公开(公告)号：US08965578B2

公开(公告)日：2015-02-24

申请号：US13049788

申请日：2011-03-16

申请人： Roelof J. Versteeg ,  Douglas A. Few ,  Robert A. Kinoshita ,  Doug Johnson ,  Ondrej Linda

发明人： Roelof J. Versteeg ,  Douglas A. Few ,  Robert A. Kinoshita ,  Doug Johnson ,  Ondrej Linda

IPC分类号： G05B15/00 ,  G05B19/00 ,  G06N3/00 ,  G05D1/00 ,  F41H11/13

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.

公开(公告)号：US20120239191A1

公开(公告)日：2012-09-20

申请号：US13049788

申请日：2011-03-16

申请人： Roelof J. Versteeg ,  Douglas A. Few ,  Robert A. Kinoshita ,  Doug Johnson ,  Ondrej Linda

发明人： Roelof J. Versteeg ,  Douglas A. Few ,  Robert A. Kinoshita ,  Doug Johnson ,  Ondrej Linda

IPC分类号： G06F7/00 ,  G06N5/02

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。