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公开(公告)号：US5517205A
公开(公告)日：1996-05-14
申请号：US40484
申请日：1993-03-31
CPC分类号： H01Q1/34 , H01Q1/18 , Y10T74/1888
摘要： An antenna pointing device for use in a satellite tracking system, including a satellite tracking system mounted on a moving body. The tracking system has at least one sensor that generates a signal indicating the orientation of the moving body relative to the satellite. The pointing device includes a base mounted on the moving body, an antenna pointing arm carrying the antenna and a universal joint supported by the base. The pointing arm is rotatably mounted within the universal joint for rotation about first and second control axes, the universal joint being constructed and arranged to enable rotation of the pointing arm through greater than 180 degrees but less than 360 degrees about each of the first and second control axes while suffering no singularities of control. The universal joint is further constructed and arranged so that the orientation of the first control axis varies as the antenna pointing arm is rotated about the second control axis, and the orientation of the second control axis varies as the pointing arm is rotated about the first control axis. The pointing device further includes control means, responsive to the at least one sensor, for rotating the antenna pointing arm about the first and second control axes when the moving body changes its orientation so that the antenna is continuously pointed at the satellite.
摘要翻译： 一种用于卫星跟踪系统的天线指示装置，包括安装在移动体上的卫星跟踪系统。 跟踪系统具有至少一个传感器，其产生指示移动体相对于卫星的取向的信号。 指示装置包括安装在移动体上的基座，承载天线的天线指示臂和由基座支撑的万向节。 指针臂可旋转地安装在万向接头内，用于围绕第一和第二控制轴线旋转，该万向节被构造和布置成能使指点臂绕第一和第二控制轴的每一个旋转大于180度但小于360度 控制轴没有控制的奇点。 万向接头被进一步构造和布置成使得当天线指示臂围绕第二控制轴线旋转时，第一控制轴线的取向变化，并且第二控制轴线的取向随着指示臂围绕第一控制轴线旋转而变化 轴。 指示装置还包括响应于至少一个传感器的控制装置，用于当移动体改变其取向使得天线连续地指向卫星时，围绕第一和第二控制轴旋转天线指向臂。
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公开(公告)号：US5051906A
公开(公告)日：1991-09-24
申请号：US363601
申请日：1989-06-07
CPC分类号： G01S5/16 , G05D1/0244 , G05D1/0246 , G05D1/0272 , G05D1/0255
摘要： Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of a retroreflective ceiling feature. A mobile robot 10 includes a light source 28 and a camera 12 that are pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more strip-like retroreflective features 16 which are preferably aligned with an axis of the hallway. In that the feature presents a pattern or alignment which is substantially parallel to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.
摘要翻译： 从回射式天花板特征的图像中提供用于确定车辆在诸如走廊的环境中的定向和位置的装置和方法。 移动机器人10包括以水平和天顶之间的中间角倾斜倾斜的光源28和照相机12。 相机观看具有一个或多个条状回射特征16的天花板，其优选地与走廊的轴线对准。 因为该特征呈现基本上平行于走廊的长轴的图案或对准，该图案被检测和处理以从其导出机器人导航信息。
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公开(公告)号：US5040116A
公开(公告)日：1991-08-13
申请号：US541285
申请日：1990-06-20
CPC分类号： G01S17/936 , G05D1/0246 , G05D1/0274
摘要： A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of a object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.
摘要翻译： 用于诸如移动机器人（10）的车辆的视觉系统包括至少一个辐射投影仪（14,16），其将结构化的辐射束投射到机器人的环境中。 结构化辐射束（14a，16a）优选地具有足够宽度的基本上平面的图案，以包围机器人的立即前进路径，并且还包括横向设置的区域，以允许转动调整。 视觉系统还包括成像（12）传感器，例如具有二维视场的CCD成像装置，其包围机器人的立即前进路径。 图像传感器处理器（18）包括耦合到可操作以访问图像存储器的设备（18D）的图像存储器（18A）。 图像处理部分地通过对结构化波束图案的存储图像进行三角测量来获得相对于机器人的被照明物体的范围和方位。 所述机器人的导航控制系统（20）至少从所述视觉系统输入数据，并推断出与所述机器人前方环境的配置有关的数据。 导航控制系统产生驱动推进和转向马达的控制信号，以便通过感知环境导航机器人。
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公开(公告)号：US4905151A
公开(公告)日：1990-02-27
申请号：US165015
申请日：1988-03-07
IPC分类号： G05D1/02
CPC分类号： G05D1/0253 , G05D1/0272 , G05D1/0274 , G05D1/0251 , G05D1/027
摘要： A vision system for a mobile robot 10 comprises an optical sensor subsystem 20 which generates a substantially one dimensional image of an environment, a signal processing subsystem 24 for extracting and enhancing significant vertical visual features from the one dimensional image and a feature processing system 26 which analyses rapidly and in real time the extracted features for use by a control system 28 for navigation of the robot. The optical sensor may be a line scan camera having a plurality of outputs which relate to brightness values received from the environment. Triangulation, optical flow and optical flow with log transforms methods are disclosed for processing the one dimensional image data to yield azimuth and/or distance to an object within the environment. Also disclosed is a binocular vision system which generates two, one dimensional images and a method of processing same.
摘要翻译： 用于移动机器人10的视觉系统包括产生环境的基本上一维图像的光学传感器子系统20，用于从一维图像提取和增强显着的垂直视觉特征的信号处理子系统24以及特征处理系统26， 分析快速且实时地提取用于由机器人导航的控制系统28使用的提取特征。 光学传感器可以是具有与从环境接收的亮度值相关的多个输出的行扫描照相机。 公开了使用对数变换方法的三角测量，光流和光流处理一维图像数据以产生与环境内的对象的方位角和/或距离。 还公开了一种双目视觉系统，其生成两个一维图像及其处理方法。
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公开(公告)号：US4067015A
公开(公告)日：1978-01-03
申请号：US595254
申请日：1975-07-11
CPC分类号： G01S3/48 , F21W2131/406
摘要： A system for tracking moving signal sources is disclosed which is particularly adaptable for use in tracking stage performers, although a wide range of other uses is possible. A miniature transmitter is attached to the person or object to be tracked and emits a detectable signal of a predetermined frequency. A plurality of detectors positioned in a preset pattern sense the signal and supply output information to a phase detector which applies signals representing the angular orientation of the transmitter to a computer. The computer provides command signals to a servo network which drives a device such as a motor driven mirror reflecting the beam of a spotlight, to track the moving transmitter.
摘要翻译： 公开了用于跟踪移动信号源的系统，其特别适用于跟踪阶段执行者，尽管其他用途的范围很广。 微型发射机连接到要跟踪的人或物体，并发射预定频率的可检测信号。 以预设图案定位的多个检测器感测信号并将输出信息提供给相位检测器，相位检测器将表示发射器的角度定向的信号应用于计算机。 计算机向伺服网络提供命令信号，该伺服网络驱动诸如反射聚光灯的光束的电动机驱动反射镜的装置，以跟踪移动的发射器。
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公开(公告)号：US5103306A
公开(公告)日：1992-04-07
申请号：US500735
申请日：1990-03-28
CPC分类号： H04N11/042 , G01S5/163 , G06T3/403 , H04N19/00 , H04N7/24
摘要： Video image compression apparatus and method provides full color, wide field of view, real time imagery having high central resolution. Compression ratios of 1600:1 are achieved thus reducing a required data transmission bandwidth sufficiently to abolish line-of-sight restrictions. Data compression apparatus and method (a) uses a log polar mapper to match the image display to human perceptual resolution to achieve a 25:1 compression ratio with no loss of perceived cues, (b) separates perceptual channels into low resolution, high discrimination level color and high resolution, low discrimination level contrast edges to yield an additional 8:1 compression ratio and (c) applies a data compression technique to yield an additional 8:1 compression ratio. A Gaussian filter is employed in generating a display of the imagery from the compressed data. An operator is provided a capability to rapidly move the high resolution window to any point of interest within the display.
摘要翻译： 视频图像压缩装置和方法提供全彩色，宽视野，具有高中心分辨率的实时图像。 实现了压缩比为1600：1，从而减少了所需的数据传输带宽，足以消除视距限制。 数据压缩装置和方法（a）使用对数极坐标映射器将图像显示与人感知分辨率相匹配，以实现25：1的压缩比而不损失感知的线索，（b）将感知信道分离成低分辨率，高辨别度 颜色和高分辨率，低识别级别对比度边缘，以产生额外的8：1压缩比，（c）应用数据压缩技术产生额外的8：1压缩比。 高斯滤波器用于从压缩数据生成图像的显示。 提供操作者能够将高分辨率窗口快速移动到显示器内的任何感兴趣点。
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7.发明授权
公开(公告)号：US4962453A
公开(公告)日：1990-10-09
申请号：US307765
申请日：1989-02-07
CPC分类号： A47L11/4011 , A47L11/4061 , B60L15/20 , B60L9/08 , G05D1/0272 , A47L2201/04 , B60L2200/40 , B60L2240/423 , B60L2260/32 , G05D1/0227 , G05D2201/0203 , G05D2201/0208 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A means and method for control of an autonomous vehicle while working on a surface, specifically for operation of an automatic floor cleaning machine using power derived from line power through a wall plug and cord. The vehicle uses information derived from contact between bumpers and objects in the environment to sense the geometry of its environment and utilizes a recursively applied algorithm to systematically and efficiently cover the floor area.
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公开(公告)号：US4954962A
公开(公告)日：1990-09-04
申请号：US241059
申请日：1988-09-06
CPC分类号： G01C21/00 , G01S17/936 , G05D1/0246 , G05D1/0274
摘要： A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of an object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.
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公开(公告)号：US4933864A
公开(公告)日：1990-06-12
申请号：US253231
申请日：1988-10-04
CPC分类号： G05D1/0253 , G01S5/16 , G01S5/163 , G05D1/0272
摘要： Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of ceiling lights. A mobile robot 10 includes a camera 12 that is pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more ceiling lights 16 which may be of rectangular shape and which are preferably aligned with an axis of the hallway. In that the lights present a pattern or alignment which is substantially parallel to or perpendicular to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.
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