公开(公告)号：US5239515A

公开(公告)日：1993-08-24

申请号：US798094

申请日：1991-11-26

申请人： Johann Borenstein ,  Yoram Koren

发明人： Johann Borenstein ,  Yoram Koren

IPC分类号： G01S15/10 ,  G01S15/87 ,  G01S15/93

CPC分类号： G01S15/931 ,  G01S15/10 ,  G01S15/87

摘要： A system for producing reliable navigation data for a mobile vehicle, such as a robot, combines multiple range samples to increase the "confidence" of the algorithm in the existence of an obstacle. At higher vehicle speed, it is crucial to sample each sensor quickly and repeatedly to gather multiple samples in time to avoid a collision. Erroneous data is rejected by delaying the issuance of an ultrasonic energy pulse by a predetermined wait-period, which may be different during alternate ultrasonic firing cycles. Consecutive readings are compared, and the corresponding data is rejected if the readings differ by more than a predetermined amount. The rejection rate for the data is monitored and the operating speed of the navigation system is reduced if the data rejection rate is increased. This is useful to distinguish and eliminate noise from the data which truly represents the existence of an article in the field of operation of the vehicle.

摘要翻译： 用于为诸如机器人的移动车辆生产可靠导航数据的系统组合多个范围采样以增加在存在障碍物时算法的“置信度”。 在较高的车速下，快速反复采样每个传感器至关重要，以便及时收集多个样品以避免碰撞。 通过将超声能量脉冲的发出延迟预定的等待时间来拒绝错误的数据，其可以在交替的超声波发射周期期间不同。 比较连续的读数，如果读数相差超过预定量，则相应的数据被拒绝。 如果数据拒绝率增加，则监视数据的拒绝率并降低导航系统的运行速度。 这有助于区分和消除真正代表车辆操作领域中物品存在的数据中的噪声。

公开(公告)号：US5006988A

公开(公告)日：1991-04-09

申请号：US344638

申请日：1989-04-28

申请人： Johann Borenstein ,  Yoram Koren ,  Simon P. Levine

发明人： Johann Borenstein ,  Yoram Koren ,  Simon P. Levine

IPC分类号： G05D1/02

CPC分类号： G05D1/0255 ,  G05D1/0274 ,  G05D2201/0212

摘要： A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.

摘要翻译： 用于引导自动或半自动车辆的系统在具有障碍物的操作区域上引导要避免的系统采用一种用于容纳数据的存储器，该数据定义了与车辆操作领域中的各个子场对应的网格单元阵列。 存储器中的每个网格单元包含指示障碍物存在于分别相关联的子场中的可能性或概率的值。 响应于子场的每次扫描，网格单元中的值单独递增，并且预计算和使用查找表避免了复杂的三角函数。 网格单元的另一阵列相对于车辆固定，形成覆盖增量网格单元的概念活动窗口。 因此，当活动窗口过度网格单元中的单元具有指示障碍物存在的值时，其中的值被用作预计算的矢量值的乘数。 所得到的多个向量值在本发明的一个实施例中被矢量地相加以产生虚拟复合排斥向量，然后将其与目标向量向量地相加，以产生用于引导车辆的合成矢量。 在替代实施例中，计算围绕车辆的多个向量，每个向量具有对应于障碍物密度的值。 在这样的实施例中，使用目标位置信息来选择具有低相关联的障碍物密度的行驶方式。

公开(公告)号：US20060091825A1

公开(公告)日：2006-05-04

申请号：US10978805

申请日：2004-11-01

申请人： Gil Abramovich ,  Zachary Warlick ,  Yoram Koren

发明人： Gil Abramovich ,  Zachary Warlick ,  Yoram Koren

IPC分类号： H05B41/36

CPC分类号： G01N21/8806

摘要： A reconfigurable illumination system for illuminating an object, and associated method. The illumination system comprises a cylindrical diffuser having a longitudinal aperture, a linescan camera positioned for having a direct line of sight to the object through the aperture of the diffuser, a base, and an illuminator supported on the base and positioned between the diffuser and the object, wherein the illuminator is selectively reconfigurable in a plurality of configurations, each configuration corresponding to a manufacturing process that requires visual inspection of the object.

摘要翻译： 用于照明物体的可重构照明系统及相关方法。 照明系统包括具有纵向孔径的圆柱形扩散器，定位成通过扩散器的孔具有到物体的直接视线的基线相机，基座和支撑在基座上并位于扩散器和基座之间的照明器 对象，其中所述照明器可选择性地可重构为多个配置，每个配置对应于需要目视检查所述物体的制造过程。

公开(公告)号：US06920973B2

公开(公告)日：2005-07-26

申请号：US10464934

申请日：2003-06-19

申请人： Yoram Koren ,  Rodney L. Hill

发明人： Yoram Koren ,  Rodney L. Hill

IPC分类号： B23P21/00 ,  B23Q41/04 ,  B21B37/00

CPC分类号： B23P21/004 ,  B23Q41/04 ,  Y10T29/49829 ,  Y10T29/5124 ,  Y10T29/53365 ,  Y10T29/534 ,  Y10T29/53409

摘要： An integrated reconfigurable multi-stage manufacturing system and associated methods. The system may include a plurality of manufacturing cells, each cell associated with at least one stage of a manufacturing process. The plurality of cells may include a first cell comprising at least one flexible manufacturing station, a second cell comprising at least one reconfigurable manufacturing station, and a third cell comprising at least one reconfigurable inspection machine. The system may also include a plurality of loop conveyors and a plurality of cell gantries. Each loop conveyor may connect at least two neighboring cells and each cell gantry may transport parts from the cell associated with the cell gantry to at least one loop conveyor. In one embodiment, each cell may be hexagonal, and the manufacturing system may have a honeycomb structure.

摘要翻译： 一种集成的可重构多级制造系统及相关方法。 该系统可以包括多个制造单元，每个单元与制造过程的至少一个阶段相关联。 多个单元可以包括包括至少一个柔性制造站的第一单元，包括至少一个可重构制造站的第二单元，以及包括至少一个可重新配置的检查机的第三单元。 该系统还可以包括多个循环输送机和多个单元架。 每个环形输送机可以连接至少两个相邻的单元，并且每个单元台架可将来自与单元架相关联的单元的部件运送到至少一个循环输送机。 在一个实施例中，每个单元可以是六边形，并且制造系统可以具有蜂窝结构。

公开(公告)号：US20070156540A1

公开(公告)日：2007-07-05

申请号：US11326069

申请日：2006-01-05

申请人： Yoram Koren ,  Jacob Barhak ,  Zbigniew Pasek

发明人： Yoram Koren ,  Jacob Barhak ,  Zbigniew Pasek

IPC分类号： G06Q30/00

CPC分类号： G06Q30/0253 ,  G06Q10/087 ,  G06Q30/0621 ,  G06Q30/0643

摘要： The subject methods and apparatus allow the buyer of an automobile to configure and design a personalized interior space prior to purchasing the automobile. The buyer selects modular interior components from a library of choices provided by the manufacturer, and designs his/her custom automobile by using an interactive design domain system that allows realistic visualization of the developing interior with the incorporation of the buyer's anthropometric information. The method and apparatus guarantee conformance to applicable safety, geometric and functional constraints through the application of a rules-database. The produced automobile will fit exactly the customer's taste, physical dimensions, and personal requirements. The apparatus includes a computer that hosts a decision-support and feedback system, a database of safety, geometric and functional rules, and a database of interior components. The apparatus also includes a device for realistic visualization of the designed vehicle interior as well as suitable devices to measure the body dimensions that are needed for the design. A business transaction is contemplated in which the buyer custom-designs the vehicle interior using modular components after the sale transaction but before the manufacturing step.

摘要翻译： 主题方法和装置允许汽车的买家在购买汽车之前配置和设计个性化的内部空间。 买家从制造商提供的选择库中选择模块化内部组件，并通过使用交互式设计域系统设计他/她的定制汽车，该系统允许采用买方人体测量信息并入开发内部的现实可视化。 该方法和设备通过应用规则数据库来保证符合适用的安全性，几何和功能约束。 生产的汽车将完全符合客户的品味，物理尺寸和个人要求。 该装置包括承载决策支持和反馈系统的计算机，安全性，几何和功能规则的数据库以及内部组件的数据库。 该装置还包括用于设计的车辆内部的真实可视化的装置以及用于测量设计所需的身体尺寸的合适的装置。 预期业务交易，其中买方在销售交易之后但在制造步骤之前使用模块化部件来定制车辆内部设计。

公开(公告)号：US07027145B2

公开(公告)日：2006-04-11

申请号：US10603051

申请日：2003-06-24

申请人： Stephen B. Segall ,  Yoram Koren

发明人： Stephen B. Segall ,  Yoram Koren

IPC分类号： G01N21/00

CPC分类号： G01N21/8806 ,  G01N21/4738 ,  G01N21/954 ,  G01N2021/9544

摘要： A reconfigurable inspection apparatus for inspecting a surface finish of a cylinder bore or other machined surface. The apparatus may include a reconfigurable multi-spindle apparatus supporting a plurality of inspection probes. Each probe may include a laser that directs a laser beam perpendicularly to the machined surface, and a detector positioned at an angle to the laser beam to detect scattered laser light from the surface. The probe may also include a computer system including software that compares the detected scattered light to a scattered light signature from a first-type finishing mark and to a scattered light signature from a second-type finishing mark and determines a condition of the surface finish.

摘要翻译： 一种用于检查气缸孔或其它加工表面的表面光洁度的可重新配置的检查装置。 该装置可以包括支撑多个检查探针的可重新配置的多主轴装置。 每个探针可以包括将激光束垂直于加工表面引导的激光器和与激光束成一定角度的检测器，以检测来自表面的散射的激光。 探针还可以包括计算机系统，其包括将检测到的散射光与来自第一类型精加工标记的散射光特征和来自第二类型精加工标记的散射光特征进行比较的软件，并确定表面光洁度的状况。

公开(公告)号：US5555495A

公开(公告)日：1996-09-10

申请号：US142208

申请日：1993-10-25

申请人： David A. Bell ,  Lon E. Bell ,  Simon Levine ,  Yoram Koren

发明人： David A. Bell ,  Lon E. Bell ,  Simon Levine ,  Yoram Koren

IPC分类号： G06T19/00 ,  G05B13/02

CPC分类号： B60W40/08 ,  A61G2203/14 ,  A61G5/04 ,  B60W2300/38 ,  Y10S180/907 ,  Y10S297/04 ,  Y10S706/905

摘要： Adaptive control of a system with a human in the loop is accomplished by sensing human operator reactions to a disturbance in the system and characterizing the operator response to the disturbance. The operator response is characterized in one of several forms by predicting a response based on a model quantifying a response based on statistics or merely measuring a response for accumulation of data to be employed by an artificial intelligent system. The disturbance which provides the human operator reaction, is applied or occurs naturally based on other stimulus and is measured by the system. Quantifying the results of the disturbance and the operator response comparison allows selection of a control mode by identifying one or more categories of reaction response or a graduated modification of the control law employed in the system. Various modes or categories for control of the system incorporate different sensitivities on a macro scale or an entirely different control algorithm. Graduated adaptation alters sensitivity or other perimeters in the system at a micro level incrementally throughout given ranges of control.

摘要翻译： 通过感测人类操作员对系统中的干扰的反应并表征操作者对干扰的响应来实现对环路中的人的系统的自适应控制。 操作员响应以几种形式之一表征，通过基于基于统计量量化响应的模型来预测响应，或者仅测量人造智能系统将要使用的数据的累积响应。 提供人员操作反应的干扰，以其他刺激为基础自然发生，并由系统测量。 量化干扰的结果和操作员响应比较允许通过识别系统中使用的控制规则的一个或多个类别的反应响应或分级修改来选择控制模式。 用于系统控制的各种模式或类别在宏观尺度或完全不同的控制算法上包含不同的灵敏度。 渐变自适应在给定的控制范围内以微观级别改变系统中的灵敏度或其他周长。

公开(公告)号：US5374884A

公开(公告)日：1994-12-20

申请号：US977495

申请日：1992-11-18

申请人： Yoram Koren ,  Chih-Ching Lo

发明人： Yoram Koren ,  Chih-Ching Lo

IPC分类号： G05B19/19 ,  G05D23/275

CPC分类号： G05B19/19 ,  G05B2219/41154 ,  G05B2219/42155

摘要： A system for compensating for the effects of friction and other forces reting from repeatable disturbances in a servo system or a numerically controlled machine employs a software-based mathematical model which has certain parameters associated therewith. The parameters are calibrated for the specific characteristics of the system using either off-line or on-line methods, and include dynamic correction for continuous correction, as would be required to compensate for forces which disturb a desired motion. The compensation model is implemented in two stages: (i) building a calibrated mathematical model that describes a repeatable disturbance force, such as friction, and (ii) using the model in real time to compensate for the disturbance force. The model provides a compensation signal which is combined with the original controller signal to yield a compensated control signal. The compensation may be in the form of a position offset. This compensation system is general in its application and can compensate for any deterministic repeatable action that disturbs or acts against the motion of a numerically controlled, or servo, system.

摘要翻译： 用于补偿由伺服系统或数控机器中的可重复干扰产生的摩擦和其他力的影响的系统采用具有与其相关联的某些参数的基于软件的数学模型。 使用离线或在线方法对系统的特定特性进行参数校准，并包括用于连续校正的动态校正，这将需要补偿干扰所需运动的力。 补偿模型分两个阶段实施：（i）建立一个描述可重复干扰力（如摩擦）的校准数学模型，以及（ii）实时使用该模型来补偿扰动力。 该模型提供了与原始控制器信号组合的补偿信号，以产生补偿控制信号。 补偿可以是位置偏移的形式。 该补偿系统在其应用中是通用的，并且可以补偿干扰或作用于数字控制或伺服系统的运动的任何确定性重复动作。

公开(公告)号：US20060228018A1

公开(公告)日：2006-10-12

申请号：US11103927

申请日：2005-04-12

申请人： Gil Abramovich ,  John Spicer ,  Jacob Barhak ,  Yoram Koren

发明人： Gil Abramovich ,  John Spicer ,  Jacob Barhak ,  Yoram Koren

IPC分类号： G06K9/00

CPC分类号： G01N21/8806 ,  G01N21/952 ,  G01N21/954 ,  G03B15/00 ,  G03B15/03 ,  G06K9/2036 ,  G06K9/6253

摘要： A machine vision inspection system. The system includes a plurality of cells adjustably interconnected, and a plurality of vision elements. Each vision element can be adjustably supported within one of the cells. The cells and the vision elements can be selectively configured to define a vision arrangement capable of high-resolution inspection of a part.

摘要翻译： 机器视觉检测系统。 该系统包括可调节地互连的多个单元，以及多个视觉元件。 每个视觉元件可以可调节地支撑在一个单元内。 细胞和视觉元件可以选择性地构造成定义能够对部件进行高分辨率检查的视觉装置。

公开(公告)号：US06557235B1

公开(公告)日：2003-05-06

申请号：US10092272

申请日：2002-03-06

申请人： Reuven R. Katz ,  Yoram Koren ,  François R. Pierrot ,  Zhe Li

发明人： Reuven R. Katz ,  Yoram Koren ,  François R. Pierrot ,  Zhe Li

IPC分类号： B23C112

CPC分类号： B23Q7/04 ,  B23Q1/012 ,  B23Q1/4861 ,  B23Q1/5462 ,  B25J9/1065 ,  Y10T29/5124 ,  Y10T409/307672 ,  Y10T409/30784 ,  Y10T409/308232 ,  Y10T409/308512 ,  Y10T409/309576

摘要： An apparatus comprising a frame, a mobile platform and first and second linearly-actuated slides supported on a base connected to the frame. The first and second slides are movable along a line defining a first axis. The apparatus may include a first driving connector movably coupled to the first slide and to the mobile platform, and a second driving connector movably coupled to the second slide and to the mobile platform, such that the mobile platform is displaceable within at least two degrees of freedom defined by linear motions along the first axis and a second axis, the second axis being coplanar and orthogonal to the first axis. An end effector may be also coupled to the mobile platform, the end effector having an axis aligned in a direction defined by the second axis. The end effector may comprise, for example, a tool or a gripper.

摘要翻译： 一种装置，包括框架，移动平台以及支撑在连接到框架的基座上的第一和第二线性致动的滑动件。 第一和第二滑块可沿着限定第一轴的线移动。 该装置可以包括可移动地联接到第一滑动件和移动平台的第一驱动连接器和可移动地联接到第二滑块和移动平台的第二驱动连接器，使得移动平台可在至少两个 由沿着第一轴线和第二轴线的线性运动限定的自由度，第二轴线与第一轴线共面并且正交。 端部执行器还可以联接到移动平台，端部执行器具有在由第二轴线限定的方向上对准的轴线。 端部执行器可以包括例如工具或夹具。