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：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：US06870343B2

公开(公告)日：2005-03-22

申请号：US10672290

申请日：2003-09-26

申请人： Johann Borenstein ,  Grzegorz Granosik

发明人： Johann Borenstein ,  Grzegorz Granosik

IPC分类号： B25J9/08 ,  B25J9/16 ,  B62D57/02 ,  B25J19/02

CPC分类号： B25J9/08 ,  B08B9/045 ,  B25J9/065 ,  B25J9/1625 ,  B62D57/02

摘要： An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

摘要翻译： 一种用于横穿具有细长圆形柔性主体的障碍物的装置，其包括通过一体式接头致动器组件互连的多个段。 集成接头致动器组件包括多个波纹管式致动器，其单独地联接相邻的段，以允许其间的设备的枢转致动。 使用控制器来保持适当的位置控制和刚度控制，同时最小化气流。

公开(公告)号：US20100256939A1

公开(公告)日：2010-10-07

申请号：US12418539

申请日：2009-04-03

申请人： Johann Borenstein

发明人： Johann Borenstein

IPC分类号： G01C25/00 ,  G06F19/00

CPC分类号： G01C22/006 ,  G01C21/06 ,  G01C21/16

摘要： Systems are able to reduce or remove slowly-varying drift errors, such as heading errors and rate of rotation errors, to correct the measurements from tracking devices. The systems may be used to remove the slow varying drift errors for gyroscopic tracking device sensors, or other types of sensors used for determining heading, rates of rotation, or position. The systems may be employed in personal dead reckoning systems, or other personnel tracking device, as well as in vehicle tracking devices. The system uses heuristic assumptions to correct for these drift errors, via a feedback loop control having an accumulator responsive to changes in output signals. The accumulator is able to produce a signal that over time compensates for the inherent drift errors on those output signals. In some examples, that feedback loop control can be adjusted to compensate from deviations from those heuristic assumptions, such as swaying, curving, or turning.

摘要翻译： 系统能够减少或消除缓慢变化的漂移误差，例如航向误差和旋转误差，以校正跟踪设备的测量结果。 这些系统可以用于去除用于陀螺仪跟踪装置传感器或用于确定航向，旋转速率或位置的其他类型的传感器的慢变化漂移误差。 这些系统可以用于个人航位推算系统或其他人员跟踪设备以及车辆跟踪设备中。 该系统使用启发式假设来通过具有响应于输出信号变化的累加器的反馈回路控制来校正这些漂移误差。 累加器能够产生一个随时间推移的信号来补偿这些输出信号上的固有漂移误差。 在一些示例中，可以调整反馈回路控制以补偿与这些启发式假设（例如摇摆，弯曲或转动）的偏差。

公开(公告)号：US5559696A

公开(公告)日：1996-09-24

申请号：US194873

申请日：1994-02-14

申请人： Johann Borenstein

发明人： Johann Borenstein

IPC分类号： G01C21/12 ,  G05D1/02

CPC分类号： G01C21/12 ,  G05D1/0255 ,  G05D1/0272

摘要： An improved device and method for performing accurate mobile robot dead-reckoning by performing Internal Position Error Correction (IPEC) which corrects systematic as well as non-systematic dead-reckoning errors. A first variation utilizes a smart encoder trailer which adapts an existing dead-reckoning mobile robot. A second variation provides a pair of robotic vehicles coupled with a compliant linkage which monitors relative positioning between the vehicles in order to perform internal position error correction. A third and final variation utilizes a pair of decoupled mobile robotic vehicles, each performing dead-reckoning, further provided with individual transmitter and receiver arrays which determine relative positioning therebetween in order to perform internal position error correction.

摘要翻译： 一种改进的装置和方法，用于通过执行校正系统性和非系统的推算误差的内部位置误差校正（IPEC）来执行精确的移动机器人的推算。 第一种变型使用智能编码器拖车，其适应现有的推算机器人。 第二种变型提供了一对机器人车辆，其与顺应性联动装置联动，其监测车辆之间的相对定位，以执行内部位置误差校正。 第三和最后一个变体使用一对解耦的移动机器人车辆，每个车辆执行推算，进一步提供有各自的发射机和接收机阵列，其确定其间的相对定位，以便执行内部位置误差校正。

公开(公告)号：US06774597B1

公开(公告)日：2004-08-10

申请号：US10318452

申请日：2002-12-12

申请人： Johann Borenstein

发明人： Johann Borenstein

IPC分类号： B25J500

CPC分类号： B08B9/045 ,  B25J9/065 ,  B25J9/08 ,  B25J9/1625 ,  B62D57/02

摘要： An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of drive track assemblies. The plurality of drive track assemblies cooperate to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of drive track assemblies make contact with such environmental feature.

摘要翻译： 一种用于横穿障碍物的装置，其具有包括多个驱动轨道组件的细长的圆形柔性主体。 多个驱动轨道组件协作以在推动构件与环境的任何特征接触的地方提供向前推进，而不管多个驱动轨道组件中的哪一个与这种环境特征接触。

公开(公告)号：US06512345B2

公开(公告)日：2003-01-28

申请号：US09821867

申请日：2001-03-30

申请人： Johann Borenstein ,  Geoffrey A. Long

发明人： Johann Borenstein ,  Geoffrey A. Long

IPC分类号： B25J500

CPC分类号： B08B9/045 ,  B25J9/065 ,  B25J9/08 ,  B25J9/1625 ,  B62D57/02 ,  G21C17/013

摘要： An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of articulating propulsion members. This plurality of propulsion members cooperate in a worm-like or alternating tripod gait to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of propulsion members make contact with such environmental feature.

公开(公告)号：US5687136A

公开(公告)日：1997-11-11

申请号：US627646

申请日：1996-04-04

申请人： Johann Borenstein

发明人： Johann Borenstein

IPC分类号： G01S5/14 ,  G01S7/521 ,  G01S15/02 ,  G01S15/42 ,  G01S15/88 ,  G01S15/93 ,  G01S19/48

CPC分类号： A61H3/068 ,  A61H3/061 ,  G01S15/025 ,  G01S15/88 ,  G01S7/521 ,  A61H2003/063 ,  G01S15/42 ,  G01S15/93 ,  G01S19/48 ,  Y10S367/91

摘要： A user-driven, active guidance system for guiding visually impaired users through obstacle filled routes of travel. The system includes an obstacle detection system, having an array of ultrasonic sensors, which detects the distance to and location of obstacles and a controller for receiving obstacle data and determining an optimal path around the obstacle so as to return the user back to the original path of travel without losing orientation or direction. The system provides active guidance by exerting physical force upon the user to intuitively direct the user around the obstacle. The system is driven by the user's motion and comprises a cane, as well as the my of ultrasonic sensors and controller supported on a pair of guide wheels.

摘要翻译： 用户驱动的主动指导系统，用于通过障碍物穿行的路线指导视障者。 该系统包括障碍物检测系统，具有超声波传感器阵列，其检测障碍物的距离和位置，以及用于接收障碍物数据并确定围绕障碍物的最佳路径的控制器，以使用户返回原始路径 的旅行，而不会失去方向或方向。 该系统通过向用户施加物理力来直观地指导用户围绕障碍物来提供积极的指导。 该系统由用户的动作驱动，包括一根手杖，以及我的超声波传感器和一个支撑在一对导轮上的控制器。

公开(公告)号：US20110087450A1

公开(公告)日：2011-04-14

申请号：US12910376

申请日：2010-10-22

申请人： Johann Borenstein ,  Lauro Ojeda ,  David L. Thomas

发明人： Johann Borenstein ,  Lauro Ojeda ,  David L. Thomas

IPC分类号： G06F19/00

CPC分类号： G01C21/16 ,  G01C21/206

摘要： Systems are able to reduce or remove slowly-varying drift errors, such as heading errors, rate of rotation errors, and direction of travel errors, to correct the measurements from tracking devices. The systems may be used to remove the slow varying drift errors for gyroscopic tracking device sensors, or other types of sensors used for determining heading, rates of rotation, direction of travel, or position. The systems may be employed in personal dead reckoning systems, or other personnel tracking device, as well as in vehicle tracking devices. The system uses heuristic assumptions to correct for these drift errors, via a feedback loop control having an accumulator responsive to changes in output signals. The accumulator is able to produce a signal that over time compensates for the inherent drift errors on those output signals.

摘要翻译： 系统能够减少或消除缓慢变化的漂移误差，例如航向误差，旋转误差率和行驶误差方向，从而校正跟踪设备的测量结果。 这些系统可以用于去除用于陀螺仪跟踪装置传感器或用于确定航向，旋转速度，行进方向或位置的其他类型的传感器的慢变化漂移误差。 这些系统可以用于个人航位推算系统或其他人员跟踪设备以及车辆跟踪设备中。 该系统使用启发式假设来通过具有响应于输出信号变化的累加器的反馈回路控制来校正这些漂移误差。 累加器能够产生一个随时间推移的信号来补偿这些输出信号上的固有漂移误差。

公开(公告)号：US20050007055A1

公开(公告)日：2005-01-13

申请号：US10672290

申请日：2003-09-26

申请人： Johann Borenstein ,  Grzegorz Granosik

发明人： Johann Borenstein ,  Grzegorz Granosik

IPC分类号： B25J9/08 ,  B25J9/16 ,  B62D57/02 ,  B25J5/00 ,  B25J19/02

CPC分类号： B25J9/08 ,  B08B9/045 ,  B25J9/065 ,  B25J9/1625 ,  B62D57/02

摘要： An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

摘要翻译： 一种用于横穿具有细长圆形柔性主体的障碍物的装置，其包括通过一体式接头致动器组件互连的多个段。 集成接头致动器组件包括多个波纹管式致动器，其单独地联接相邻的段，以允许其间的设备的枢转致动。 使用控制器来保持适当的位置控制和刚度控制，同时最小化气流。