公开(公告)号：US20050119825A1

公开(公告)日：2005-06-02

申请号：US10500991

申请日：2002-01-09

申请人： Julien Serre

发明人： Julien Serre

IPC分类号： G01C21/34

CPC分类号： G01C21/3446

摘要： The invention relates to a network comprising numerous nodes which are paired by means of segments. The inventive method consists in: allocating a cost to each segment in the network; producing two path graphs, essentially from two points respectively; interrupting the production of the two graphs when they comprise at least a first common interference node; determining the two minimal cost paths which belong respectively to the two graphs; and linking the two minimal cost paths in order to obtain the minimal cost path between the two points. The invention also relates to a server which is used to implement said method.

摘要翻译： 本发明涉及一种网络，其包括通过段配对的多个节点。 本发明的方法在于：为网络中的每个段分配成本; 分别生成两个路径图，分别是两点; 当它们包括至少第一公共干扰节点时，中断两个图的生成; 确定分别属于两个图的两个最小成本路径; 并链接两个最小成本路径，以获得两点之间的最小成本路径。 本发明还涉及一种用于实现所述方法的服务器。

公开(公告)号：US09327400B2

公开(公告)日：2016-05-03

申请号：US12736456

申请日：2009-04-08

申请人： Julien Serre ,  Brice Marnier ,  Jerome Matard

发明人： Julien Serre ,  Brice Marnier ,  Jerome Matard

IPC分类号： G06F19/00 ,  B25J13/00 ,  B25J9/16 ,  G06N3/00 ,  B25J3/04 ,  B25J5/00 ,  G05B19/414 ,  G06F11/10

CPC分类号： B25J9/161 ,  G05B19/4141 ,  G05B19/4148 ,  G05B2219/33212 ,  G05B2219/40304 ,  G06F11/1004 ,  G06N3/008

摘要： The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

摘要翻译： 本发明适用于能够具有人性化和复杂功能的移动机器人，使其能够执行任务。 为了使机器人内部的通信能够被优化，并且允许具有物理性（可能替代机器人部件）和软件（更换程序以适应新任务）的多功能性，提供具有三个计算机级别的架构 。 最高级别包括机器人的智能，其产生由中间计算机发送到控制传感器和致动器的低级卡的命令。 中间计算机和低级卡之间的通信由至少一个特定的安全通信协议来管理。

公开(公告)号：US20110029128A1

公开(公告)日：2011-02-03

申请号：US12736456

申请日：2009-04-08

申请人： Julien Serre ,  Brice Marnier ,  Jerome Matard

发明人： Julien Serre ,  Brice Marnier ,  Jerome Matard

IPC分类号： G06F19/00

CPC分类号： B25J9/161 ,  G05B19/4141 ,  G05B19/4148 ,  G05B2219/33212 ,  G05B2219/40304 ,  G06F11/1004 ,  G06N3/008

摘要： The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

摘要翻译： 本发明适用于能够具有人性化和复杂功能的移动机器人，使其能够执行任务。 为了使机器人内部的通信能够被优化，并且允许具有物理性（可能替代机器人部件）和软件（更换程序以适应新任务）的多功能性，提供具有三个计算机级别的架构 。 最高级别包括机器人的智能，其产生由中间计算机发送到控制传感器和致动器的低级卡的命令。 中间计算机和低级卡之间的通信由至少一个特定的安全通信协议来管理。

公开(公告)号：US07437239B2

公开(公告)日：2008-10-14

申请号：US10500991

申请日：2002-01-09

申请人： Julien Serre

发明人： Julien Serre

IPC分类号： G01C21/00 ,  G01C21/32

CPC分类号： G01C21/3446

摘要： The invention relates to a network comprising numerous nodes which are paired by means of segments. The inventive method consists in: allocating a cost to each segment in the network; producing two path graphs, essentially from two points respectively; interrupting the production of the two graphs when they comprise at least a first common interference node; determining the two minimal cost paths which belong respectively to the two graphs; and linking the two minimal cost paths in order to obtain the minimal cost path between the two points. The invention also relates to a server which is used to implement said method.

摘要翻译： 本发明涉及一种网络，其包括通过段配对的多个节点。 本发明的方法在于：为网络中的每个段分配成本; 分别生成两个路径图，分别是两点; 当它们包括至少第一公共干扰节点时，中断两个图的生成; 确定分别属于两个图的两个最小成本路径; 并链接两个最小成本路径以获得两点之间的最小成本路径。 本发明还涉及一种用于实现所述方法的服务器。

公开(公告)号：US20070003911A1

公开(公告)日：2007-01-04

申请号：US11177108

申请日：2005-07-08

申请人： Julien Serre

发明人： Julien Serre

IPC分类号： G09B25/06

CPC分类号： G06T17/05

摘要： According to the method, a projection cylinder, containing the globe (1) or secant to it, is defined, and the points on the globe, whose coordinates are defined by a longitude (φ) and a latitude (θ) are projected on to this cylinder by associating an abscissa (X) with each longitude (o) and an ordinate (Y), with each latitude (φ) with in a frame of reference of the developed cylinder (2), characterized in that: a sequence of n+1 angles of latitude (θ0, . . . , θn) is determined, defining n (n≧2) distinct ranges of latitude, each northern and/or southern hemisphere of the globe (1) is divided into n peripheral latitude zones (4) corresponding to the n ranges of the sequence, each being defined by two parallels (5, 6) of limit latitude, the parallels of limit latitude (5, 6) are projected on to the projection cylinder, and each point (A) of one of the n latitude zones (4) is projected into a point (A′) on the cylinder, whose ordinate is contained and interpolated between those of the projected parallels of limit latitude, according to the relative latitude (a) of the point (A) between the two parallels (5, 6).

摘要翻译： 根据该方法，定义了包含球体（1）或割线的突出圆柱体，其坐标由经度（phi）和纬度（θ）定义的地球上的点被投影到 该圆柱体通过将横坐标（X）与每个经度（o）和纵坐标（Y）相关联，并且每个纬度（phi）在显影滚筒（2）的参考系中具有，其特征在于：n 确定+1纬度纬度（θ0，...，θn n），定义n（n> = 2）不同的纬度范围，每个北纬和/ 或全球南半球（1）被划分为对应于序列的n个范围的n个外围纬度区域（4），每个区域由纬度限制的两个平行（5,6）定义，极限纬度的平行（5 ，6）投影到投影柱上，并且将n个纬度区域（4）中的一个的每个点（A）投影到圆柱体上的点（A'）中，其坐标i 根据两个平行线（5,6）之间的点（A）的相对纬度（a），在极限纬度的投影平行线之间包含和内插。