公开(公告)号：US08453533B2

公开(公告)日：2013-06-04

申请号：US13456395

申请日：2012-04-26

申请人： Graham Ryland ,  Harry H. Cheng

发明人： Graham Ryland ,  Harry H. Cheng

IPC分类号： B25J17/00 ,  B25J11/00

CPC分类号： B25J9/08 ,  B08B9/045 ,  B25J9/06 ,  B25J9/065 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20341

摘要： A module of a center link pivotably connected to two outer links has continuously rotatable faceplates rotatably disposed on the two outer links, thereby creating four degrees of freedom (4-DOF). Modules may be connected via faceplates to produce a “snake” assembly. A single module may move forward in a straight line through simultaneous rotation of the two faceplates. By reversing the rotation of the faceplates, the module may turn in its own length. By sequentially pivoting the outer links relative to the center link, an “inch worm” movement may be used to move the module. Interconnections of two or more modules increase the number of available degrees of freedom, and increase the flexibility of the resultant assembly. Apertures in the faceplates and the outer links allow for interconnection of modules and allow for electrical power and signal connections. A battery housed in the center link provides power for each module.

摘要翻译： 可枢转地连接到两个外部链节的中心连杆的模块具有可旋转地设置在两个外部链节上的连续可旋转的面板，从而产生四个自由度（4-DOF）。 模块可以通过面板连接以产生“蛇”组件。 单个模块可以通过两个面板的同时旋转以直线向前移动。 通过反转面板的旋转，模块可以自己的长度转动。 通过相对于中心连杆顺序枢转外部链节，可以使用“英寸蜗杆”运动来移动模块。 两个或多个模块的互连增加了可用自由度的数量，并增加了所得组件的灵活性。 面板和外部链接中的孔径允许模块互连，并允许电力和信号连接。 中央连接的电池为每个模块提供电源。

公开(公告)号：US06404506B1

公开(公告)日：2002-06-11

申请号：US09264828

申请日：1999-03-08

申请人： Harry H. Cheng ,  Benjamin D. Shaw ,  Joe Palen ,  Jonathan E. Larson ,  Xudong Hu ,  Kirk Van Katwyk

发明人： Harry H. Cheng ,  Benjamin D. Shaw ,  Joe Palen ,  Jonathan E. Larson ,  Xudong Hu ,  Kirk Van Katwyk

IPC分类号： G01B1102

CPC分类号： G01B11/04

摘要： In current practice, quantitative traffic data is most commonly acquired from inductive loops. In addition, video-image processing or time-of-flight laser systems can be used. These methods all have problems associated with them. Therefore, we have developed a new type of non-intrusive laser-based detection system for measurement of vehicle travel time. The system employs a fan angle laser, an image lens, a set of cylindrical optics, a linear photodetector array, and associated signal processing hardware and software. The system is positioned above the plane of detection and configured such that it can unambiguously find the object boundaries in all lighting conditions independent of the time-of-flight of the laser. Instead of depending upon the reflectance of the object being detected, or determination of the range or distance from the detector to the object being detected, the invention reflects the laser off of the pavement or other roadway surface. The lack of a reflection determines the size, shape, and “presence” of the vehicle, and the system is capable of determining the length and width of moving objects, as well as travel time, in real time with high resolution.

摘要翻译： 在目前的实践中，定量交通数据最常见于电感回路。 此外，可以使用视频图像处理或飞行时间激光系统。 这些方法都有与之相关的问题。 因此，我们开发了一种新型的非侵入式激光检测系统，用于测量车辆行驶时间。 该系统采用扇形角激光器，图像透镜，一组圆柱形光学器件，线性光电检测器阵列以及相关的信号处理硬件和软件。 该系统位于检测平面之上并且被配置为使得它能够明确地在所有照明条件下找到与激光器的飞行时间无关的物体边界。 本发明不依赖于被检测物体的反射率，或者确定从检测器到被检测物体的距离或距离，反射了路面或其他道路表面上的激光。 缺乏反射决定了车辆的尺寸，形状和“存在”，并且系统能够以高分辨率实时地确定移动物体的长度和宽度以及行驶时间。

公开(公告)号：US20120204670A1

公开(公告)日：2012-08-16

申请号：US13456395

申请日：2012-04-26

申请人： Graham Ryland ,  Harry H. Cheng

发明人： Graham Ryland ,  Harry H. Cheng

IPC分类号： B25J17/00

CPC分类号： B25J9/08 ,  B08B9/045 ,  B25J9/06 ,  B25J9/065 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20341

摘要： A module of a center link pivotably connected to two outer links has continuously rotatable faceplates rotatably disposed on the two outer links, thereby creating four degrees of freedom (4-DOF). Modules may be connected via faceplates to produce a “snake” assembly. A single module may move forward in a straight line through simultaneous rotation of the two faceplates. By reversing the rotation of the faceplates, the module may turn in its own length. By sequentially pivoting the outer links relative to the center link, an “inch worm” movement may be used to move the module. Interconnections of two or more modules increase the number of available degrees of freedom, and increase the flexibility of the resultant assembly. Apertures in the faceplates and the outer links allow for interconnection of modules and allow for electrical power and signal connections. A battery housed in the center link provides power for each module.

摘要翻译： 可枢转地连接到两个外部链节的中心连杆的模块具有可旋转地设置在两个外部链节上的连续可旋转的面板，从而产生四个自由度（4-DOF）。 模块可以通过面板连接以产生“蛇”组件。 单个模块可以通过两个面板的同时旋转以直线向前移动。 通过反转面板的旋转，模块可以自己的长度转动。 通过相对于中心连杆顺序枢转外部链节，可以使用“英寸蜗杆”运动来移动模块。 两个或多个模块的互连增加了可用自由度的数量，并增加了所得组件的灵活性。 面板和外部链接中的孔径允许模块互连，并允许电力和信号连接。 中央连接的电池为每个模块提供电源。