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公开(公告)号：US08965578B2
公开(公告)日：2015-02-24
申请号：US13049788
申请日：2011-03-16
CPC分类号： G06N3/004 , F41H11/13 , G05D1/0088 , G05D2201/0209
摘要： Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.
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2.发明申请公开(公告)号：US20120239191A1
公开(公告)日：2012-09-20
申请号：US13049788
申请日：2011-03-16
CPC分类号： G06N3/004 , F41H11/13 , G05D1/0088 , G05D2201/0209
摘要： Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.
摘要翻译： 方法，计算机可读介质和设备提供机器人爆炸危险检测。 机器人智能内核（RIK）包括在操作员干预和机器人主动之间具有两个或多个自主级别的动态自主结构。与RIK分开运行的矿山传感器和处理模块（ESPM）使用地下感知器感知指示矿井的环境变量。 ESPM处理矿井信息以确定矿井存在的可能性。 机器人可以根据检测到的矿井的指示自主地修改行为。 矿山的检测，矿山的详细扫描和特征描述，矿山指示参数的开发，恢复检测等行为进行了修改。 实时消息在RIK和ESPM之间传递。 ESPM绑定消息和RIK绑定消息的组合导致机器人平台在包括校准模式，矿山检测模式和矿山表征模式之间的模式之间切换。
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公开(公告)号：US07974738B2
公开(公告)日：2011-07-05
申请号：US11428621
申请日：2006-07-05
CPC分类号： G06N3/008 , G05D1/0088 , G05D1/0223 , G05D1/0227 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
摘要翻译： 描述了虚拟轨道或轨道系统和方法来由机器人执行。 用户通过用户界面产生期望的路径，其包括代表机器人的虚拟轨道的至少一个段。 开始点和终点被分配到期望的路径，速度也与期望路径的至少一个段中的每一个相关联。 生成航路文件，其包括沿着虚拟轨道的位置，该位置包括从起始点到终点的位置，该位置包括至少一个段中的每一个的速度。 航点文件被发送到机器人，以沿着虚拟轨道进行遍历。
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公开(公告)号：US20080009968A1
公开(公告)日：2008-01-10
申请号：US11428729
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes include hardware information from at least one hardware abstractions. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the hardware abstractions.
摘要翻译： 本发明提供了用于通用机器人结构的方法，计算机可读介质和装置，其提供易于移植到各种机器人平台的框架，并且被配置为提供硬件抽象，通用机器人属性的抽象，环境抽象和机器人行为 。 通用机器人架构包括硬件抽象级别和机器人抽象级别。 硬件抽象级别被配置用于开发定义，监视和控制机器人平台上可用的硬件模块的硬件抽象。 机器人抽象级别被配置为定义机器人属性，并且提供用于从机器人属性构建机器人行为的软件框架。 每个机器人属性包括来自至少一个硬件抽象的硬件信息。 此外，每个机器人属性被配置为基本上将机器人行为与硬件抽象隔离开。
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公开(公告)号：US20080009965A1
公开(公告)日：2008-01-10
申请号：US11428637
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/0088 , G05D2201/0209
摘要： Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
摘要翻译： 公开了机器人平台，方法和计算机介质。 机器人平台包括感知器，运动器和系统控制器，其执行用于自动导航机器人的指令。 指令在每次通过事件定时循环的迭代中重复，基于机器人的当前速度来定义事件范围的行为，检测机器人周围的障碍物的范围，通过确定是否存在障碍物的范围来测试事件水平入侵 在事件范围内，并相应调整机器人的旋转和平移速度。 如果入侵发生，旋转速度被当前旋转速度的一定比例改变，该比例减小了距离最近障碍物的范围的比例，并且平移速度被修改为距离最近障碍物的范围的比例。 如果没有入侵，平移速度被设置为速度因子相对于最大速度的比率。
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公开(公告)号：US07587260B2
公开(公告)日：2009-09-08
申请号：US11428637
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G05B19/18
CPC分类号： G06N3/008 , G05D1/0088 , G05D2201/0209
摘要： A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
摘要翻译： 机器人平台包括感知器，运动器和系统控制器，其执行用于自动导航机器人的指令。 指令在每次通过事件定时循环的迭代中重复，基于机器人的当前速度来定义事件范围的行为，检测机器人周围的障碍物的范围，通过确定是否存在障碍物的范围来测试事件水平入侵 在事件范围内，并相应调整机器人的旋转和平移速度。 如果发生事件地平线入侵，旋转速度被当前旋转速度的一部分减小到最近障碍物的一个比例范围，并且平移速度被改变为距离最近的障碍物的范围的比例。 如果没有发生事件地平线入侵，平移速度被设置为速度因子相对于最大速度的比率。
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公开(公告)号：US07801644B2
公开(公告)日：2010-09-21
申请号：US11428729
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
CPC分类号： G06N3/008
摘要： The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.
摘要翻译： 本发明提供了用于通用机器人结构的方法，计算机可读介质和装置，其提供易于移植到各种机器人平台的框架，并且被配置为提供硬件抽象，通用机器人属性的抽象，环境抽象和机器人行为 。 通用机器人架构包括硬件抽象级别和机器人抽象级别。 硬件抽象级别被配置用于开发定义，监视和控制机器人平台上可用的硬件模块的硬件抽象。 机器人抽象级别被配置为定义机器人属性，并且提供用于从机器人属性构建机器人行为的软件框架。 每个机器人属性包括来自至少一个硬件抽象的硬件信息。 另外，每个机器人属性被配置为基本上将机器人行为与至少一个硬件抽象隔离开。
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公开(公告)号：US07584020B2
公开(公告)日：2009-09-01
申请号：US11428646
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/024 , G05D1/0274
摘要： A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.
摘要翻译： 机器人平台包括感知器，运动器和系统控制器。 系统控制器执行用于产生机器人周围的环境的占用网格图的指令，扫描环境以生成相对于当前机器人位置的当前障碍物图，并将当前障碍物图转换为当前占用网格图。 指令还包括在占用网格图中处理每个网格单元。 在每个网格单元的处理中，指令包括将占用网格图中的每个网格单元与当前占用网格图中的对应网格单元进行比较。 对于具有差异的网格单元，指令包括为每个改变的网格单元定义改变向量，其中改变向量包括从机器人到改变的网格单元的方向以及从机器人到改变的网格单元的范围。
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公开(公告)号：US20080009964A1
公开(公告)日：2008-01-10
申请号：US11428621
申请日：2006-07-05
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/0088 , G05D1/0223 , G05D1/0227 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： A virtual track or rail system and method is described for execution by a robot. A user through a user interface generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
摘要翻译： 描述了虚拟轨道或轨道系统和方法来由机器人执行。 用户通过用户界面产生期望的路径，其包括代表机器人的虚拟轨道的至少一个段。 开始点和终点被分配到期望的路径，速度也与期望路径的至少一个段中的每一个相关联。 生成航路文件，其包括沿着虚拟轨道的位置，该位置包括从起始点到终点的位置，该位置包括至少一个段中的每一个的速度。 航点文件被发送到机器人，以沿着虚拟轨道进行遍历。
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公开(公告)号：US20080009966A1
公开(公告)日：2008-01-10
申请号：US11428646
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/024 , G05D1/0274
摘要： Robot platforms, methods, and computer readable media are disclosed. The robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.
摘要翻译： 公开了机器人平台，方法和计算机可读介质。 机器人平台包括感知器，运动器和系统控制器。 系统控制器执行用于产生机器人周围的环境的占用网格图的指令，扫描环境以生成相对于当前机器人位置的当前障碍物图，并将当前障碍物图转换为当前占用网格图。 指令还包括在占用网格图中处理每个网格单元。 在每个网格单元的处理中，指令包括将占用网格图中的每个网格单元与当前占用网格图中的对应网格单元进行比较。 对于具有差异的网格单元，指令包括为每个改变的网格单元定义改变向量，其中改变向量包括从机器人到改变的网格单元的方向以及从机器人到改变的网格单元的范围。
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