开(公告)号：US20240255949A1

公开(公告)日：2024-08-01

申请号：US18363274

申请日：2023-08-01

申请人： Deere & Company

发明人： Liwen Dai ,  Yunfeng Shao ,  Marlon W. Bright

IPC分类号： G05D1/02

CPC分类号： G05D1/0212 ,  G05D1/0278 ,  G05D2201/02

摘要： An electronic data processor, a reference frame converter, or a transformer is configured to transform or converting the second position in the PPP reference frame into a transformed second position in a universal reference frame. The electronic data processor is configured to assign an identifier to the first position observation and the second position observation, where the identifier indicates whether the observations are associated with a guidance path or a boundary of a field or work area.

公开(公告)号：US11933008B2

公开(公告)日：2024-03-19

申请号：US17395524

申请日：2021-08-06

申请人： Ari J. Ostrow ,  Adriel Kohananoo ,  Ruben Prawer

发明人： Ari J. Ostrow ,  Adriel Kohananoo ,  Ruben Prawer

IPC分类号： E01H10/00 ,  B25J9/16 ,  B25J13/08 ,  B25J5/00 ,  G05D1/00

CPC分类号： E01H10/007 ,  B25J9/1602 ,  B25J9/162 ,  B25J9/1676 ,  B25J13/086 ,  B25J5/007 ,  G05D1/0214 ,  G05D1/0236 ,  G05D2201/02

摘要： An apparatus for de-icing a pathway, the apparatus comprising a frame including a set of wheels, a salt dispenser, a servo attached to the salt dispenser, one or more motors, the motors attached to at least one of the set of wheels, and a microcontroller communicatively coupled to the servo and the one or more motors, wherein the microcontroller instructs the servo to operate the salt dispenser and activates the one or more motors to drive the at least one of the set of wheels.

公开(公告)号：US11899467B2

公开(公告)日：2024-02-13

申请号：US16807947

申请日：2020-03-03

申请人： SAMSUNG ELECTRONICS CO., LTD.

发明人： Woomok Kim ,  Hyunmi Choi ,  Dongshin Song

IPC分类号： G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  B25J9/16 ,  B25J19/02 ,  B25J19/06 ,  G06N3/08 ,  G06V20/10

CPC分类号： G05D1/0246 ,  B25J9/1676 ,  B25J19/023 ,  B25J19/06 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0274 ,  G06N3/08 ,  G06T7/70 ,  G06V20/10 ,  G05D2201/02 ,  G06T2207/10016 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30196

摘要： Disclosed is an electronic apparatus. The electronic apparatus includes: a camera; a memory configured to store attribute information and environment information; and a processor configured to identify a plurality of objects based on an image obtained by the camera, identify a first context of a first object, from among the plurality of objects, based on a relationship between attribute information of the plurality of objects and the environment information, and control a traveling state of the electronic apparatus based on the first context.

公开(公告)号：US11821997B2

公开(公告)日：2023-11-21

申请号：US17532362

申请日：2021-11-22

申请人： Horizon Technologies Consultants, Ltd.

发明人： Gary Goodrum ,  John Beckner ,  David Saunders

IPC分类号： G01S19/51 ,  G01S19/08 ,  G01S19/14 ,  G01S19/31 ,  G05D1/00 ,  G05D1/02

CPC分类号： G01S19/51 ,  G01S19/08 ,  G01S19/14 ,  G01S19/31 ,  G05D1/0022 ,  G05D1/0278 ,  G05D2201/02

摘要： The described geolocation techniques determine a location of an earth-based vehicle using a non-geostationary satellite. For instance, the non-geostationary satellite receives signals transmitted by the earth-based vehicle, determines the arrival times of the signals, and the position information of the satellite corresponding to the arrival times of the signals. The arrival times and position information of the satellite are sent to a signal processing unit to determine a location of the vehicle.

公开(公告)号：US11803191B2

公开(公告)日：2023-10-31

申请号：US17679382

申请日：2022-02-24

申请人： PixArt Imaging Inc.

发明人： Guo-Zhen Wang

IPC分类号： G05D1/02 ,  G06T7/62 ,  G06T7/70 ,  G06T5/00 ,  G06T7/73

CPC分类号： G05D1/0246 ,  G05D1/024 ,  G06T5/00 ,  G06T7/62 ,  G06T7/70 ,  G06T7/73 ,  G05D2201/02 ,  G06T2207/10016

摘要： There is provided a moving robot including a light projector, an image sensor and a processing unit. The light projector projects a vertical light segment toward a moving direction. The image sensor captures, toward the moving direction, an image frame containing a light segment image associated with the vertical light segment. The processing unit calculates a step distance and a segment feature according to the image frame, outputs a flag signal according to the segment feature to indicate whether the calculated step distance is confident or not, and perform a pixel interpolation in calculating the step distance to improve the identification accuracy.

公开(公告)号：US11789461B2

公开(公告)日：2023-10-17

申请号：US17360599

申请日：2021-06-28

申请人： UATC, LLC

发明人： Matthew Shaw Wood ,  William M. Leach ,  Scott C. Poeppel ,  Nicholas G. Letwin ,  Noah Zych

IPC分类号： G05D1/02 ,  B60W30/09 ,  B62D15/02 ,  G01S13/93 ,  G01S15/93 ,  G01S17/93 ,  G01S13/931 ,  G01S15/931 ,  G01S17/931

CPC分类号： G05D1/0297 ,  B60W30/09 ,  B62D15/0265 ,  G01S13/931 ,  G01S15/931 ,  G01S17/931 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/0257 ,  G05D1/0287 ,  G05D2201/02 ,  G05D2201/0213

摘要： Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

公开(公告)号：US20230213934A1

公开(公告)日：2023-07-06

申请号：US18184040

申请日：2023-03-15

申请人： DENSO TEN Limited

发明人： Kazuya KOYAMA ,  Tomoya TAKAGI ,  Haruo HARADA ,  Yasuomi KIMURA ,  Miki HITOTSUYA

IPC分类号： G05D1/00 ,  A61G5/10

CPC分类号： G05D1/0022 ,  A61G5/1051 ,  G05D1/0061 ,  G05D1/0088 ,  G05D2201/02

摘要： A vehicle control method to be executed by a controller for controlling a vehicle that travels in an area including a plurality of floors, wherein the controller is configured to: in a case where detecting occurrence of a disaster and determining that a floor on which the vehicle exists is different from a floor on which a first evacuation place being a priority evacuation place exists, set a destination to a second evacuation place existing on a floor that is a same as the floor on which the vehicle exists; and cause the vehicle to move to the second evacuation place.