公开(公告)号：WO2012051716A1

公开(公告)日：2012-04-26

申请号：PCT/CA2011/050659

申请日：2011-10-19

Applicant: MACDONALD DETTWILER & ASSOCIATES INC. ,  GREGORIS, Dennis

Inventor： GREGORIS, Dennis

IPC: F21V7/09

CPC classification number: F21V7/06 ,  F21V7/0033 ,  F21V7/005 ,  F21V7/04 ,  F21V7/22 ,  F21Y2103/00 ,  G03B15/03 ,  G03B2215/0582

Abstract: The present invention provides an illuminator system comprising a dual reflector system and a linear light source. The dual reflector system comprises a primary and secondary generally cylindrical reflector, which collimate light from a linear light source in two planes. The linear light source may comprise many light emitting devices, and may emit light in a strobe or continuous fashion. The reflectors may be of many cylindrical shapes, and may include additional mirror segments to capture light otherwise not collimated. Further, the reflectors may be in various configurations of position and orientation with respect to one another, and may be adjustable in this respect. The system is more efficient than existing illuminators, is compact, all reflective (no colour), lightweight, simple and inexpensive to manufacture. The system has applications to many fields including machine vision, surveillance, spectroscopic inspection of materials, and converting linear light sources into rectangular beam spot lights.

Abstract translation: 本发明提供了一种包括双重反射器系统和线性光源的照明器系统。 双反射器系统包括主要和次要的大致圆柱形反射器，其在两个平面中准直来自线性光源的光。 线性光源可以包括许多发光器件，并且可以以闪光或连续的方式发光。 反射器可以具有许多圆柱形形状，并且可以包括另外的镜片段，以捕获否则不准直的光。 此外，反射器可以具有相对于彼此的位置和取向的各种构造，并且在这方面可以是可调节的。 该系统比现有的照明器更有效率，紧凑，全反射（无颜色），重量轻，制造简单，成本低廉。 该系统应用于机器视觉，监控，材料光谱检测等多个领域，并将线性光源转换为矩形束光灯。

公开(公告)号：WO2013138936A1

公开(公告)日：2013-09-26

申请号：PCT/CA2013/050227

申请日：2013-03-19

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： ROBERTS, Paul ,  WHITE, Jason ,  FISHER, Steve ,  REMBALA, Richard

IPC: B64G1/64 ,  B25J11/00 ,  B25J15/08 ,  B64D1/00

CPC classification number: B25J15/0226 ,  B25J15/00 ,  B25J19/0091 ,  B64G1/1078 ,  B64G1/646

Abstract: The present invention provides a capture mechanism for capturing and locking onto the Marman flange located on the exterior surfaces of spacecraft/satellites. The capture mechanism achieves its goal of quickly capturing a target spacecraft by splitting the two basic actions involved into two separate mechanisms. One mechanism performs the quick grasp of the target while the other mechanism rigidises that grasp to ensure that the target is held as firmly as desired. To achieve a speedy grasp, the grasping action is powered by springs and an over-centre mechanism triggered either mechanically by a plunger or electronically by sensors and a solenoid. This forces two sets of jaws, one on either side of the object to be grasped, to close quickly over the target object. The jaws can be set up to grasp gently, firmly, or even not close completely on the target. The key is that they must close tightly enough so that the protrusions on the target cannot escape from the jaws due to any possible motions of the target. Once the jaws have sprung shut, a second mechanism draws the jaws (and their closing mechanism) back into the body of the tool pulling the captured target onto two rigidisation surfaces. The mechanism keeps pulling backwards until a pre- established preload is reached at which point the target is considered suitably rigidised to the capture mechanism.

Abstract translation: 本发明提供一种用于捕获和锁定到位于航天器/卫星的外表面上的马尔曼法兰的捕获机构。 捕获机制实现了通过将所涉及的两个基本动作分为两个独立机制来快速捕获目标航天器的目标。 一种机制可以快速掌握目标，而另一种机制刚性化，从而确保目标被保持牢固。 为了实现快速把握，抓取动作由弹簧驱动，并且由中心机构机械地触发或由传感器和螺线管电子地触发的过中心机构。 这迫使两套钳口，一个在要抓住的物体的两侧，以快速关闭目标物体。 夹爪可以轻轻，牢固地掌握，甚至不能完全靠近目标。 关键是它们必须足够紧密，以便由于目标的任何可能的运动，目标上的突起物不能从颚部逃逸。 一旦颚关闭，第二机构将夹爪（及其关闭机构）拉回到工具的主体中，将捕获的目标物拉到两个刚性表面上。 该机构保持向后拉，直到达到预先设定的预载荷为止，目标被认为适当地刚性到捕获机构。

公开(公告)号：WO2013082719A1

公开(公告)日：2013-06-13

申请号：PCT/CA2012/050876

申请日：2012-12-05

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： ROBERTS, Paul ,  HAY, Gavin ,  WHITE, Jason ,  SPRAWSON, Geoffrey

IPC: B64G4/00 ,  B64D39/00 ,  B64G1/10 ,  B64G1/64

CPC classification number: B64G1/1078 ,  B64G1/402 ,  B64G4/00

Abstract: Herein is disclosed a tool, system and method for refueling on-orbit spacecraft. The tool and system are configured to allow for resupply of spacecraft configured to be propelled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The refueling tool is particularly suited for resupply of satellites not originally prepared for refueling but the system may also be used for satellites specifically designed for refueling.

Abstract translation: 本文公开了用于加油在轨航天器的工具，系统和方法。 工具和系统被配置为允许配置为由双组元推进剂（氧化剂和燃料）或单组分推进剂（通常为肼）推进的航天器的补给。 加油工具特别适用于原先准备加油的卫星的补给，但该系统也可用于特别设计用于加油的卫星。

公开(公告)号：WO2013053047A3

公开(公告)日：2013-06-06

申请号：PCT/CA2012000947

申请日：2012-10-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC

Inventor： ROBERTS PAUL ,  BRATSBERG STEPHEN ,  RAGO JOE

IPC: B25J15/04 ,  B23Q3/155 ,  B23Q3/16 ,  B25J9/08 ,  B25J15/00 ,  B25J19/04 ,  B64F5/00 ,  B64G1/00 ,  B64G4/00 ,  B64G99/00

CPC classification number: B25J9/16 ,  B23Q3/155 ,  B23Q3/15526 ,  B25J15/04

Abstract: Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

Abstract translation: 这里公开了具有可更换工具尖端的多功能工具。 所公开的多功能工具可以用作空间中的机器人臂上的端部执行器。 在工具架中时，每个工具尖端由普通电机驱动。 也可以使用相同的电机来控制工具尖端绕轴线的方向。 工具尖端可以通过简单而坚固的手段在刀架上更换，从而产生更轻便更便宜的多功能工具。 工具尖端可以进行各种调整，以执行各种功能，包括切割，抓取，钻孔，驱动等。由于刀具只能由一个执行器驱动，单个执行器可用于驱动刀具和旋转 的工具，质量可以节省。 使用这种多功能工具还可以降低整体系统功耗要求和系统复杂性。

公开(公告)号：WO2013071438A1

公开(公告)日：2013-05-23

申请号：PCT/CA2012/050814

申请日：2012-11-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： ALLEN, Andrew ,  LYMER, John ,  SPRING, Kerry ,  RAVINDRAN, Rangaswamy

IPC: B64G99/00 ,  B64D39/00 ,  B64G1/64 ,  B64G4/00

CPC classification number: B64G1/402 ,  B64G1/1078 ,  B64G1/222 ,  B64G1/24 ,  B64G1/405 ,  B64G1/64 ,  B64G1/646 ,  B64G4/00 ,  B64G2004/005

Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.

Abstract translation: 本文公开了一种用于加油在轨航天器的推进剂转移系统和方法。 该系统和方法被配置为允许配置为由双组元推进剂（氧化剂和燃料）或单组分推进剂（通常为肼）燃料的航天器的补给。 该系统和方法特别适用于原先准备加油的卫星的再补给，但该系统也可用作专门用于加油的卫星。

公开(公告)号：WO2013053047A2

公开(公告)日：2013-04-18

申请号：PCT/CA2012/000947

申请日：2012-10-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： ROBERTS, Paul ,  BRATSBERG, Stephen ,  RAGO, Joe

IPC: B25J15/04

CPC classification number: B25J9/16 ,  B23Q3/155 ,  B23Q3/15526 ,  B25J15/04

Abstract: Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

Abstract translation: 这里公开了一种具有可替换工具尖端的多功能工具。 所公开的多功能工具可以用作空间中机器人手臂上的末端执行器。 每个刀尖在刀架中时都由一个普通电机驱动。 也可以使用同一电机来控制刀尖绕轴的方向。 刀尖可通过简单而坚固的方式更换刀架，从而获得更轻便更便宜的多功能刀具。 工具尖端可以被不同地调整以执行各种功能，包括切割，抓取，钻孔，驱动等。由于工具可以仅由一个致动器驱动，并且单个致动器可以用于驱动工具和旋转 的工具，质量可以保存。 使用这种多功能工具还可以降低整体系统功耗要求和系统复杂性。

公开(公告)号：WO2008109993A1

公开(公告)日：2008-09-18

申请号：PCT/CA2008/000453

申请日：2008-03-10

Applicant: MACDONALD DETTWILER & ASSOCIATES INC. ,  GRYNIEWSKI, Lawrence ,  CRYMBLE, Derry

Inventor： GRYNIEWSKI, Lawrence ,  CRYMBLE, Derry

IPC: B64G1/22 ,  B25J9/12 ,  B64D39/00 ,  B67D5/04 ,  B67D5/08 ,  B67D5/34 ,  F16B2/18 ,  F16K31/46 ,  G05B15/02

CPC classification number: B25J11/00 ,  B64G1/1078 ,  B64G1/14 ,  B64G1/402 ,  B64G4/00 ,  B64G5/00 ,  B67D2007/0403 ,  B67D2007/0405 ,  B67D2007/0417 ,  B67D2007/0432

Abstract: The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refuelling procedure. The system may also be configured to be operated autonomously under computer control.

Abstract translation: 本发明提供了一种用于卫星的机器人加油的方法，系统和装置。 该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，其中在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储 在空间站，直到需要它可以启动。 该系统包括一个机械手臂，适合的工具，可以固定在机器手臂的末端执行器上，该机器人手臂需要用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上有工具 并且存储各种燃料填充阀盖。 该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。 摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。 该系统还可以被配置为在计算机控制下自主操作。

公开(公告)号：WO2007012198A1

公开(公告)日：2007-02-01

申请号：PCT/CA2006/001261

申请日：2006-07-26

Applicant: MACDONALD, DETTWILER & ASSOCIATES INC. ,  BARFOOT, Timothy, D. ,  MARSHALL, Joshua, A. ,  MUKHERJI, Raja ,  WARD, Robert

Inventor： BARFOOT, Timothy, D. ,  MARSHALL, Joshua, A. ,  MUKHERJI, Raja ,  WARD, Robert

IPC: B60W30/10 ,  B60W10/18 ,  B60W10/04 ,  B60W10/20 ,  B60W40/12 ,  E21F13/00 ,  G05B19/42

CPC classification number: G08G1/20 ,  B60W10/04 ,  B60W10/20 ,  B60W2050/0028 ,  B60W2550/14 ,  B60W2550/402 ,  G05B2219/40555 ,  G05B2219/45004 ,  G05D1/024 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/021 ,  G08G1/202

Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.

Abstract translation: 本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人类操作者教导路线，然后在没有人为干预的情况下自动驾驶该路线。 该方法分为三个步骤：教学，路线分析和播放。 在教学步骤中，车辆由操作者手动驾驶（或使用遥控操作，其中操作者从车载摄像机观看显示实时视图的屏幕并使用遥控器）沿着可以包括任意操纵序列的路线，包括 向前，转弯方向，向后拖车，转弯或暂停运动。 在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。 在（离线）路线分析步骤中，日志文件中的原始数据被处理为包括车辆路径，沿着路径定位的局部度量子图的序列以及作为距离的函数的期望速度的轮廓的路线简档 路径。 在回放步骤期间，车辆自动重复在教学阶段中教导的路线，如路线轮廓所示。 这是通过首先使用定位方法来确定车辆在路线上的位置来实现的，该定位方法使用计量和激光测距仪传感器以及本地度量图来确定车辆位置。 转向控制方法调整车辆的转向，以确保其跟踪预期路径。 驱动控制方法相应地调整车辆的速度，并且在障碍物在车辆的预期路径上的情况下，安全方法确保车辆停止。

公开(公告)号：WO2013071437A1

公开(公告)日：2013-05-23

申请号：PCT/CA2012/050813

申请日：2012-11-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： UMASUTHAN, Manickam ,  MUKHERJI, Raja ,  SHANG, Limin

IPC: G01B11/00 ,  A61B1/04 ,  A61B5/103 ,  G01S17/66

CPC classification number: A61B1/00149 ,  A61B1/00193 ,  A61B1/06 ,  A61B34/10 ,  A61B34/30 ,  A61B90/10 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/371 ,  G06T7/285

Abstract: The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.

Abstract translation: 本发明提供一种使用该跟踪方法实时跟踪移动柔性表面的方法和使用图像引导的外科手术机器人系统。 视觉系统获取移动柔性表面的图像，并在不同时间识别和跟踪视觉特征。 该方法包括基于视觉特征的改变位置来计算刚性和拉伸变换，然后随着时间的推移，随后将其用于跟踪移动柔性表面上的感兴趣区域。 公开了一种使用该实时跟踪的机器人手术系统。

公开(公告)号：WO2011100839A1

公开(公告)日：2011-08-25

申请号：PCT/CA2011/050089

申请日：2011-02-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC. ,  RAVINDRAN, Rangaswamy ,  DOWLING, Sean Andrew ,  CHAN, Ming Kit

Inventor： RAVINDRAN, Rangaswamy ,  DOWLING, Sean Andrew ,  CHAN, Ming Kit

IPC: B25J15/00 ,  B25J19/00

CPC classification number: B25J15/0425 ,  B23B31/107 ,  B23B31/1074 ,  B23B31/1078 ,  B25J15/04 ,  B25J15/0408 ,  F16B21/02 ,  Y10T29/49117 ,  Y10T29/49771 ,  Y10T29/49826 ,  Y10T29/49876 ,  Y10T29/49897 ,  Y10T403/7075

Abstract: The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end- effector acts as the interface between a multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.

Abstract translation: 本发明提供了一种用于机器人处理应用的低调，紧凑，可扩展的概念端部执行器。 末端执行器作为多自由度（DOF）操纵器及其基座（如果适用）之间的界面，以及它所处理的工具，并与大型操纵器系统（如Shuttle Remote Manipulator）兼容 系统（SRMS）和空间站远程机械手系统（SSRMS）以及较小的灵巧机械手，如轨道快速灵巧机器人系统。 主动/受控部件在操纵器的一端或两端连接到辊接头，其中完全被动部件附接到机械手与之接合的结构/工具。 接口接合和配合操作通过机械手滚动接头进行。 一旦配合，剪切销被延伸以将配合的组件锁定在适当的位置，并实现高刚度，零游隙配合界面。