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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 12223. Отображено 100.
19-04-2012 дата публикации

Method and apparatus for machine coordination which maintains line-of-site contact

Номер: US20120095651A1
Автор: Noel Wayne Anderson
Принадлежит: Deere and Co

A method and system that facilitates operation of autonomous equipment by providing a mission planner to maintain line-of-sight contact between a plurality of coordinated machines, including a method for maintaining line-of-sight (LoS) communication between a plurality of machines that creates a mission plan for a work site that includes a path plan for each of the plurality of machines that maintains the line-of-sight communication between the plurality of machines by taking into account a topography for the work site; and loads the path plan for each respective one of the plurality of machines into each respective one of the plurality of machines, wherein the path plan specifies a machine travel path for each respective one of the plurality of machines.

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Номер записи: 1
07-06-2012 дата публикации

Distributed Robotic Guidance

Номер: US20120143429A1
Автор: Noel Wayne Anderson
Принадлежит: Deere and Co

The different illustrative embodiments provide an apparatus that includes a computer system, a number of structured light generators, and a number of mobile robotic devices. The computer system is configured to generate a path plan. The number of structured light generators is configured to project the path plan. The number of mobile robotic devices is configured to detect and follow the path plan.

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Номер записи: 2
28-06-2012 дата публикации

Inverted pendulum type moving body

Номер: US20120166048A1
Автор: Hidefumi Inoue, Tomohiro Kawamoto
Принадлежит: Bosch Corp

An inverted pendulum type moving body subject to a traveling control in response to a traveling instruction based on an intention of a rider while keeping a balance, a manipulation mode is performed based on the intention of the rider and an automatic operation mode is performed without being based on the intention of the rider. The inverted pendulum type moving body includes a center-of-gravity position adjusting unit for adjusting a center-of-gravity position of the rider in accordance with a manipulation signal outputted from a control device. When an instruction for switching a control mode to an automatic operation mode, where a predetermined traveling control is performed without being based on intention of the rider, is generated, and controls a wheel drive unit in accordance with a traveling instruction based on the center-of-gravity position.

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Номер записи: 3
11-10-2012 дата публикации

Storage systems comprising tractors and trailers

Номер: US20120259482A1
Автор: Klaus Jeschke
Принадлежит: Telejet Kommunikations GmbH

Contrary to many storage systems in which the stored material is parked along rails and physical guides the instant invention includes self propelled tractors to move storage material arranged on trailers on a flat freely drivable storage surface to a desired position and parking it thereon. The slightly increased number of tractors which simultaneously perform storage and retrieval provide a high transfer speed.

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Номер записи: 4
25-10-2012 дата публикации

Robot cleaner and remote monitoring system and method of the same

Номер: US20120271502A1
Автор: Chulmo Sung, Dongki Noh, Jeongsuk Yoon, Seongsoo Lee, Seungmin Baek
Принадлежит: LG ELECTRONICS INC

Disclosed are a robot cleaner and a method for controlling the same. Firstly, an obstacle may be detected by using a light pattern sensor, and a user's inconvenience due to irradiation of a light pattern may be solved. Secondly, an obstacle may be precisely detected in a three dimensional manner by using the light pattern sensor. This may allow precise creation of a cleaning map. Thirdly, a user's eyes may be prevented from being continuously exposed to a light source. This may enhance the user's convenience.

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Номер записи: 5
29-11-2012 дата публикации

Machine guidance system

Номер: US20120299695A1
Автор: Michael Sean McDaniel
Принадлежит: Caterpillar Inc

A guidance system for a machine may include a scanning device configured to detect a presence of an object within a minimum desired distance of the machine, and a controller in communication with the scanning device. The controller may be configured to compare a number of times the object is detected during a time period to a number of times the object is permitted to be detected during the time period. The controller may be configured to adjust the number of times the object is permitted to be detected. Further, the controller may be configured to output an indication, when the number of times the object is detected is equal to or greater than the number of times the object is permitted to be detected, that the object is less than the minimum desired distance from the machine.

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Номер записи: 6
29-11-2012 дата публикации

Docking stations for automated guided vehicles

Номер: US20120303190A1
Автор: Randy Lee Pfeiffer
Принадлежит: Toyota Motor Engineering and Manufacturing North America Inc

A docking station for an automated guided vehicle includes a station base unit and a shift unit adapted to move relative to the station base unit between an extended position and a retracted position, where movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction. The docking station further includes an actuator coupled to the station base unit and the shift unit, where the actuator is adapted to move the shift unit between the extended position and the retracted position and at least one locator block coupled to the shift unit. The docking station stops an automated guided vehicle travelling in the shift unit movement direction when a portion of the automated guided vehicle contacts the at least one locator block with the shift unit in the extended position.

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Номер записи: 7
14-02-2013 дата публикации

Parking assist device for vehicle and electrically powered vehicle including the same

Номер: US20130038715A1
Автор: Shinji Ichikawa
Принадлежит: Toyota Motor Corp

A first guidance control unit constituted of a parking assist ECU and a steering ECU guides a vehicle to a power transfer unit of a power feeding apparatus by controlling steering of the vehicle based on an image taken by a camera. When the vehicle is guided by the first guidance control unit to a predetermined position with respect to the power transfer unit, a second guidance control unit constituted of a vehicle ECU, a motor control ECU and a charging ECU performs alignment between the power transfer unit and a power reception unit by controlling speed of the vehicle based on a power receiving situation of the power reception unit.

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Номер записи: 8
14-02-2013 дата публикации

Optical tracking vehicle control system and method

Номер: US20130041549A1
Автор: Andrew John Macdonald, Campbell Robert Morrison, David R. Reeve
Принадлежит: Andrew John Macdonald, Campbell Robert Morrison, David R. Reeve

A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller includes images collected from an optical sensor subsystem in addition to other data collected by a variety of sensor types, including a GNSS or inertial measurement system. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The advantage provided by the present invention allows control system to “think” directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.

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Номер записи: 9
18-04-2013 дата публикации

WAREHOUSE VEHICLE NAVIGATION SYSTEM AND METHOD

Номер: US20130096735A1
Автор: Byford Roger Graham, Solanki Anshul
Принадлежит: VOCOLLECT, INC.

A system and method for the operation and navigation of a moving vehicle in a warehouse environment includes a controller for controlling operation of the vehicle and an imaging device configured to capture an image representing a view from the vehicle. Location labels are configured for being positioned in the warehouse environment and include location indicia. 1. A system for the operation and navigation of a moving vehicle in a warehouse environment , the system comprising:a controller for controlling operation of the vehicle;an imaging device configured to capture an image representing a view from the vehicle;a location label configured for being positioned in the warehouse environment and including a location indicia, the location label positioned so that the image captured by the imaging device includes an image of the location label when the vehicle is in proximity to the location label; anda navigation processor operatively coupled to the imaging device and configured to determine a location of the vehicle based at least in part on the image of the location label, the navigation processor further coupled with the controller to control the movement of the vehicle based on the determined location and a next location specified in an item order.2. The system of further comprising a voice-directed system configured for providing a speech dialog with a user regarding the location of items in the warehouse environment claim 1 , the voice-directed system configured for communicating with the navigation processor for controlling the movement of the vehicle based on location of items in the warehouse environment for the processing of the items using the vehicle.3. The system of wherein the location label further includes a target datum having predetermined dimensions claim 1 , and the navigation processor is further configured to determine the position of the vehicle based at least in part on a dimension of the target datum in the image of the location label.4. The ...

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Номер записи: 10
25-04-2013 дата публикации

Robot Confinement

Номер: US20130103194A1
Автор: Joseph L. Jones, Philip R. Mass
Принадлежит: iRobot Corp

A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

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Номер записи: 11
09-05-2013 дата публикации

ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME

Номер: US20130116825A1
Автор: Baek Seungmin, Choi Yoojin, Kim Yiebin, Lee Seongsoo, Lutsiv Vadim, Potapov Alexey, Redkov Victor
Принадлежит:

Disclosed are a robot cleaner and a method for controlling the same. A plurality of images are detected through an image detecting unit such as an upper camera, and two or more feature points are extracted from the plurality of images. Then, a feature point set consisting of the feature points is created, and the feature points included in the feature point set are matched with each other. This may allow the robot cleaner to precisely recognize a position thereof. Furthermore, this may allow the robot cleaner to perform a cleaning operation or a running operation by interworking a precisely recognized position with a map. 1. A robot cleaner , comprising:an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances;a feature point extracting unit configured to extract a plurality of feature points with respect to each of the plurality of images, and to create a feature point set consisting of the plurality of feature points;a feature point matching unit configured to match the feature points with each other through comparisons; anda control unit configured to recognize a position of the robot cleaner based on a matching result.2. The robot cleaner of claim 1 , wherein the feature point comprises feature point information consisting of a position claim 1 , an orientation and a descriptor of the feature point on the image claim 1 , and the descriptor indicates extraction information of the feature point.3. The robot cleaner of claim 2 , wherein the feature point set is provided with feature point set information consisting of an orientation vector between the feature points and an orientation angle.4. The robot cleaner of claim 3 , wherein the orientation angle indicates an angle formed between an orientation of each feature point and an orientation vector.5. The robot cleaner of claim 3 , wherein the feature point matching unit is configured to match the feature points with each other based on changes of the orientation ...

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Номер записи: 12
30-05-2013 дата публикации

MANAGEMENT OF RESOURCES FOR SLAM IN LARGE ENVIRONMENTS

Номер: US20130138246A1
Автор: Goel Dhiraj, Gutmann Jens-Steffen, Munich Mario E.
Принадлежит:

Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors. 1. A method of managing resources for a robot , the method comprising:associating observations of a first set of one or more continuous signals with a first map;associating observations of a second set of one or more continuous signals with a second map, wherein the second map is maintained independently the first map; andswitching between performing simultaneous localization and mapping (SLAM) with the first map or performing SLAM with the second map based at least partly on an observed signal strength of the first set or the second set.2. The method of claim 1 , further comprising:observing a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;determining that a largest observed signal strength of the plurality of observed sets is larger in magnitude than a signal strength of a set currently being used for performing SLAM; andswitching to performing SLAM with the set with the largest observed signal strength.3. The method of claim 1 , further comprising:observing a plurality ...

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Номер записи: 13
30-05-2013 дата публикации

Re-localization of a robot for slam

Номер: US20130138247A1
Автор: Jens-Steffen Gutmann, Mario E. Munich, Philip Fong
Принадлежит: Individual

Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

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Номер записи: 14
20-06-2013 дата публикации

SYSTEM AND METHOD FOR GUIDING AUTOMATED GUIDED VEHICLE

Номер: US20130158773A1
Автор: Ho Yu-Lun, HU JWU-SHENG, KUO Ching-Yi, Pu Yueh-Ju, WU Cheng-Hua
Принадлежит: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

A system for guiding an automated guided vehicle (AGV) is provided. The system includes a guidance path, an AGV, an image capturing apparatus and an operation unit. The guidance path guides the AGV. The AGV moves on the guidance path and is guided by the guidance path. The AGV moves in a vision guidance region after departing from the guidance path. The image capturing apparatus captures a vision guidance region associated image. The vision guidance region associated image at least includes an image of the vision guidance region. The operation unit determines whether the AGV departs from the guidance path, and calculates position information of the AGV in the vision guidance region. When the AGV departs from the guidance path, the operation unit guides the AGV according to the vision guidance region associated image. 1. A system for guiding an automated guided vehicle (AGV) , comprising:a guidance path, for guiding the AGV; wherein the AGV moves on the guidance path;an image capturing apparatus, for capturing a vision guidance region associated image at least comprising an image of the vision guidance region; andan operation unit, for determining whether the AGV is departed from the guidance path, and guiding the AGV according to the vision guidance region associated image when the AGV is departed from the guidance path.2. The system according to claim 1 , wherein the guidance path comprises a first branch and a second branch claim 1 , the first branch comprises a first terminal claim 1 , and the second branch comprises a second terminal; when the AGV enters the vision guidance region from the first terminal claim 1 , the operation unit performs route planning and positioning of the AGV in the vision guidance region until the AGV arrives the second terminal from the first terminal.3. The system according to claim 2 , further comprising:a first tag used to identify signal, disposed at the first terminal;a second tag used to identify signal, disposed at the second ...

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Номер записи: 15
20-06-2013 дата публикации

METHOD AND SYSTEM FOR NAVIGATION OF MOVABLE PLATFORM

Номер: US20130158775A1
Автор: Chung Yu-Liang, Liu Yan-Chen, Wang Chun-Chieh, Wu Chien-Feng, Wu Tsung-Liang
Принадлежит: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

A method for navigation of a movable platform is provided. The method includes the steps. First, a plurality of reflection devices is placed to mark a range. A coordinate location and a direction of the movable platform are received by a positioning system, At least one laser to measure relative positions and distances between the reflection devices and the movable platform are emitted by a laser range finder, respectively. Absolute locations of the reflection devices and the range are calculated by a processor according to the coordinate location and the direction of the movable platform, the relative positions and the distances between the reflection devices and the movable platform. The reflection devices are scanned and tracked by the processor, and the coordinate location and the direction of the movable platform and the absolute locations are calibrated by the processor to control the movable platform to move in the range. 1. A method for navigation of a movable platform , used in a system; the system includes a plurality of reflection devices and a movable platform , wherein the movable platform further includes a positioning system , a laser range finder and a processor , the method comprising:placing the plurality of reflection devices to mark a range;receiving, by the positioning system, a coordinate location and a direction of the movable platform;emitting, by the laser range finder, at least one laser to measure relative positions and distances between the plurality of reflection devices and the movable platform, respectively;calculating, by the processor, absolute locations of the plurality of reflection devices and the range according to the coordinate location and the direction of the movable platform, and the relative positions and the distances between the plurality of reflection devices and the movable platform; andscanning and tracking, by the laser range finder, the plurality of reflection devices, and calibrating, by the processor, the ...

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Номер записи: 16
15-08-2013 дата публикации

Stand for holding at least one medical device, having assistively driven casters

Номер: US20130211651A1
Автор: Joachim Schaible
Принадлежит: Leica Microsystems Schweiz AG

The invention relates to a stand ( 10 ) for holding at least one medical device (W 1 to W 3 ), which encompasses a stand foot ( 6 ) having multiple casters ( 16 ) for displacement of the stand ( 10 ). The stand ( 10 ) has a sensor unit ( 22 ) for ascertaining a displacement motion of the stand ( 10 ), a drive unit ( 18 ) for driving at least one of the casters ( 16 ), and a control unit ( 20 ) for controlling the drive unit ( 18 ). The control unit ( 20 ) applies control to the drive unit ( 18 ) in such a way that the latter assistively drives the at least one caster ( 16 ) only when the sensor unit ( 22 ) detects a displacement motion of the stand ( 10 ).

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Номер записи: 17
22-08-2013 дата публикации

CONTROL METHOD FOR CLEANING ROBOTS

Номер: US20130218341A1
Автор: HUNG Shih-Che, LENG Yao-Shih, Teng You-Wei
Принадлежит: MICRO-STAR INTERNATIONAL COMPANY LIMITED

An embodiment of the invention provides a control method of a cleaning robot with a non-omnidirectional light detector. The method includes the steps of: detecting a light beam via the non-omnidirectional light detector; stopping the cleaning robot and spinning the non-omnidirectional light detector when the non-omnidirectional light detector detects the light beam; stopping the spinning of the non-omnidirectional light detector and estimating a first spin angle when the non-omnidirectional light detector does not detect the light beam; and adjusting a moving direction of the cleaning robot according to the first spin angle. 1. A control method of a cleaning robot with a non-omnidirectional light detector , comprising:detecting a light beam via the non-omnidirectional light detector;stopping the cleaning robot and spinning the non-omnidirectional light detector when the non-omnidirectional light detector detects the light beam;stopping the spinning of the non-omnidirectional light detector and estimating a first spin angle when the non-omnidirectional light detector does not detect the light beam; andadjusting a moving direction of the cleaning robot according to the first spin angle.2. The method as claimed in claim 1 , further comprising:determining whether the light beam is output by a light generating device.3. The method as claimed in claim 1 , further comprising:estimating a second spin angle according to the first spin angle, a first center of the non-omnidirectional light detector, a second center of the cleaning robot and a distance between the first center and the second center.4. The method as claimed in claim 3 , further comprising:changing the moving direction by spinning the cleaning robot according to the second spin angle.5. The method as claimed in claim 1 , further comprising:moving the cleaning robot to a light generating device along the light beam.6. The method as claimed in claim 5 , wherein when the cleaning robot moves along the light beam ...

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Номер записи: 18
22-08-2013 дата публикации

CONTROL METHOD FOR CLEANING ROBOTS

Номер: US20130218342A1
Автор: HUNG Shih-Che, LENG Yao-Shih, Teng You-Wei
Принадлежит: MICRO-STAR INTERNATIONAL COMPANY LIMITED

An embodiment of the invention provides a control method of a cleaning robot. The method includes the steps of: forming a cleaning area according to at least three points which are selected from a light generating device, a charging station or an obstacle; moving the cleaning robot along an outer of the cleaning area from a first position; recording a first cleaning route when the cleaning robot returns back to the first position; moving the cleaning robot to a second position and planning a second cleaning route according to the first cleaning route; and moving the cleaning robot along the second cleaning route. 1. A control method for a cleaning robot , comprising:forming a cleaning area according to at least three means which are selected from a light generating device, a charging station or an obstacle;circling along an outline of the cleaning area from a first position;recording a first cleaning route when the cleaning robot returns back to the first position;moving the cleaning robot to a second position and planning a second cleaning route according to the first cleaning route; andcircling along the second cleaning route.2. The method as claimed in claim 1 , wherein a distance between the first position and the second position is a first distance.3. The method as claimed in claim 2 , wherein the first distance is half of a width of the cleaning robot.4. The method as claimed in claim 1 , further comprising:estimating a center of the cleaning area,wherein when the second position is the center of the cleaning area, the cleaning robot does not move along the second route and finishes its work.5. The method as claimed in claim 1 , further comprising:estimating a center of the cleaning area,wherein when a distance between the second position and the center of the cleaning area is less than a predetermined distance, the cleaning robot does not move along the second route and finishes its work.6. The method as claimed in claim 5 , wherein the predetermined distance ...

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Номер записи: 19
21-11-2013 дата публикации

Robotic Construction Site Marking Apparatus

Номер: US20130310971A1
Автор: Joseph M. Prouty
Принадлежит: Individual

A position location and marking system includes a base unit having stored data location files and communication apparatus therein together with a cooperating mobile element which communicates with and aides in location under the control of the base unit. A robotic marker is provided with battery-powered self-propulsion and directional control and receives and supports the mobile element of the positioning system. A sprayer is also supported upon the robotic marker and is maintained in alignment with the position detecting portion of the mobile unit by a gimble system. An onboard controller is also supported upon the robotic marker to control robotic movements and spray operation in response to communicative position and location data.

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Номер записи: 20
21-11-2013 дата публикации

DETECTING ROBOT STASIS

Номер: US20130310978A1
Автор: Gilbert, JR. Duane L., Ozick Daniel N.
Принадлежит: iRobot Corporation

A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel. 121-. (canceled)22. A coverage robot comprising:a body;a wheeled-drive that maneuvers the body over a surface according to drive commands from a controller in communication with the drive;a first stasis sensor carried on the body, and responsive to surface-relative movement of the body;a second stasis sensor carried separately on the body from the first stasis sensor, and responsive to surface-relative movement of the body, receive sensory output from each of the first and second stasis sensors; and', 'determine whether the body is moving relative to the surface as a function of the drive commands and sensory output from at least one of the first and second stasis sensors., 'wherein the controller is configured to23. The coverage robot of claim 22 , wherein the controller is further configured to transition from the first stasis sensor to the second stasis sensor as a primary sensor.24. The coverage robot of claim 23 , wherein the controller comprises a transition algorithm to cause a unitary transition from ...

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Номер записи: 21
12-12-2013 дата публикации

SYSTEMS AND METHODS FOR USING MULTIPLE HYPOTHESES IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM

Номер: US20130331987A1
Автор: Di Bernardo Enrico, Goncalves Luis Filipe Domingues, Karlsson L. Niklas, Pirjanian Paolo
Принадлежит: iRobot Corporation

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems. 1. An apparatus for autonomous localization and mapping , the apparatus comprising:a visual sensor configured to visually observe an environment;a processor configured to execute computer instructions; program instructions configured to maintain a map of landmarks in a data store, where the map of landmarks is based at least in part on visual observations of the environment;', 'program instructions configured to receive data from a dead reckoning sensor, where data from the dead reckoning sensor relates to movement of the visual sensor within the environment;', 'program instructions configured to use data from the dead reckoning sensor and a prior pose estimate to predict a new device pose in a global reference frame at least partly in response to a determination that a known landmark has not been encountered; and', 'program instructions configured to use data from the visual sensor to predict a new device pose in the global reference frame at least partly in response to a determination that a known landmark has been recognized, where the new device pose estimate is based at least in part ...

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Номер записи: 22
12-12-2013 дата публикации

OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME CROSS-REFERENCE TO RELATED APPLICATION

Номер: US20130331990A1
Автор: Jeong Yeon Kyu, Jung Gwang Jin, KIM Dong Won, Kwon Joon Hyung, So Jea Yun, YOON Sang Sik
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit. 1. A cleaning robot comprising a body , a driver to drive the body , an obstacle sensing module to sense an obstacle present around the body , and a control unit to control the driver , based on sensed results of the obstacle sensing module , wherein the obstacle sensing module comprises:at least one light emitter comprising a light source, a wide-angle lens to refract or reflect light incident from the light source to diffuse the incident light in the form of planar light, and a light source driver to drive the light source to emit light; anda light receiver comprising a reflection mirror to reflect reflection light reflected by the obstacle, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, an image sensor to receive the reflection light emerging from the optical lens and to generate an image signal from the reflection light emerging from the optical lens, and an image processing circuit to receive the image signal, and to convert the received image signal into an electrical image signal in the ...

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Номер записи: 23
19-12-2013 дата публикации

NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE

Номер: US20130338828A1
Автор: Chiappetta Mark J., Jones Joseph L.
Принадлежит: iRobot Corporation

A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system; and wherein the receiving subsystem is configured and operative to process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device to implement a prescribed conduct that alters the movement activity of the robotic device. 138-. (canceled)39. A robotic cleaner , comprising:a chassis and an outer shell secured to the chassis;left and right main drive wheel assemblies and respective independent electric motors, independently mounted in pivotally-biased combination with the chassis for pivotal motion with respect thereto at opposed ends of the transverse diameter of the chassis, and movable between a retracted position under the weight of the robotic cleaner during operation and an extended position wherein their axes of rotation are below the bottom plane of the chassis;a navigational control system operative to monitor movement activity of the robotic cleaner within a defined working area, the monitored ...

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Номер записи: 24
27-02-2014 дата публикации

METHOD AND SYSTEM FOR OPERATING A VEHICLE BY MONITORING THE MOVEMENT OF THE VEHICLE BY MEANS OF A CAMERA DEVICE OF A MOBILE CONTROL DEVICE

Номер: US20140058613A1
Автор: Leinfelder Rudolf
Принадлежит: Audi AG

In a method for operating a vehicle which performs an autonomously controlled movement, images of the vehicle are recorded in temporal succession with a mobile control which is held by an operator located outside the vehicle, a position of the vehicle in the images, a change of the position of the vehicle in the images, a proportion of the depiction of the vehicle of the total image content and/or a change of the proportion is analyzed by an analysis device, and in case the vehicle was not or only incompletely detected in the images, the proportion of the depiction of the vehicle of the total image content, the change and or degree of change of the proportion is above or below a predeterminable threshold value, the autonomously controlled movement of the vehicle ins interrupted or terminated. 1. A method for autonomously controlling a movement of a vehicle , comprising:recording images of the vehicle in temporal succession with a mobile control device held by an operator located outside the vehicle;determining with an analysis device at least one of a position of the vehicle in the detected images, a change of the position of the vehicle in the detected images, a proportion of a depiction of the vehicle of a total image content and a change of the proportion of the depiction of the vehicle of the total image content; andinterrupting or terminating the autonomously controlled movement of the vehicle in response to at least one of the depiction of the vehicle not or not completely being detected by the images, the proportion of the depiction of the vehicle of the total image content lies above or below a predeterminable threshold value, the change of the position of the vehicle in the images lies above or below a predeterminable threshold value and a degree of the change of the proportion of the depiction of the vehicle of the total image content lies above or below a predeterminable threshold value.2. The method of claim 1 , further comprising transmitting data ...

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Номер записи: 25
27-02-2014 дата публикации

Method and apparatus for using unique landmarks to locate industrial vehicles at start-up

Номер: US20140058634A1
Автор: Andrew Evan Graham, Christopher W. Goode, Lisa Wong, Lucas B. Waltz
Принадлежит: Crown Equipment Ltd

A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose.

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Номер записи: 26
06-03-2014 дата публикации

NAVIGATION SYSTEM AND METHOD

Номер: US20140060949A1
Автор: Anderson Terry, Artner Frank, Cornelius Robert S.
Принадлежит: Autonomous Tractor Corporation

A navigation system and associate methods are described that include a plurality of fixed terrestrial based reference devices that calibrate the system by tracking positional error between the fixed terrestrial based reference devices. A navigation system and associated methods are also described that include a laser positioning system. A navigation system and associated methods are described that include an RF positioning system. In one example, the laser positioning system, and the RF positioning system cross check one another to ensure reliability and accuracy of a position measurement. 1. A vehicle navigation system , comprising:at least two vehicle mounted radio frequency transceivers spaced apart from one another on a vehicle:a plurality of reference devices to place at a plurality of fixed terrestrial reference locations, to define a circumference of a navigation area, wherein each reference device includes a fixed radio frequency transceiver to interact with the vehicle mounted radio frequency transceivers and with the other reference devices of the plurality of reference devices; anda calibration system located on the plurality of reference devices, wherein a location error between the plurality of reference devices is tracked and used to calibrate actual locations of the plurality of reference devices and the at least two vehicle mounted radio frequency transceivers within the navigation area.2. The vehicle navigation system of claim 1 , wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers include VHF transceivers.3. The vehicle navigation system of claim 2 , wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers operate at approximately 150 MHz.4. The vehicle navigation system of claim 1 , wherein the plurality of reference devices are solar powered.5. The vehicle navigation system of claim 1 , wherein the plurality of reference devices include focused radio ...

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Номер записи: 27
27-03-2014 дата публикации

Proximity Sensing On Mobile Robots

Номер: US20140088761A1
Автор: Duffley Samuel, Romanov Nikolai, Shamlian Steven V.
Принадлежит: iRobot Corporation

A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance. 1. An autonomous robot comprising:a robot body defining a forward drive direction;a drive system supporting the robot body and configured to maneuver the robot over a floor surface; a sensor body;', 'first, second, and third components housed by the sensor body, the first component being one of an emitter and a receiver and each of the second component and the third component being the remaining one of an emitter and a receiver;', 'wherein the first component has a first field of view, the second component has a second field of view, and the third component has a third field of view, the first field of view intersecting the second field of view and the third field of view; and', 'wherein the intersection of the first and second fields of views defines a first volume and the intersection of the first and third fields of view defines a second volume, the first volume detecting a first surface within a first threshold distance from a sensing reference point and the second volume detecting a second surface within a second threshold distance from the sensing reference point, the second threshold distance being greater than the first threshold distance; and ...

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Номер записи: 28
07-01-2021 дата публикации

Neural network with lane aggregation for lane selection prediction of moving objects during autonomous driving

Номер: US20210001843A1
Автор: Hongyi Sun, Jiacheng Pan, Jinghao Miao, Kecheng XU, Yajia ZHANG
Принадлежит: Baidu USA LLC

In one embodiment, an autonomous driving system of an ADV perceives a driving environment surrounding the ADV based on sensor data obtained from various sensors, including detecting one or more lanes and at least a moving obstacle or moving object. For each of the lanes identified, an NN lane feature encoder is applied to the lane information of the lane to extract a set of lane features. For a given moving obstacle, an NN obstacle feature encoder is applied to the obstacle information of the obstacle to extract a set of obstacle features. Thereafter, a lane selection predictive model is applied to the lane features of each lane and the obstacle features of the moving obstacle to predict which of the lanes the moving obstacle intends to select.

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Номер записи: 29
04-01-2018 дата публикации

EGO-VEHICLES, SYSTEMS, AND METHODS FOR MONITORING TARGET OBJECTS

Номер: US20180001766A1
Автор: McNew John-Michael
Принадлежит: Toyota Motor Engineering & Manufacturing North America, Inc.

An ego-vehicle for displaying a behavior of a target object in a spatio-temporal manner may include one or more processors. One or more memory modules are communicatively coupled to the one or more processors. A display is communicatively coupled to the one or more processors. One or more sensors are communicatively coupled to the one or more processors. Machine readable instructions are stored in the one or more memory modules and cause the one or more processors to display on the display an object indicator associated with a position of a target object relative to the ego-vehicle, wherein the object indicator depicts a spatio-temporal patterning indicating the behavior of the target object. 1. An ego-vehicle for displaying a behavior of a target object in a spatio-temporal manner , the ego-vehicle comprising:one or more processors;one or more memory modules communicatively coupled to the one or more processors;a display communicatively coupled to the one or more processors;one or more sensors communicatively coupled to the one or more processors; andmachine readable instructions stored in the one or more memory modules that cause the one or more processors to display on the display an object indicator associated with a position of the target object relative to the ego-vehicle, wherein the object indicator depicts a spatio-temporal patterning indicating the behavior of the target object.2. The ego-vehicle of claim 1 , wherein the machine readable instructions cause the one or more processors to adjust the spatio-temporal patterning of the object indicator in both time and space to indicate the behavior of the target object at any given time.3. The ego-vehicle of claim 1 , wherein:the spatio-temporal patterning of the object indicator further indicates a direction the target object is traveling; andthe machine readable instructions further cause the one or more processors to move the object indicator across the display to correspond with a movement of the target ...

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Номер записи: 30
04-01-2018 дата публикации

ROBOT AND METHOD FOR USE OF ROBOT

Номер: US20180001946A1
Автор: Yamada Kazunori, YOKOYA MAYU
Принадлежит:

A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switches a support mode for supporting the user with walking. The support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detection unit. When the robot moves in the first mode, the switching unit switches the support mode from the first mode to the second mode on the basis of the second load detected by the detection unit. 1. A robot comprising:a main body;a handlebar disposed on the main body, the handlebar being grippable by a user;a detector that detects a load applied to the handlebar;a moving device including a rotating body, the moving device moving the robot by controlling rotation of the rotating body; and wherein the support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detector, and', 'wherein when the robot moves in the first mode, the switcher switches the support mode from the first mode to the second mode on the basis of a second load detected by the detector., 'a switcher that switches a support mode for supporting the user with walking,'}2. The robot according to claim 1 , further comprising:a generator that generates tendency data indicating a tendency of the load applied to the handlebar on the basis of past load data applied to the handlebar and obtained during movement of the robot; anda corrector that corrects a value of the second load on the basis of the tendency data,wherein the switcher switches the support mode from the first mode to the second mode on the basis of the ...

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Номер записи: 31
13-01-2022 дата публикации

AUTO CLEAN MACHINE AND AUTO CLEAN MACHINE CONTROL METHOD

Номер: US20220007908A1
Автор: Chang Ting-Yang, Wang Guo-Zhen
Принадлежит:

An auto clean machine comprising: a height computing device; and an obstacle determining device. The height computing device is turned on to compute a height or an overhang height of an obstacle when the obstacle determining device determines the obstacle exists in a predetermined region of the auto clean machine. The height computing device does not compute the height and the overhang height when the obstacle determining device does not determine the obstacle exists in the predetermined region. 1. An auto clean machine , comprising:a height computing device; andan obstacle determining device;wherein the height computing device is turned on to compute a height or an overhang height of an obstacle when the obstacle determining device determines the obstacle exists in a predetermined region of the auto clean machine;wherein the height computing device does not compute the height and the overhang height when the obstacle determining device does not determine the obstacle exists in the predetermined region.2. The auto clean machine of claim 1 , wherein the height computing device comprises:a first light source, configured to emit first light;an optical sensor, configured to sense first optical data generated according to the first light; anda processing circuit, configured to compute the height or the overhang height of the obstacle based on the first optical data;wherein the first light source is turned on when the obstacle determining device determines the obstacle exists in the predetermined region;wherein the first light source is turned off when the obstacle determining device does not determine the obstacle exists in the predetermined region.3. The auto clean machine of claim 2 , wherein the obstacle determining device comprises the optical sensor and the processing circuit claim 2 , and further comprises:a second light source, configured to emit second light;wherein the optical sensor senses second optical data generated according to the second light;wherein the ...

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Номер записи: 32
02-01-2020 дата публикации

Ice Re-Conditioning Assembly

Номер: US20200002909A1
Автор: SEARS James
Принадлежит:

An ice re-conditioning assembly includes a vehicle that is driven on ice in an ice skating rink. A drive unit is coupled to the vehicle for driving the vehicle around the ice skating rink in a pre-determined route. A plurality of resurfacing units is each movably coupled to the vehicle. Each of the resurfacing units is urged into a deployed position to engage the ice for reconditioning the ice for skating. Each of the resurfacing units is urged into a stored position has each of the resurfacing units being contained within the vehicle and being spaced from the ice. A plurality of displays is provided and each of the displays is coupled to the vehicle. Each of the displays displays indicia comprising words and images for advertising purposes. 1. An ice re-conditioning assembly for automatically driving around an ice skating rink for re-conditioning ice for skating , said assembly comprising:a vehicle being driven on ice in a ice skating rink, said vehicle including a pair of front wheels and at least one back wheel, each of said front wheels and said back wheel being rotatably coupled to said vehicle for driving on the ice, said back wheel being steerable thereby facilitating a zero turning radius for said vehicle;a control circuit being coupled to said vehicle;a drive unit being coupled to said vehicle, said drive unit being in mechanical communication with each of said front wheels for driving said vehicle around the ice skating rink in a pre-determined route, said drive unit being electrically coupled to said control circuit;a plurality of resurfacing units, each of said resurfacing units being movably coupled to said vehicle, each of said resurfacing units being electrically coupled to said control circuit, each of said resurfacing units being urged into a deployed position having each of said resurfacing units extending laterally away from said vehicle and engaging the ice for reconditioning the ice for skating, each of said resurfacing units being urged into a ...

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Номер записи: 33
04-01-2018 дата публикации

Autonomous vehicle localization using submaps

Номер: US20180003511A1
Автор: Brett Browning, David LaRose, David Prasser, Ethan Eade, Peter Hansen, Robert Zlot
Принадлежит: Uber Technologies Inc

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

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Номер записи: 34
04-01-2018 дата публикации

ENVIRONMENTAL SENSING DEVICE AND INFORMATION ACQUIRING METHOD APPLIED TO ENVIRONMENTAL SENSING DEVICE

Номер: US20180003822A1
Автор: Fan Zongtao, Li Bo, Zhang Tianlei
Принадлежит:

Disclosed are embodiments of environmental sensing devices and information acquiring methods applied to environmental sensing devices. In some embodiments, an environmental sensing device includes a camera sensor, a laser radar sensor that are integrated, and a control unit. The control unit is connected simultaneously to the camera sensor and the laser radar sensor. The control unit is used for simultaneously entering a trigger signal to the camera sensor and the laser radar sensor. The design of integrating the camera sensor and the laser radar sensor avoids the problems such as poor contact and noise generation that easily occur in a high-vibration and high-interference vehicle environment, and can precisely trigger the camera sensor and the laser radar sensor simultaneously, so as to obtain high-quality fused data, thereby improving the accuracy of environmental sensing. As a result, the camera sensor and the laser radar sensor have a consistent overlapping field of view. 1. An environmental sensing device , comprising:an integrated camera sensor;a laser radar sensor; and 'wherein the control unit is configured to simultaneously enter a trigger signal to the camera sensor and the laser radar sensor so as to simultaneously trigger the camera sensor and the laser radar sensor to collect an image and laser point cloud data.', 'a control unit connected simultaneously to the camera sensor and the laser radar sensor,'}2. The environmental sensing device according to claim 1 , wherein the camera sensor and the laser radar sensor are rigidly connected.3. The environmental sensing device according to claim 2 , wherein trigger signal input terminals of the camera sensor and the laser radar sensor are connected to a single trigger signal input line so as to receive the trigger signal sent from the control unit through the trigger signal input line.4. The environmental sensing device according to claim 3 , wherein the control unit comprises:a clock subunit for generating ...

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Номер записи: 35
07-01-2021 дата публикации

Online sensor calibration for autonomous vehicles

Номер: US20210003684A1
Автор: Lin Yang, Mark Damon Wheeler, Qian Gong
Принадлежит: Deepmap Inc

According to an aspect of an embodiment, operations may comprise capturing, at a vehicle as the vehicle travels, LIDAR scans and camera images. The operations may further comprise selecting, at the vehicle as the vehicle travels, a subset of the LIDAR scans and the camera images that are determined to be useful for calibration. The operations may further comprise computing, at the vehicle as the vehicle travels, LIDAR-to-camera transformations for the subset of the LIDAR scans and the camera images using an optimization algorithm. The operations may further comprise calibrating, at the vehicle as the vehicle travels, one or more sensors of the vehicle based on the LIDAR-to-camera transformations.

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Номер записи: 36
04-01-2018 дата публикации

ROAD CONDITION HEADS UP DISPLAY

Номер: US20180004204A1
Автор: Rider Tomer, Tatourian Igor
Принадлежит:

Various systems and methods for providing a road condition heads up display system are provided herein. A road condition heads up display system, includes: a video display to present imagery captured by a camera system, the imagery including terrain around an autonomous vehicle, the terrain including a driving surface on which the autonomous vehicle operates; a vehicle control system coupled to the camera system and the video processor, the vehicle control system to: operate the autonomous vehicle in an autonomous mode; recognize a non-navigable portion of the terrain around the autonomous vehicle; present an augmented reality user interface on the video display, the augmented reality user interface used by an occupant of the autonomous vehicle to indicate a waypoint; and operate the autonomous vehicle in a non-autonomous mode according to the user input. 1. A road condition heads up display system , the system comprising:a video display to present imagery captured by a camera system, the imagery including terrain around an autonomous vehicle, the terrain including a driving surface on which the autonomous vehicle operates;a vehicle control system coupled to the camera system and the video processor, the vehicle control system to:operate the autonomous vehicle in an autonomous mode;recognize a non-navigable portion of the terrain around the autonomous vehicle;present an augmented reality user interface on the video display, the augmented reality user interface used by an occupant of the autonomous vehicle to indicate a waypoint; andoperate the autonomous vehicle in a non-autonomous mode according to the user input.2. The system of claim 1 , wherein the camera system is incorporated into the autonomous vehicle.3. The system of claim 1 , wherein the camera system is mounted on a windshield of the autonomous vehicle.4. The system of claim 1 , wherein the camera system includes a visible light camera claim 1 , an infrared camera claim 1 , a depth camera claim 1 , or a ...

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Номер записи: 37
04-01-2018 дата публикации

Guide-Type Virtual Wall System

Номер: US20180004212A1
Автор: TANG Jinju
Принадлежит:

A guide-type virtual wall system is provided. The system comprises a beacon () and a robot (), wherein a transmission module of the beacon () directionally transmits a first signal, and an area covered by the first signal defines a beacon signal area (). The robot () comprises a beacon signal receiving module corresponding to the beacon signal transmission module. When the robot () enters the beacon signal area () and the beacon signal receiving module detects the first signal, the robot () advances towards the direction of the beacon () until it detects a second signal, and then the robot () crosses over or exits from the beacon signal area (). The system can restrict the robot () from entering a certain area, wherein the area where a virtual wall is located is not missed, and the robot () is also enabled to cross over the virtual wall to enter the restricted area when required. 11112111312. A guide-type virtual wall system comprising a beacon () and a robot () , a transmission module of the beacon () directionally transmitting a first signal , an area covered by the first signal defining a beacon signal area () , and the robot () comprising a beacon signal receiving module corresponding to the beacon signal transmission module , characterized in that ,{'b': 12', '13', '12', '11', '12', '13, 'when the robot () enters the beacon signal area () and the beacon signal receiving module detects the first signal, the robot () advances towards the direction of the beacon () until it detects a second signal, and then the robot () crosses over or exits from the beacon signal area ().'}2. A guide-type virtual wall system according to claim 1 , characterized in that claim 1 , the beacon signal transmission module is provided with a plurality of sub-signal transmission modules claim 1 , and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.3. A guide-type virtual wall system according to claim 2 , characterized in that ...

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Номер записи: 38
04-01-2018 дата публикации

VEHICLE REMOTE ASSISTANCE MODE

Номер: US20180004214A1
Автор: Bier Solomon, GROSS DREW, Rust Ian, Wisniowski Matthias
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes calculating, via a router of a vehicle system that accesses road map data, at least one route to a destination based on the road map data, thereby producing route solution data. The vehicle system enters a remote assistance mode in response to remote assistance decision data received from a blockage arbiter of the vehicle system. In the remote assistance mode, the method includes determining, via the router, at least one road segment of the road map data that is permitted to be blacklisted, thereby producing permitted blacklist data. The method includes transmitting the permitted blacklist data and the route solution data, via a vehicle communications module of the vehicle system, to a remote vehicle assistance system. The method includes updating, via the router, the road map data to exclude at least one blacklisted road segment defined by the permitted blacklist data. 1. A vehicle system , comprising:a router configured to, by a processor, access road map data and to calculate at least one route to a destination based on the road map data, thereby producing route solution data;the router configured to, by the processor, receive remote assistance decision data and to responsively enter a remote assistance mode;in the remote assistance mode, the router is configured to, by the processor, determine at least one road segment of the road map data that is permitted to be blacklisted, thereby producing permitted blacklist data; anda vehicle communications module configured to transmit the permitted blacklist data and the route solution data to a remote vehicle assistance system.2. The vehicle system of claim 1 , wherein the vehicle communications module is configured to receive blacklist data representing at least one blacklisted road segment from the remote vehicle assistance system.3. The vehicle system of claim 2 , wherein the router is configured to update the road map ...

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Номер записи: 39
04-01-2018 дата публикации

APPARATUS FOR GUIDING AN AUTONOMOUS VEHICLE TOWARDS A DOCKING STATION

Номер: US20180004219A1
Автор: ALDRED Michael David, EDWARDS-PARTON Simon
Принадлежит: Dyson Technology Limited

An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers. 1. A docking station for an autonomous vehicle , the docking station comprising a main body having a first fiducial marker and a second fiducial marker spaced a predetermined distance from the first fiducial marker.2. The docking station of claim 1 , wherein the first fiducial marker and the second fiducial marker are located on a display portion of the docking station that is in a substantially upright orientation when the docking station is placed on a floor surface.3. The docking station of claim 2 , wherein the display portion of the docking station is planar.4. The docking station of claim 2 , wherein the display portion is pivotable with respect to a base portion of the docking station.5. The docking station of claim 2 , wherein each of the first and second fiducial markers defines a pattern claim 2 , and wherein the pattern of the first fiducial marker is the same as the pattern of the second fiducial marker.6. The docking station of claim 2 , wherein each of the first and second fiducial markers ...

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Номер записи: 40
02-01-2020 дата публикации

APPARATUS AND METHOD FOR VIRTUAL HOME SERVICE

Номер: US20200004237A1
Автор: KIM Hyun Soo, KIM Sun Yup, Park Hyun Sang, Shin Dong Heon, SHIN KYUNG JUN
Принадлежит:

An embodiment of the present disclosure is a virtual home service apparatus including, a communicator, a home information collector for obtaining a design drawing of the home, and obtaining a 3D drawing by converting the design drawing, a home appliance identifier for obtaining an internal image and SLAM information of the home, and identifying the location and state of the home appliance based on the internal image and the SLAM information, and a virtual home implementator for generating virtual home information by reflecting the location and state of the home appliance to the 3D drawing. 1. A virtual home service apparatus for providing data for supporting a virtual home interface to a vehicle apparatus for providing the virtual home interface for controlling an operation of a home appliance installed in a home , comprising:a communicator;a home information collector for obtaining a design drawing of the home through the communicator based on user identification information of the home appliance, and obtaining a 3D drawing by converting the design drawing;a home appliance identifier for obtaining an internal image and SLAM information of the home through the communicator, and identifying the location and state of the home appliance based on the internal image and the SLAM information; anda virtual home implementator for generating virtual home information by reflecting the location and state of the home appliance to the 3D drawing,wherein the virtual home information is provided to the vehicle apparatus as the data for supporting the virtual home interface.2. The virtual home service apparatus of claim 1 ,wherein the home information collector generates a design drawing request signal that requests the design drawing by using an address registered at the time of sale of the home appliance as the user identification information, and transmits the generated design drawing request signal to a real estate brokerage server through the communicator, andwherein the ...

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Номер записи: 41
02-01-2020 дата публикации

AUTONOMOUS MOBILE GOODS TRANSFER

Номер: US20200004248A1
Автор: Florez Choque Omar Ulises, Healey Jennifer Anne
Принадлежит:

Disclosed in some examples, are devices, methods, systems, and machine readable mediums that provide for automated goods exchange between autonomous vehicles while the autonomous vehicles are still in motion. This may be used to efficiently ship packages long distances as well as to transfer goods to consumers. This allows shippers to transfer goods from one truck to another without having to stop and unload the truck, decreasing costs by limiting human involvement and improving efficiency. Likewise, mobile merchants, such as food trucks, may sell to consumers in cars without having to stop to perform the exchange, increasing the convenience to consumers. 1at least one processor; determining a route that will drive a first vehicle to a location that is within a determined distance of a second vehicle, the first vehicle and the second vehicles autonomously driven;', 'driving the determined route autonomously;', 'detecting that the second vehicle is within the determined distance;', 'autonomously maneuvering the first vehicle into a position to transfer the physical item to the second vehicle using sensor inputs; and', 'transferring the physical item between the first and second vehicles while both the first and second vehicles are in motion., 'at least one machine-readable storage medium, comprising instructions, which when executed by the at least one processor, causes the at least one processor to perform operations comprising. A system for autonomous vehicle-to-vehicle item transfers, the system comprising: This application is a continuation of U.S. patent application Ser. No. 15/475,512, filed Mar. 31, 2017, which is incorporated by reference herein in its entirety.Embodiments pertain to autonomous or semi-autonomous vehicles. Some embodiments relate to transferring of goods between autonomous road vehicles.Autonomous vehicles are vehicles that operate on a physical road without human intervention or with minimal human intervention using sensors and complex ...

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Номер записи: 42
02-01-2020 дата публикации

PLANNING DRIVEN PERCEPTION SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Номер: US20200004251A1
Автор: KONG QI, Zhu Fan
Принадлежит:

A perception perceives a driving environment surrounding an ADV based on sensor data obtained from a variety of sensors. Based on the perception data received from the perception module, a planning module is to plan a trajectory for a current driving cycle to drive the ADV. In addition, the planning module determines a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory. The driving intent and the ROIs information is then provided to the perception module as a feedback. The perception module can then processing the sensor data from selective sensors to generate the perception data for a next driving cycle. The selected sensors may be determined and selected based on the driving intent and the ROIs, such that the sensor data of the unrelated sensors may be ignored to reduce the computation cost of the perception module. 1. A computer-implemented method for operating an autonomous driving vehicle , the method comprising:receiving, by a planning module, first perception data from a perception module, the first reception data describing a driving environment surrounding an autonomous driving vehicle (ADV);planning, by the planning module, a trajectory for a current driving cycle based on the first perception data to drive the ADV from a first location to a second location;determining a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory;transmitting the driving intent and the ROIs to the perception module via an application programming interface (API);generating, by the perception module, second perception data for a next driving cycle based on the driving intent and the ROIs; andselectively processing sensor data from certain sensors associated with the ADV based on the driving intent and the ROIs.2. The method of claim 1 , wherein the driving intent is one of following lane claim 1 , changing lane claim 1 , at intersection claim 1 , nudging to left claim 1 , nudging to ...

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Номер записи: 43
02-01-2020 дата публикации

ANGLE FINDING FOR A DETECTOR HAVING A PAIRED STAGGERED ARRAY

Номер: US20200004262A1
Автор: Alcalde Carlos, Li Zhengzheng
Принадлежит:

An illustrative example embodiment of a detector device, which may be useful on an automated vehicle, includes an array of detectors arranged in one dimension. The array includes a plurality of first detectors and a plurality of second detectors. The first detectors respectively have one of the second detectors between the first detector and an adjacent one of the first detectors. The first detectors respectively are spaced from the one of the second detectors by a first distance. The one of the second detectors are respectively spaced from the adjacent one of the first detectors by a second distance that is larger than the first distance. The first detectors are spaced from each other by a third distance that is a sum of the first and second distance. The second detectors are also spaced from each other by the third distance. 1. A detector device , comprising:{'b': 1', '2', '1', '2, 'an array of receiver antennas arranged in one dimension, the array including a plurality of first receiver antennas and a plurality of second receiver antennas, the first receiver antennas respectively having one of the second receiver antennas between the first receiver antenna and an adjacent one of the first receiver antennas, the first receiver antennas respectively being spaced from the one of the second receiver antennas by a first distance d in the one dimension, the one of the second receiver antennas respectively being spaced from the adjacent one of the first receiver antennas by a second distance d in the one dimension that is larger than the first distance, the first receiver antennas being spaced from each other in the one dimension by a third distance d+d that is a sum of the first and second distance, the second receiver antennas being spaced from each other by the third distance; and'} determine a plurality of first estimates of the angle of detection from the plurality of first receiver antennas,', 'determine a plurality of second estimates of the angle of detection ...

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Номер записи: 44
02-01-2020 дата публикации

MOBILE ROBOT AND CONTROL METHOD

Номер: US20200004263A1
Автор: DALLA LIBERA Fabio, TSUSAKA Yuko
Принадлежит:

A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map and a first path along which the cleaning device is to move; a first identification unit which identifies a feature point which is a point where a distance between the object and the range finding sensor varies; a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range; a converter which converts the first path into a second path which passes through the virtual point; and a motor controller which causes the cleaning device to move along the second path. 1. A mobile robot which moves in an environment , the mobile robot comprising:a range finding sensor having a predetermined range-finding range;an acquisition unit which acquires a map of the environment including position information of an object, and a first path along which the mobile robot is to move in the environment;a first identification unit which identifies a feature point which is, among points each indicating a position of the object on the map, a point where, as viewed from a direction toward the point from the mobile robot, a distance between the object and the range finding sensor varies with movement of the mobile robot along the first path;a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range;a converter which converts the first path into a second path which passes through the virtual point; ...

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Номер записи: 45
07-01-2021 дата публикации

TRAVELING CONTROL SYSTEM FOR TRANSPORT VEHICLE AND TRAVELING CONTROL METHOD FOR TRANSPORT VEHICLE

Номер: US20210004009A1
Автор: FURIHATA Ikuma, KANAI Hiroyuki, OKUMURA Kento, Ono Katsunori
Принадлежит:

Provided are a traveling control system for a transport vehicle and a traveling control method for a transport vehicle capable of preventing unstable traveling when the transport vehicle travels while pulling a bogie. The traveling control system for a transport vehicle includes an imaging unit () provided corresponding to an operation region of a bogie () that travels together with a transport vehicle (), a mode acquisition unit () configured to acquire a mode of the bogie based on an image including the bogie imaged by the imaging unit, and a mode determination unit () configured to determine a mode of the bogie based on the mode of the bogie acquired by the mode acquisition unit. Traveling of the transport vehicle is controlled based on a determination of the mode determination unit. 1. A traveling control system for a transport vehicle that autonomously travels together with a bogie ,traveling of the transport vehicle being controlled according to a mode of the bogie that travels in an operation region, the traveling control system for a transport vehicle comprising:an imaging unit provided corresponding to an operation region of the transport vehicle; anda mode acquisition unit configured to acquire a mode of the bogie based on an image including the bogie imaged by the imaging unit.2. (canceled)3. The traveling control system for a transport vehicle according to claim 1 , whereina first characteristic unit is attached to the bogie, andthe mode acquisition unit acquires the mode of the bogie based on an image including the first characteristic unit imaged by the imaging unit.4. The traveling control system for a transport vehicle according to claim 3 , further comprising:a mode determination unit configured to determine a mode of the bogie based on the mode of the bogie acquired by the mode acquisition unit, whereinthe traveling of the transport vehicle is controlled based on a determination of the mode determination unit.5. The traveling control system for a ...

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Номер записи: 46
07-01-2021 дата публикации

LANE-CENTRIC ROAD NETWORK MODEL FOR NAVIGATION

Номер: US20210004013A1
Автор: Chen Bin, Doria David, Endres Ian, Sutton Hank
Принадлежит:

A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface. 1. An apparatus comprising: a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and', 'a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and, 'a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising, 'at least one memory, the at least one memory storing a geographic database storing map data, the geographic database comprising access one or more data records of the plurality of data records, the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and', 'based on information stored in the one or more data records, perform a navigation function., 'at least one processor, ...

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Номер записи: 47
03-01-2019 дата публикации

AUTONOMOUS MOVEMENT DEVICE, AUTONOMOUS MOVEMENT METHOD AND PROGRAM RECORDING MEDIUM

Номер: US20190004520A1
Автор: MAENO Yasushi
Принадлежит: CASIO COMPUTER CO., LTD.

An autonomous movement device includes an obstacle detector, a map creator, an obstacle canceller, and a router. The obstacle detector detects an obstacle. The map creator records information about the obstacle detected by the obstacle detector on an environment map. The obstacle canceller cancels the information about the obstacle recorded by the map creator from the environment map. The router sets a moving route based on the information recorded on the environment map. 1. An autonomous movement device comprising:an obstacle detector configured to detect an obstacle;a map creator configured to create an environment map and record information about the obstacle on the environment map;an obstacle canceller configured to cancel the information about the obstacle recorded by the map creator from the environment map depending on the passage of time; anda router configured to set a moving route based on the information recorded on the environment map.2. The autonomous movement device according to claim 1 , whereinthe obstacle detector includes a close-obstacle detector configured to detect the obstacle by approaching the obstacle.3. The autonomous movement device according to claim 1 , whereinthe map creator records the information about the obstacle at a position of the obstacle on the environment map.4. The autonomous movement device according to claim 3 , whereinthe obstacle canceller adjusts, at the position, a cancelling speed, which is a speed for cancelling the information about the obstacle from the environment map, depending on the number of times the obstacle detector has detected the obstacle at the position.5. The autonomous movement device according to claim 4 , whereinwhen the obstacle detector detects the obstacle, the obstacle canceller decreases, by a reference-obstacle adjusting value, the cancelling speed at the position where the obstacle has been detected.6. The autonomous movement device according to claim 5 , whereinthe obstacle detector includes: ...

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Номер записи: 48
03-01-2019 дата публикации

SYSTEM AND METHOD FOR PLANNING A VEHICLE PATH

Номер: US20190004524A1
Автор: Chen Xiaoying, Liu Changliu, Ni Kai, WANG Chongyu, Wang Yizhou
Принадлежит:

A system and method for determining a path for autonomous navigation based on user input is described. The vehicle can include one or more sensors to collect data for generating a three-dimensional (3D) model of the vehicle's surroundings. A two-dimensional (2D) occupancy grid map can be generated from the 3D model and displayed at a computing device. In some examples, the occupancy grid map can be displayed at a user interface of the electronic device. The user interface can further accept user input in the form of one or more of a user-defined path, an endpoint, a vehicle pose, or a series of waypoints. Based on the user input, a finalized path for autonomous vehicle travel can be determined. Determining a finalized path can include determining an optimal, minimum-distance path, applying a smoothing algorithm, and/or applying a constraint to maintain a minimum distance from any static obstacles near the vehicle. While traveling along the finalized path, one or more sensors can monitor the vehicle's surroundings for obstacles. In response to a detected obstacle, the vehicle can stop and/or determine a new path for travel. 1. A method of determining a path of travel for a vehicle , the method comprising:generating a three-dimensional (3D) model of the vehicle's surroundings;converting the 3D model to a two-dimensional (2D) occupancy grid map;receiving a user input indicative of one or more points along a desired path;determining a finalized path in accordance with the user input; andautonomously driving along the finalized path.2. The method of claim 1 , wherein the 3D model is generated based on data from one or more sensors included in the vehicle.3. The method of claim 1 , wherein the occupancy grid map includes a footprint of one or more objects included in the 3D model.4. The method of claim 1 , wherein the user input includes one or more of a user-defined path claim 1 , an endpoint claim 1 , a vehicle pose claim 1 , and a series of waypoints.5. The method of ...

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Номер записи: 49
03-01-2019 дата публикации

ECU, AUTONOMOUS VEHICLE INCLUDING ECU, AND METHOD OF CONTROLLING LANE CHANGE FOR THE SAME

Номер: US20190004529A1
Автор: Im Seong Su, Lee Tae Seok, Yang Seok Youl
Принадлежит:

A method of controlling lane change of an autonomous vehicle is provided. The method includes determining a type of a command for lane change by an autonomous driving logic of an electronic control unit (ECU) in response to the command for lane change being generated. When the command for lane change is not a specific command for lane change, attributes of each of at least one region included in a change target region is determined using information regarding the change target region. The attributes of each of the at least one region are corrected using information regarding a lane in which the autonomous vehicle is driven and a lane change region is determined from the at least one region based on the corrected attributes of each of the at least one region. 1. A method of controlling lane change of an autonomous vehicle , comprising:determining, by a controller, a type of a command for lane change using an autonomous driving logic in response to the command for lane change being generated;when the command for lane change is not a specific command for lane change, determining, by the controller, attributes of each of at least one region included in a change target region using information on the change target region;correcting, by the controller, the attributes of each of the at least one region using information regarding a lane in which the autonomous vehicle is being driven; anddetermining, by the controller, a lane change region from the at least one region based on the corrected attributes of each of the at least one region.2. The method according to claim 1 , wherein the type of the command for lane change is classified into commands for lane change according to first to fourth scenarios; and wherein the determining of the attributes of each of the at least one region is performed for commands for lane change according to second to fourth scenarios.3. The method according to claim 2 , wherein the first scenario is a situation in which lane change is not needed ...

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Номер записи: 50
03-01-2019 дата публикации

FORMATTING SENSOR DATA FOR USE IN AUTONOMOUS VEHICLE COMMUNICATIONS PLATFORM

Номер: US20190004530A1
Автор: Brindza Jordan, Jones Morgan, Sibenac Mark, Strother Daniel Leland, Tascione Daniel, Waters Justin
Принадлежит:

A sensor synchronization system for an autonomous vehicle is described. Upon initializing a master clock on a master processing node for a sensor apparatus of the autonomous vehicle, the system determines whether an external timing signal is available. If the signal is available, the system synchronizes the master clock with the external timing signal. Based on a clock cycle of the master clock, the system propagates timestamp messages to the sensors of the sensor apparatus, receives sensor data, and formats the sensor data based on the timestamp messages. 1. A method of operating a sensor apparatus of an autonomous vehicle , the method comprising:upon initializing a master clock on a master processing node for the sensor apparatus, determining whether an external timing signal is available;upon determining that the external timing signal is available, synchronizing the master clock with the external timing signal;based on a clock cycle of the master clock, propagating a plurality of pulse timestamp messages from the master processing node to a plurality of sensors of the sensor apparatus;receiving sensor data from the plurality of sensors; andgenerating, based at least in part on the sensor data and at least in part on the plurality of pulse timestamp messages, output data to enable processing for controlling the autonomous vehicle.2. The method of claim 1 , further comprising:upon determining that the external timing signal is available, determining that the master clock remains synchronized, within a predetermined threshold, with the external timing signal.3. The method of claim 2 , wherein determining that the master clock remains synchronized with the external timing signal includes determining that the master clock time skew remains beneath the predetermined threshold even after the external timing signal is lost.4. The method of claim 1 , further comprising:dividing the clock cycle of the master clock into a plurality of timing intervals; andgenerating a ...

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Номер записи: 51
07-01-2021 дата публикации

METHOD AND APPARATUS FOR 3D OBJECT BOUNDING FOR 2D IMAGE DATA

Номер: US20210004566A1
Автор: AL QIZWINI Mohammed H., CLIFFORD David H., Cool Benjamin J., LINGG Andrew J., Qi Xuewei, Wilson Daniel R.
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Methods and apparatus are provided for 3D object bounding for 2D image data for use in an assisted driving equipped vehicle. In various embodiments, an apparatus includes a camera operative to capture a two dimensional image of a field of view, a lidar operative to generate a point cloud of the field of view, a processor operative to generate a three dimensional representation of the field of view in response to the point cloud, to detect an object within the three dimensional representation, to generate a three dimensional bounding box in response to the object, to project the three dimensional bounding box onto the two dimensional image to generate a labeled two dimensional image, and a vehicle controller to controlling a vehicle in response to the labeled two dimensional image. 1. An apparatus comprising:a camera operative to capture a two dimensional image of a field of view;a lidar operative to generate a point cloud of the field of view;a processor operative to generate a three dimensional representation of the field of view in response to the point cloud, to detect an object within the three dimensional representation, to generate a three dimensional bounding box in response to the object, to project the three dimensional bounding box onto the two dimensional image to generate a labeled two dimensional image; anda vehicle controller operative to control a vehicle in response to the labeled two dimensional image.2. The apparatus of wherein the three dimensional representation of the field of view is a voxelized representation of a three dimensional volume.3. The apparatus of wherein the three dimensional bounding box is representative of a centroid claim 1 , length claim 1 , width and height of the object.4. The apparatus of wherein the processor is further operative to align the image the point cloud in response to an edge detection.5. The apparatus of wherein the processor is further operative to calibrate and co-register a point in the point cloud and a ...

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Номер записи: 52
07-01-2021 дата публикации

Directing board repositioning during sensor calibration for autonomous vehicles

Номер: US20210004610A1
Автор: Lin Yang, Mark Damon Wheeler, Ziqiang Huang
Принадлежит: Deepmap Inc

According to an aspect of an embodiment, operations may comprise determining a target position and orientation for a calibration board with respect to a camera of a vehicle, detecting a first position and orientation of the calibration board with respect to the camera of the vehicle, determining instructions for moving the calibration board from the first position and orientation to the target position and orientation, transmitting the instructions to a device, detecting a second position and orientation of the calibration board, determining whether the second position and orientation is within a threshold of matching the target position and orientation, and, in response to determining that the second position and orientation is within the threshold of matching the target position and orientation, capturing one or more calibration camera images using the camera and calibrating one or more sensors of the vehicle using the one or more calibration camera images.

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Номер записи: 53
04-01-2018 дата публикации

Autonomous vehicle localization using image analysis and manipulation

Номер: US20180005050A1
Автор: Brett Browning, David LaRose, David Prasser, Ethan Eade, Peter Hansen, Robert Zlot
Принадлежит: Uber Technologies Inc

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

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Номер записи: 54
04-01-2018 дата публикации

STATIC OBJECT DETECTION FOR OPERATING AUTONOMOUS VEHICLE

Номер: US20180005052A1
Автор: Bagnell James Andrew, Browning Brett, Melik-Barkhudarov Narek
Принадлежит:

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps. 1. A method for autonomously operating a vehicle , the method comprising:obtaining sensor data collected by the vehicle traversing an area of a road segment;accessing data, determined from sensor data previously captured from the area of the road segment, to determine a set of static objects; andprocessing the sensor data collected by the vehicle to determine one or more objects that are present in the traversed area, including reducing a quantity of sensor data that is processed based on the accessed data that identifies the set of static objects.2. The method of claim 1 , wherein accessing the data includes obtaining a submap for the road segment claim 1 , the submap identifying a set of static objects that have previously been determined to be present in an area of the road segment.3. The method of claim 2 , wherein accessing the data includes obtaining image data of a scene as the vehicle traverses over the road segment claim 2 , and wherein the submap includes image data to identify the set of static objects.4. The method of claim 3 , wherein the image data includes one of depth image data or Lidar data.5. The method of claim 1 , wherein reducing the quantity of the sensor data includes processing only a portion of sensor data collected from a scene of the area for the road segment claim 1 , the portion of sensor data excluding the set of static objects.6. The method of claim 1 , wherein processing the sensor data includes determining a set of present objects from the sensor data obtained of the scene; anddetermining a subset of the present objects which are dynamic objects based on the set of static objects.7. The method of claim 1 , ...

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Номер записи: 55
07-01-2021 дата публикации

VEHICLE POSE DETERMINATION

Номер: US20210004983A1
Автор: Chakravarty Punarjay, FISCHER John Michael
Принадлежит: FORD GLOBAL TECHNOLOGIES, LLC

A computer, including a processor and a memory, the memory including instructions to be executed by the processor to determine a vehicle six degree of freedom (DoF) pose based on an image where the six DoF pose includes x, y, and z location and roll, pitch, and yaw orientation and transform the vehicle six DoF pose into global coordinates based on a camera six DoF pose. The instructions can include further instructions to communicate to the vehicle the six DoF pose in global coordinates. 1. A computer , comprising a processor; anda memory, the memory including instructions to be executed by the processor to:determine a vehicle six DoF pose based on an image where the vehicle six DoF pose includes x, y, and z location and roll, pitch, and yaw orientation;transform the vehicle six DoF pose into global coordinates based on a camera six DoF pose; andcommunicate to a vehicle the vehicle six DoF pose in the global coordinates.2. The computer of claim 1 , the instructions further including instructions to determine the vehicle six DoF pose by determining features and dimensions based on computer-aided design (CAD) data claim 1 , physical measurements and machine vision techniques.3. The computer of claim 2 , the instructions further including instructions to determine corresponding vehicle features based on an image using machine vision techniques and transforming the vehicle features into the nominal features using a perspective-n-points algorithm to determine the six DoF pose.4. The computer of claim 3 , wherein the perspective-n-points algorithm determines a six DoF pose for a camera with respect to the vehicle features by iteratively fitting n vehicle features to a three-dimensional (3D) vehicle model claim 3 , and then determines the vehicle six DoF pose based on a determined real-world camera six DoF pose.5. The computer of claim 1 , the instructions further including instructions to determine the vehicle six DoF pose by inputting a video image to a trained ...

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Номер записи: 56
20-01-2022 дата публикации

SYSTEM AND A METHOD FOR ORCHESTRATING MULTIPLE MOBILE ROBOTS

Номер: US20220019236A1
Автор: BEN-DAVID DORON, Moran Amit
Принадлежит:

A computerized system including multiple mobile robots, each mobile robot has a set of skills, multiple dock stations, each of the multiple dock stations is configured to dock one or more of the multiple mobile robots, an interface for receiving a mission to be executed by at least one of the multiple mobile robots, a processor communicating with the multiple mobile robots, said processor determines which of the multiple mobile robots is assigned to perform the mission based on a set of values that matches the mission. 1. A computerized system , comprising:multiple mobile robots, each mobile robot has a set of skills;multiple dock stations, each of the multiple dock stations is configured to dock one or more of the multiple mobile robots;an interface for receiving a mission to be executed by at least one of the multiple mobile robots;a processor communicating with the multiple mobile robots, said processor determines which of the multiple mobile robots is assigned to perform the mission based on a set of values that matches the mission.2. The computerized system of claim 1 , wherein the interface comprises a sensor unit for collecting information claim 1 , and wherein the processor identifies the mission based on the information collected by the sensor unit.3. The computerized system of claim 1 , further comprising a location memory for storing a location of the multiple mobile robots over time claim 1 , wherein the processor is coupled to the location memory claim 1 , wherein the mission is assigned a mission location claim 1 , wherein the processor computes a distance between the mission location and locations of mobile robots having the set of skills that matches the mission.4. The computerized system of claim 1 , wherein the processor determines which of the multiple mobile robots is assigned to perform the mission in a distributed manner using processing resources of at least two of the multiple mobile robots.5. The computerized system of claim 1 , wherein the ...

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Номер записи: 57
02-01-2020 дата публикации

APPARATUS AND METHOD FOR PROVIDING 3-DIMENSIONAL AROUND VIEW

Номер: US20200007844A1
Автор: Im Jin Seok, KIM Sang Hoon, SEO Jeong Hyeon
Принадлежит:

A three-dimensional around view providing apparatus for providing a 3D around view through a user interface module included in a vehicle may include a plurality of image pickup units mounted in the vehicle, a depth estimator configured to receive a plurality of images from the plurality of image pickup units and to acquire a plurality of depth maps corresponding to the plurality of images, a controller configured to minimize a depth difference between a first boundary region of a first depth map and a second boundary region of a second depth map. At least one among an autonomous vehicle, a user terminal, and a server according to embodiments of the present disclosure may be associated or integrated with an artificial intelligence (AI) module, a drone (unmanned aerial vehicle (UAV)), a robot, an augmented reality (AR) device, a virtual reality (VR) device, a 5th-generation (5G) service related device, and the like. 1. A three-dimensional (3D) around view providing apparatus for providing a 3D around view through a user interface module included in a vehicle , the 3D around view providing apparatus comprising:a plurality of image pickup units mounted in the vehicle;a depth estimator configured to receive a plurality of images from the plurality of image pickup units and to acquire a plurality of depth maps corresponding to the plurality of images;an image processor configured to minimize a depth difference between a first boundary region of a first depth map and a second boundary region of a second depth map, to acquire a first around view depth map with the minimized depth difference between the first boundary region and the second boundary region, and to restore a 3D around view image for the plurality of images by using the first around view depth map, the first boundary region and the second boundary region being boundary regions in which the first depth map and the second depth map, which are adjacent to each other among the plurality of depth maps, overlap; anda ...

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Номер записи: 58
12-01-2017 дата публикации

ROBOTIC BIN MANAGEMENT SYSTEM AND METHOD

Номер: US20170008163A1
Автор: COUSINS STEVE
Принадлежит: Willow Garage Inc.

One embodiment is directed to a personal robotic system, comprising: an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated; a torso assembly movably coupled to the mobile base; a head assembly movably coupled to the torso; a releasable bin-capturing assembly movably coupled to the torso; and a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base. 1. A personal robotic system , comprising:a. an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated;b. a torso assembly movably coupled to the mobile base;c. a head assembly movably coupled to the torso;d. a releasable bin-capturing assembly movably coupled to the torso; ande. a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base.2. The system of claim 1 , further comprising a sensor operatively coupled to the controller and configured to sense one or more factors regarding an environment in which the mobile base is navigated.3. The system of claim 2 , wherein the sensor comprises a sonar sensor.4. The system of claim 3 , wherein the sonar sensor is coupled to the mobile base.5. The system of claim 2 , wherein the sensor comprises a laser range finder.6. The system of claim 5 , wherein the laser rangefinder is configured to ...

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Номер записи: 59
14-01-2021 дата публикации

MOBILE ROBOT USING ARTIFICIAL INTELLIGENCE AND CONTROLLING METHOD THEREOF

Номер: US20210007572A1
Автор: SIM Miyoung
Принадлежит:

A mobile robot of the present disclosure includes: a traveling unit configured to move a main body; a cleaning unit configured to perform a cleaning function; a sensing unit configured to sense a surrounding environment; an image acquiring unit configured to acquire an image outside the main body; and a controller configured to generate a distance map indicating distance information from an obstacle for a cleaning area based on information detected and the image through the sensing unit and the image acquiring unit, divide the cleaning area into a plurality of detailed areas according to the distance information of the distance map and control to perform cleaning independently for each of the detailed areas. Therefore, the area division is optimized for the mobile robot traveling in a straight line by dividing the area in a map showing a cleaning area. 1. A mobile robot comprising:a traveling wheel configured to move a main body of the moving robot;a cleaning mechanism configured to perform a cleaning function;a sensor configured to collect sensor information about a surrounding environment of the moving robot;a camera configured to acquire an image of a region outside the main body; and generate a distance map indicating distance information from an obstacle in a cleaning area based on the sensor information and the image,', 'divide the cleaning area into a plurality of areas according to the distance information of the distance map, and', 'control the moving robot to perform cleaning independently in each of the areas., 'a controller configured to'}2. The mobile robot of claim 1 , wherein the distance map includes a plurality of pixels claim 1 , and each pixel is associated with respective distance information from the obstacle.3. The mobile robot of claim 2 , wherein the controller determines a plurality of distance levels for the distance information and forms a boundary loop connecting one or more of the pixels to each other according to the plurality of ...

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Номер записи: 60
10-01-2019 дата публикации

SELF-PROPELLED ELECTRONIC DEVICE AND TRAVEL METHOD FOR SELF-PROPELLED ELECTRONIC DEVICE

Номер: US20190008347A1
Автор: SENOO TOSHIHIRO
Принадлежит:

A self-propelled electronic device comprising a housing: when an obstacle is detected ahead while the housing is moving straight forward along a outbound or a return path while it travels in a zigzag manner in a closed region, the housing travels along the obstacle such that the obstacle is located on a predetermined side of the housing, and when the housing advances by a predetermined pitch width in a direction orthogonal to a back-and-forth direction during traveling along the obstacle, the housing changes its direction and moves straight forward along a next return path or outbound path, whereas, when the housing again returns to the outbound path or return path along which it has traveled before, during traveling along the obstacle, wherein if its orientation is reversed based on its orientation when the housing has traveled along the outbound path or the return path, the housing ends traveling. 1. A self-propelled electronic device comprising: a housing; drive wheels that enable the housing to travel; a travel control unit that controls travel of the housing; an obstacle sensor that detects an obstacle present at least in front of , on a left side , and on a right side of the housing; and a housing direction detection unit that detects an orientation of the housing , wherein:when the housing travels in a closed region surrounded by an obstacle, the travel control unit causes the housing to travel back and forth along a route formed such that an outbound path and a return path which are linear are alternately connected;when the obstacle sensor detects an obstacle ahead while the housing is moving straight forward along the outbound path, the travel control unit causes the housing to travel along the obstacle such that the obstacle is located on a predetermined side of the housing, which is either a left side or a right side of the housing,whereas, when the obstacle sensor detects an obstacle ahead while the housing is moving straight forward along the return ...

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Номер записи: 61
14-01-2021 дата публикации

POSE DETERMINING METHOD FOR MOBILE ROBOT AND APPARATUS AND MOBILE ROBOT THEREOF

Номер: US20210008730A1
Автор: Fang Wei, Hu Jiawen, HU XU, Nie Peng, Xiong Youjun
Принадлежит:

The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map. 1. A computer-implemented pose determining method for a mobile robot having one or more sensors , comprising executing on a processor of the mobile robot steps of:obtaining environment data of a current environment of the mobile robot through the one or more sensors, and building an initial local map corresponding to the current environment based on the environment data;rotating the initial local map according to a first preset angular interval to obtain rotated local maps, and obtaining a first position of the mobile robot in each of the rotated local maps;determining first environmental contour points of each of the rotated local maps and a first gradient direction corresponding to each of the first environmental contour points, and obtaining a relative position of each of the first environmental contour points and the corresponding first position in each of the rotated local maps;building an angle histogram in each of the rotated local maps corresponding to the relative position based on a second preset angular interval and the first gradient direction of ...

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Номер записи: 62
14-01-2021 дата публикации

Hybrid Modular Storage Fetching System

Номер: US20210009352A1
Автор: Amador Paolo Gerli, Bhaskaran Michael, Gallaway Rodney, Gopalakrishnan Vikranth, Jarvis Daniel, Kalra Amit
Принадлежит:

A hybrid modular storage fetching system is described. In an example implementation, an automated guided vehicle of the hybrid modular storage fetching system includes a drive unit that provides motive force to propel the automated guided vehicle within an operating environment. The automated guided vehicle may also include a container handling mechanism including an extender and a carrying surface, the container handling mechanism having three or more degrees of freedom to move the carrying surface along three or more axes. The container handling mechanism may retrieve an item from a first target shelving unit using the carrying surface and the three or more degrees of freedom and place the item on a second target shelving unit. The automated guided vehicle may also include a power source coupled to provide power to the drive unit and the container handling mechanism. 1. An item handling and storage mechanism for an automated guided vehicle (AGV) , comprising:an item storage rack mountable to a frame of the AGV, the item storage rack including a plurality of shelves, each shelf of the plurality of shelves capable of storing an item;an extender mountable at a proximal end to the frame of an AGV proximate to the item storage rack, the extender having three or more degrees of freedom; anda carrying surface connected at a distal end of the extender, the carrying surface being movable by the extender vertically parallel relative to a face of the item storage rack, perpendicularly relative to the face of the item storage rack, and horizontally parallel relative to the face of the item storage rack, the carrying surface being extendable by the extender using the three or more degrees of freedom to retrieve a certain item from a separate shelving unit located within reaching distance of the extender and retractable using the three or more degrees of freedom to place the certain item on one of the shelves of the item storage rack.218. The item handling and storage mechanism ...

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Номер записи: 63
14-01-2021 дата публикации

SELF-DRIVING VEHICLE MANAGEMENT SYSTEMS AND METHODS

Номер: US20210009390A1
Автор: CHEN Chiung Lin, ZHANG Guangpeng
Принадлежит:

A self-driving vehicle management system and method configured to provide formal routing and task instructions to automated guided vehicles (AGVs). The system and method include providing any permanent or temporary change in the routing or task instructions without having to take the AGVs offline for reprogramming. The formal routing and task instructions, as well as any permanent or temporary changes in the routing or task instructions can be provided by an operator and/or one or more markers, such as bar codes. 1. A method of operating a self-driving system , comprising:receiving formal routing and task instructions from a control system or a system administrator, wherein the formal routing and task instructions are received by a self-driving vehicle;detecting and retrieving routing and task instructions from one or more markers using a camera coupled to the self-driving vehicle, wherein the routing and task instructions from the markers are different than the formal routing and task instructions; andsending the routing and task instructions retrieved from the markers to the control system or the system administrator to update the formal routing and task instructions.2. The method of claim 1 , wherein the markers are positioned in a workspace such that the markers can be removed from the workspace and additional markers can be positioned in the workspace.3. The method of claim 1 , wherein the markers are barcodes.4. The method of claim 1 , wherein the routing and task instructions retrieved from the markers include instructions to reverse the self-driving vehicle into a workspace.5. The method of claim 1 , wherein the routing and task instructions retrieved from the markers include instructions to rotate the self-driving system 180 degrees within a workspace.6. The method of claim 1 , wherein the routing and task instructions retrieved from the markers include instructions to transport inventory using the self-driving vehicle to a different location.7. The method ...

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Номер записи: 64
14-01-2021 дата публикации

RECHARGING APPARATUS AND METHOD

Номер: US20210009391A1
Автор: Atchley Michael D., High Donald R., Thompson John P.
Принадлежит:

Methods and apparatuses are provided for use in monitor power levels at a shopping facility, comprising: central control system separate and distinct from a plurality of self-propelled motorized transport units, wherein the central control system comprises: a transceiver configured to wirelessly receive communications from the plurality of motorized transport units; a control circuit coupled with the transceiver; and a memory coupled to the control circuit and storing computer instructions that cause the control circuit to: identify available stored power levels at each of the plurality of motorized transport units; identify an available recharge station, of a plurality of recharge stations distributed throughout the shopping facility, at least relative to a location of the first motorized transport unit intended to be subjected to recharging; and wirelessly communicate one or more instructions to cause the first motorized transport unit to cooperate with an available recharge station. 1. A system that monitors motorized vehicles operating at a shopping facility , comprising:a transport unit central control system separate and distinct from a plurality of motorized transport units at a shopping facility, wherein each of the plurality of motorized transport units is self-propelled and wherein the transport unit central control system comprises:a transceiver configured to wirelessly receive communications from the plurality of motorized transport units located at the shopping facility;a control circuit coupled with the transceiver; and identify that a first motorized transport unit, of the plurality of motorized transport units, is unable to effectively move itself;', 'determine, based on the determination that the first motorized transport unit is unable to effectively move itself, a location of the first motorized transport unit within the shopping facility;', 'identify a first recharge station, of a plurality of recharge stations at the shopping facility; and', ' ...

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Номер записи: 65
14-01-2021 дата публикации

INDUSTRIAL VEHICLE REMOTE OPERATION SYSTEM, INDUSTRIAL VEHICLE, REMOTE OPERATION DEVICE, COMPUTER-READABLE MEDIUM STORING INDUSTRIAL VEHICLE REMOTE OPERATION PROGRAM, AND INDUSTRIAL VEHICLE REMOTE OPERATION METHOD

Номер: US20210009392A1
Автор: KAMIYA Tomonori, OKAMOTO Hironobu
Принадлежит: KABUSHIKI KAISHA TOYOTA JIDOSHOKKI

An industrial vehicle remote operation system includes an industrial vehicle including a vehicle communication unit that performs wireless communication, a remote operation device that includes a remote communication unit for exchanging signals with the vehicle communication unit through wireless communication by establishing a communication connection state with the vehicle communication unit, and that is used to remotely operate the industrial vehicle, and a mode control unit that controls a control mode of the industrial vehicle. The control mode includes a remote mode, an abnormal stop mode, and a neutral mode. At least during the remote mode, the vehicle communication unit and the remote communication unit are in the communication connection state. 1. An industrial vehicle remote operation system comprising:an industrial vehicle including a vehicle communication unit that performs wireless communication;a remote operation device that includes a remote communication unit for exchanging signals with the vehicle communication unit through wireless communication by establishing a communication connection state with the vehicle communication unit, and that is used to remotely operate the industrial vehicle;an abnormal situation detection unit that detects an abnormal situation in the communication connection state;a cancel operation detection unit that detects an abnormality cancel operation; anda mode control unit that controls a control mode of the industrial vehicle, wherein a remote mode in which a remote operation of the industrial vehicle by the remote operation device is performed,', 'an abnormal stop mode in which the remote operation of the industrial vehicle by the remote operation device is not performed and shift to the remote mode is prohibited, and', 'a neutral mode in which the remote operation of the industrial vehicle by the remote operation device is not performed and shift to the remote mode is permitted,, 'the control mode includes'}at least ...

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Номер записи: 66
10-01-2019 дата публикации

SECOND STOP POSITION FOR INTERSECTION TURN

Номер: US20190009782A1
Автор: Kanzawa Yusuke
Принадлежит:

This disclosure describes various embodiments for determining a second stop position for an intersection turn by an autonomous vehicle. In an embodiment an autonomous control module is described. The autonomous control module may comprise a memory and a processor coupled to the memory. The processor may be configured to determine a first stop location at an intersection; cause a vehicle to stop at the first stop location; determine a turn path through the intersection; determine a second stop location along the turn path; cause the vehicle to advance to the second stop location; cause the vehicle to stop at the second stop location; and cause the vehicle to continue along the turn path. 1. An autonomous control module comprising:a memory; and determine a first stop location at an intersection;', 'cause a vehicle to stop at the first stop location;', 'determine a turn path through the intersection;', 'determine a second stop location along the turn path;', 'cause the vehicle to advance to the second stop location;', 'cause the vehicle to stop at the second stop location; and', 'cause the vehicle to continue along the turn path., 'a processor coupled to the memory, the processor configured to'}2. The autonomous control module of claim 1 , wherein the processor configured to determine the first stop location comprises the processor configured to determine the presence of a traffic control device indicating a stop indicator.3. The autonomous control module of claim 1 , wherein the processor is further configured to determine a lane boundary.4. The autonomous control module of claim 3 , wherein the processor configured to determine the second stop location comprises the processor configured to:determine a crossing point based, at least in part, on where the turn path crosses the lane boundary.5. The autonomous control module of claim 4 , wherein the second stop location is a predetermined distance from the crossing point.6. The autonomous control module of claim 1 , ...

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Номер записи: 67
09-01-2020 дата публикации

ROBOTIC BIN MANAGEMENT SYSTEM AND METHOD

Номер: US20200009718A1
Автор: COUSINS STEVE
Принадлежит: WILLOW GARAGE, INC.

One embodiment is directed to a personal robotic system, comprising: an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated; a torso assembly movably coupled to the mobile base; a head assembly movably coupled to the torso; a releasable bin-capturing assembly movably coupled to the torso; and a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base. 1. A personal robotic system , comprising:a. an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated;b. a torso assembly movably coupled to the mobile base;c. a head assembly movably coupled to the torso;d. a releasable bin-capturing assembly movably coupled to the torso; ande. a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base.2. The system of claim 1 , further comprising a sensor operatively coupled to the controller and configured to sense one or more factors regarding an environment in which the mobile base is navigated.3. The system of claim 2 , wherein the sensor comprises a sonar sensor.4. The system of claim 3 , wherein the sonar sensor is coupled to the mobile base.5. The system of claim 2 , wherein the sensor comprises a laser range finder.6. The system of claim 5 , wherein the laser rangefinder is configured to ...

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Номер записи: 68
27-01-2022 дата публикации

SYSTEMS AND METHODS FOR PRECISE NAVIGATION OF AUTONOMOUS DEVICES

Номер: US20220026911A1
Автор: Gabardos Borja Ibarz, Passot Jean-Baptiste, Sinyavskiy Oleg
Принадлежит:

The safe operation and navigation of robots is an active research topic for many real-world applications, such as the automation of large industrial equipment. This technological field often requires heavy machines with arbitrary shapes to navigate very close to obstacles, a challenging and largely unsolved problem. To address this issue, a new planning architecture is developed that allows wheeled vehicles to navigate safely and without human supervision in cluttered environments. The inventive methods and systems disclosed herein belong to the Model Predictive Control (MPC) family of local planning algorithms. The technological features disclosed herein works in the space of two-dimensional (2D) occupancy grids and plans in motor command space using a black box forward model for state inference. Compared to the conventional methods and systems, the inventive methods and systems disclosed herein include several properties that make it scalable and applicable to a production environment. The inventive concepts disclosed herein are at least deterministic, computationally efficient, run in constant time and can be deployed in many common non-holonomic systems. 1. (canceled)2. A system for causing a robot to navigate a space , comprising:a memory comprising computer readable instructions stored thereon; and access obstacle positions, a reference path through the space, and a plurality of motion primitives, each motion primitive associated with one of a plurality of pre-computed costs and a pre-computed control command;', 'generate a geometric trajectory cost of the robot based on the obstacle positions and the reference path;', 'generate a non-geometric trajectory cost of the robot;', 'select a single motion primitive from the plurality of motion primitives by minimizing a cost function based on the geometric trajectory cost, the non-geometric trajectory cost, and the pre-computed costs; and', 'provide the pre-computed control command associated with the single motion ...

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Номер записи: 69
12-01-2017 дата публикации

Shopping Facility Assistance System and Method to Retrieve In-Store Abandoned Mobile Item Containers

Номер: US20170010609A1
Автор: David C. Winkle, Donald R. High, Michael D. Atchley
Принадлежит: Wal Mart Stores Inc

A central computer system identifies a mobile item container in a retail shopping facility as being abandoned. The central computer system then directs a motorized transport unit through the retail shopping facility to the abandoned mobile item container and causes that motorized transport unit to physically attach to the abandoned mobile item container. The central computer system then directs that motorized transport unit through the retail shopping facility with the attached abandoned mobile item container to a specified destination within the retail shopping facility. Abandonment can be determined as a function, at least in part, of determining that the mobile item container is both stationary and unattended for at least a predetermined amount of time. By one approach the central computer system can use different predetermined amounts of time when assessing abandonment depending upon where in the retail shopping facility the mobile item containers are located.

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Номер записи: 70
08-01-2015 дата публикации

Robotic-Mounted Monument System for Metrology Systems

Номер: US20150012162A1
Автор: Cobb James M., Sjoholm Paul Fredric, Trautman Peter Frederick
Принадлежит:

A method and apparatus for aligning a number of measurement systems to a reference coordinate system. In one illustrative example, an apparatus may comprise a number of robotic vehicles and a number of monuments associated with the number of robotic vehicles. The number of robotic vehicles may be configured to move into an environment. 1. An apparatus comprising:a number of robotic vehicles configured to move into an environment; anda number of monuments associated with the number of robotic vehicles.2. The apparatus of further comprising:a number of measurement systems in the environment, wherein each of the number of measurement systems is configured to generate a number of position measurements for the number of monuments for use in aligning the number of measurement systems to a reference coordinate system.3. The apparatus of claim 2 , wherein the number of position measurements are used to align the number of measurement systems to the reference coordinate system such that measurements generated by the number of measurement systems may be processed according to the reference coordinate system.4. The apparatus of further comprising:a main controller configured to transform the number of position measurements generated by each of the number of measurement systems to the reference coordinate system to align the number of measurement systems to the reference coordinate system.5. The apparatus of claim 2 , wherein the number of measurement systems includes at least one of an optical measurement system claim 2 , a laser tracking device claim 2 , a position tracking system claim 2 , an imaging system claim 2 , and a motion capture system.6. The apparatus of claim 2 , wherein the reference coordinate system is selected from one of a coordinate system for a measurement system in the number of measurement systems and a coordinate system for the environment.7. The apparatus of claim 1 , wherein a robotic vehicle in the number of robotic vehicles comprises:a base; anda ...

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Номер записи: 71
14-01-2016 дата публикации

METHOD FOR EXTRACTING CURB OF ROAD USING LASER RANGE FINDER AND METHOD FOR LOCALIZING OF MOBILE ROBOT USING CURB INFORMAITON OF ROAD

Номер: US20160011594A1
Автор: CHUNG Woojin, LEE Hyunsuk
Принадлежит: KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION

The invention relates to a method for extracting a curb of a road using a laser range finder and a method for localizing of a mobile robot using curb information of a road. The method for extracting the curb of the road using the laser range finder includes extracting a road surface and line segments from scan data of the laser range finder, extracting a plurality of curb candidate line segments among the line segments on the basis of an angle between the road surface and the line segment, extracting a plurality of curb candidates having a plurality of curb properties, wherein each of the plurality of curb candidates is generated by combining the couple of the curb candidate line segments, and applying the plurality of the curb candidates to a Kernel Fisher Discriminant Analysis to extract a final curb. 1. A method for extracting a curb of a road using a laser range finder comprising following steps:(a) extracting a road surface and line segments from scan data of the laser range finder;(b) extracting a plurality of curb candidate line segments among the line segments on the basis of an angle between the road surface and the line segment;(c) extracting a plurality of curb candidates having a plurality of curb properties, wherein each of the plurality of curb candidates is generated by combining the couple of the curb candidate line segments; and(d) applying the plurality of the curb candidates to a Kernel Fisher Discriminant Analysis to extract a final curb.2. The method for extracting the curb of the road using the laser range finder according to claim 1 , wherein the step (c) comprises following steps:(c1) extracting a right curb candidate line segment and a left curb candidate line segment from the plurality of curb candidate line segments;(c2) calculating a difference between a distance to the extracted road surface and a distance to the right curb candidate line segment and/or the left curb candidate line segment;(c3) calculating an angular difference between ...

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Номер записи: 72
11-01-2018 дата публикации

NON-UNIFORM LIGHT-EMITTING LIDAR APPARATUS AND AUTONOMOUS ROBOT INCLUDING THE SAME

Номер: US20180011490A1
Автор: JEON Myungjae, KWON Namseop, LEE Jisan, PARK Yonghwa, YOU Jangwoo
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

Provided are non-uniform light-emitting lidar (light detection and ranging) apparatuses and autonomous robots including the same. A lidar apparatus may include a light source configured to emit light, an optical unit arranged on an optical path of light emitted from the light source and configured to change an optical profile of the light to be non-uniform, and a 3D sensor configured to sense location of an object by receiving reflection light from the object. 1. A lidar apparatus comprising:a light source configured to emit light;an optical unit arranged on an optical path of light emitted from the light source and configured to change an optical profile of the light to be non-uniform; anda 3D sensor configured to sense a location of an object by receiving reflection light from the object.2. The lidar apparatus of claim 1 , wherein the optical unit comprises:a diffuser configured to be arranged on the optical path of light emitted from the light source and to diffuse light; andan optical element arranged on the optical path of diffusing light diffused from the diffuser and configured to change an optical profile of the diffusing light to be non-uniform when the diffusing light is emitted.3. The lidar apparatus of claim 2 , wherein the optical element changes the optical profile of the diffusing light so that intensities of light reaching an object from the lidar apparatus are different according to distances.4. The lidar apparatus of claim 3 , wherein the optical element tilts a portion of the diffusing light that proceeds towards a bottom surface by diffusing from the diffuser so that the portion of the diffusing light proceeds towards an object located remotely from the optical element.5. The lidar apparatus of claim 2 , wherein the optical element changes an optical profile of the diffusing light to prevent the 3D sensor from over saturating by reflection light reflected by an object located near the optical element.6. The lidar apparatus of claim 2 , wherein ...

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Номер записи: 73
10-01-2019 дата публикации

SYSTEM FOR MONITORING AIR QUALITY AND DOCKING STATION FOR A MOBILE ROBOT EQUIPPED WITH AIR QUALITY SENSORS

Номер: US20190011413A1
Автор: CAUSSY Ramesh, DELARBOULAS Pierre Jean-Luc Sylvain, HASSON Cyril, ROLLAND DE RENGERVE Antoine Marie Anne
Принадлежит:

The invention relates to a system for monitoring air quality in an environment, including at least one mobile robot () in the environment, a docking station () placed in the environment and including a parking area for receiving the robot, air quality sensors on board the mobile robot, air quality sensors fitted in the docking station, and a calibration manager for collecting measures carried out by at least one air quality sensor on board the mobile robot () while the mobile robot is received in the parking area of the docking station (), and measures carried out at the same time by another air quality sensor fitted in the docking station, of the same type as the on-board air quality sensor. 1. A system for monitoring air quality in at least one environment , comprising: a docking station placed in the environment and having a parking area for receiving the robot;', 'air quality sensors on board the mobile robot;', 'air quality sensors installed in the docking station; and', 'a calibration controller for collecting measurements made by at least a first air quality sensor on board the mobile robot, while the mobile robot is received in the parking area of the docking station, and for collecting measurements made at the same time by a second air quality sensor installed in the docking station and of the same type as said first air quality sensor., 'at least one mobile robot in the environment;'}2. The system of claim 1 , wherein the calibration controller is configured to transmit to the mobile robot drift observed in the collected measurements correction parameters.3. The system of claim 1 , wherein the calibration controller is installed at least in part in the docking station claim 1 , the system further comprising a collection server communicating with the calibration controller to process the collected measurements and to provide drift observed in the collected measurements correction parameters.4. The system of claim 3 , wherein the drift observed in the ...

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Номер записи: 74
10-01-2019 дата публикации

LIDAR SCANNING DEVICE ON A MOTOR VEHICLE

Номер: US20190011538A1
Автор: Adams Rene, Kamil Mustafa, Ostrinsky Joern, Schwarz Hans-Jochen, Sparbert Jan, Stoppel Klaus
Принадлежит:

A lidar scanning device for use in a motor vehicle includes a lidar sensor having a predefined scanning field, the lidar sensor being configured for determining the distance of an object within the scanning field, and a pivot device for varying an alignment of the scanning field of the lidar sensor as a function of a driving direction of the motor vehicle. 110-. (canceled)11. A lidar scanning device for a motor vehicle , comprising:a lidar sensor having a predefined scanning field, wherein the lidar sensor is configured for determining the distance of an object within the scanning field; anda pivot device to vary an alignment of the scanning field of the lidar sensor as a function of a driving situation of the motor vehicle.12. The lidar scanning device of claim 11 , wherein the pivot device is configured to pivot the lidar sensor about an axis.13. The lidar scanning device of claim 11 , wherein the pivot device is configured to pivot a reflective or refractive element in the optical path of the lidar sensor about an axis.14115. The lidar scanning device of claim 11 , wherein the alignment of the scanning field () is varied as a function of a driving speed of the motor vehicle.15. The lidar scanning device of claim 11 , wherein the scanning field is varied about a transverse axis of the motor vehicle.16. The lidar scanning device of claim 15 , wherein the scanning field is varied about a transverse axis of the motor vehicle claim 15 , and the scanning field is varied in the direction of the ground at a low driving speed and in the direction of the horizon at a high driving speed.17. The lidar scanning device of claim 11 , wherein the alignment of the scanning field is varied about a vertical axis.18. The lidar scanning device of claim 11 , wherein the lidar scanning device is mounted on a side-mirror housing of the motor vehicle.19. A method to determine a distance from an object within a scanning field of a lidar sensor of a lidar scanning device of a motor vehicle ...

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Номер записи: 75
14-01-2021 дата публикации

Laser Waveform Embedding

Номер: US20210011161A1
Автор: Braley Colin, Chen Mingcheng, Lauterbach Christian
Принадлежит:

A system includes a light detection and ranging device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point. The system also includes a signal processor configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point. The system additionally includes an embedding model configured to determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values representative of the physical characteristics of the respective point. The system further includes a feature detector configured to detect or classify a physical feature based on (i) the corresponding positions of one or more points of the plurality of points and (ii) the corresponding vectors of the one or more points. 1. A system comprising:a light detection and ranging (LIDAR) device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point;a signal processor communicatively coupled to the LIDAR device and configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point within the environment;an embedding model communicatively coupled to the LIDAR device and configured to (i) receive the corresponding waveform from the LIDAR device and (ii) determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values that are representative of the physical characteristics of the respective point; anda feature detector communicatively coupled to the embedding model and configured to detect ...

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Номер записи: 76
14-01-2021 дата публикации

SOLID STATE LIDAR MACHINE VISION FOR POWER EQUIPMENT DEVICE

Номер: US20210011170A1
Автор: Hart Charles, Kucera Jeff
Принадлежит:

A machine vision device is provided usable in conjunction with power equipment machines. By way of example, an array of sensors can be deployed to detect proximity of objects to the power equipment machine, and issue an alert in response to detecting an object within a threshold distance. The alert can be utilized by the power equipment machine to take corrective action to mitigate or avoid running over or striking the object. Sensors having respective fields of view can be arranged along an arc to facilitate machine vision of a spatial volume in a proximity of the machine, and ranging determinations can be coupled with low cost processing devices to facilitate a machine vision solution far more cost effective than other technologies in the art. 1. A machine vision device operable in conjunction with a power equipment machine , comprising:a plurality of infrared sensors arranged in an arc approximately along a two dimensional or three-dimensional surface, an infrared sensor of the plurality of infrared sensors adapted to detect presence of an object within a field of view of the infrared sensor;at least one microprocessor configured to receive ranging data indicative of identified objects within respective fields of view of the plurality of infrared sensors, determine whether the ranging data identifies an object within a threshold distance from the machine vision device;a housing for enclosing the plurality of infrared sensors and the at least one microprocessor, the housing having a paired window opening against which the infrared sensor is seated, the paired window opening comprising an opaque rib positioned near a center of the paired window opening and is positioned between an infrared emitter of the infrared sensor and a receiver array of the infrared sensor and flush to an active surface of the infrared emitter;a pair of translucent windows secured within the paired window opening of the housing at opposing sides of the opaque rib and flush to the active ...

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Номер записи: 77
09-01-2020 дата публикации

DEVICE AND METHOD FOR ASSISTING DRIVING OF VEHICLES

Номер: US20200011693A1
Автор: BAIK A-ron, CHOI Mid-eum, JANG Min-sung, LEE Jeong-Eun, PARK Chang-Soo, RYU Je-woong, Yoo Jin-woo
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

An apparatus and a method for assisting traveling of a vehicle are provided. The apparatus includes: a sensing unit; a processor configured to generate a traveling route available to the vehicle by using information acquired through the sensing unit while the vehicle is traveling; and a memory storing information about the generated available traveling route. 1. An apparatus for assisting traveling of a vehicle ,the apparatus comprising:a sensing unit;a processor configured to generate a traveling route available to the vehicle by using information acquired through the sensing unit while the vehicle is traveling; anda memory storing information about the generated available traveling route.2. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle so as to correspond to a route along which the vehicle travels, by using the acquired information.3. The apparatus of claim 2 , whereinthe processor is further configured todetermine coordinates, corresponding to points included in the route, on a high definition map by using the acquired information and generate the available traveling route on the high definition map by using the coordinates.4. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle so as to correspond to a route, along which an external vehicle near the vehicle travels, by using the acquired information.5. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle based on at least one of a route along which the vehicle travels, a route along which an external vehicle near the vehicle travels, a lane shape around the vehicle, a road state around the vehicle, a traffic state around the vehicle, and a type of the external vehicle near the vehicle.6. The apparatus of claim 1 , whereinthe processor is further configured todetermine a plurality of ...

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Номер записи: 78
14-01-2021 дата публикации

ELECTRONIC APPARATUS AND CONTROLLING METHOD THEREOF

Номер: US20210011477A1
Автор: Byun Dongnam, KIM Hyewon, Yeo Haedong
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

Provided is an electronic apparatus, including: a sensor; a camera; a storage configured to store first and second artificial intelligence models; a first processor; and a second processor. The second processor is configured to: input an image obtained through the camera to the first artificial intelligence model and identify the object of the first type in the image, and input the image obtained through the camera to the second artificial intelligence model and identify the object of the second type, at least a part of which is not viewable in the image. The first processor is configured to: determine a distance between the object of the first type and the object of the second type based on sensing data received from the sensor; and control the electronic apparatus to travel based on the determined distance. 1. An electronic apparatus , comprising:a sensor;a camera;a storage configured to store a first artificial intelligence model trained to identify an object of a first type included in an image and a second artificial intelligence model trained to identify an object of a second type, at least a part of which is not viewable in the image;a first processor connected to the sensor and the storage; anda second processor connected to the camera, the storage, and the first processor, load the first artificial intelligence model and the second artificial intelligence model from the storage; and', 'input an image obtained through the camera to the first artificial intelligence model and identify the object of the first type in the image, input the image obtained through the camera to the second artificial intelligence model and identify the object of the second type, at least a part of which is not viewable in the image, and transmit information regarding the identified object of the first type and information regarding the identified object of the second type to the first processor, and, 'wherein the second processor is configured to determine a distance between the ...

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Номер записи: 79
14-01-2021 дата публикации

Robot Localization with Co-located Markers

Номер: US20210011482A1
Автор: Holz Dirk, Murphy Elizabeth
Принадлежит:

One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association. 1. A method comprising:determining locations of a plurality of mapped markers in a map of an environment of a robotic device;determining a visibility region for each of the plurality of mapped markers;detecting a set of detected markers based on sensor data from the robotic device;identifying a plurality of matches between detected markers and mapped markers such that each match includes a detected marker within a threshold distance of a mapped marker, wherein the mapped marker satisfies a visibility constraint based on the visibility region of the mapped marker and a current position of the robotic device; anddetermining a location of the robotic device in the environment relative to the map based on the plurality of matches.2. The method of claim 1 , wherein a nearest neighbor search is used to identify the plurality of matches between detected markers and mapped markers.3. The method of claim 2 , wherein the nearest neighbor search comprises a grid search claim 2 , and wherein the grid search returns a grid cell that includes at least one of the plurality of mapped markers for ...

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Номер записи: 80
10-01-2019 дата публикации

INTERACTIONS BETWEEN VEHICLE AND TELEOPERATIONS SYSTEM

Номер: US20190011912A1
Автор: Caldwell Timothy, Gogna Ravi, Kobilarov Marin, Levinson Jesse Sol, Linscott Gary, Lockwood Amanda Lee Kelly, Orecchio Paul, Rege Ashutosh Gajanan, Xie Dan
Принадлежит:

A method for operating a driverless vehicle may include receiving, at the driverless vehicle, sensor signals related to operation of the driverless vehicle, and road network data from a road network data store. The method may also include determining a driving corridor within which the driverless vehicle travels according to a trajectory, and causing the driverless vehicle to traverse a road network autonomously according to a path from a first geographic location to a second geographic location. The method may also include determining that an event associated with the path has occurred, and sending communication signals to a teleoperations system including a request for guidance and one or more of sensor data and the road network data. The method may include receiving, at the driverless vehicle, teleoperations signals from the teleoperations system, such that the vehicle controller determines a revised trajectory based at least in part on the teleoperations signals. 1. A method for operating a driverless vehicle comprising a vehicle controller , the method comprising:receiving, at the driverless vehicle, sensor signals comprising sensor data from one or more sensors associated with the driverless vehicle, the sensor data related to operation of the driverless vehicle;receiving road network data from a road network data store, the road network data being based at least in part on a location of the driverless vehicle;determining, at the driverless vehicle, a driving corridor within which the driverless vehicle travels according to a trajectory, the driving corridor comprising virtual boundaries and being based at least in part on at least one of the sensor data or the road network data;causing the driverless vehicle to traverse a road network autonomously according to a path from a first geographic location to a second geographic location different than the first geographic location;determining that an event associated with the path has occurred;based at least in ...

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Номер записи: 81
10-01-2019 дата публикации

SYSTEM AND METHOD FOR NAVIGATING AN AUTONOMOUS DRIVING VEHICLE

Номер: US20190011924A1
Автор: Xiao Jianxiong
Принадлежит:

A system and method for navigating an autonomous driving vehicle (ADV) by capturing and analyzing information of a global scene and local objects around the ADV, is disclosed. The system comprises a sensor assembly incorporated on the ADV and a computing device in communication with the sensor assembly. The sensor assembly is configured to collect environmental data around the ADV. The computing device comprises a processor, and a memory unit for storing a predefined scene template and environmental data. The computing device is configured to process the environmental data to identify a moving and static object. The computing device is further configured to observe an environmental scene around the ADV. The observed environmental scene is aligned with a predefined scene template. Further, the predefined scene template is adjusted using the processed environmental data. The computing device provides instruction to control the vehicle based on the adjusted scene template. 1. A system for navigating an autonomous driving vehicle (ADV) , comprising:a sensor assembly incorporated on the ADV comprising one or more sensors configured to collect environmental data around the autonomous driving vehicle; and wherein the processor is configured to process the environmental data to identify moving and static objects around the autonomous driving vehicle and the memory unit is configured to store a predefined scene template and environmental data, and', observe an environmental scene around the ADV,', 'align the captured environmental scene with a predefined scene template,', 'adjust the predefined scene template using the processed environmental data, and', 'navigate the ADV based on the adjusted scene template., 'wherein the computing device is configured to], 'a computing device in communication with the sensor assembly comprising a processor and a memory unit,'}2. The system of claim 1 , wherein the sensors comprises at least one of an ultrasonic sensor claim 1 , a lidar ...

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Номер записи: 82
11-01-2018 дата публикации

User Display Providing Obstacle Avoidance

Номер: US20180012086A1
Автор: Eskridge Thomas Charles, Johnson Matthew, Kenny Chua Wei Liang
Принадлежит:

A visual display for use by a user for navigation and obstacle avoidance. A typical user employs the invention in operating a vehicle. The user may be located in the vehicle but will more typically be remotely located. The display may include a conventional video feed. A visual arch metaphor is also provided. If used in conjunction with a video feed, the arch metaphor preferably extends from the left side of the video, over the top of the video, and on to the right side of the video. A ranging device mounted on the vehicle collects ranging data around the vehicle. As an example, the ranging device might collect 180 degrees of ranging data extending from the vehicle's left side, across the vehicle's front, and over to the vehicle's right side. The ranging data is then correlated to a predefined color scale. The ranging data is also correlated to a position on the arch metaphor. 1. A method of providing a display for an operator of a vehicle , said vehicle having a right boundary , a left boundary , a video camera , and a ranging device , comprising:a. providing a video display, including a left side, a top, and a right side, wherein said video display displays images from said video camera on said vehicle;b. providing an arch metaphor, extending from said left side of said video display, over said top, to said right side of said video display; i. said ranging data is dividing into ranging sectors,', 'ii. each of said ranging sectors is correlated to an arc sector on said arch metaphor,', 'iii. a range for each ranging sector is correlated to a color selected from a predefined color scale, and', 'iv. said ranging data is displayed on said arch metaphor according to said correlated arc sector and said correlated color,, 'c. displaying ranging data collected by said ranging device on said arch metaphor, wherein,'}d. providing a right clearance indicator movable along said arch metaphor, with a position of said right clearance indicator along said arch metaphor being ...

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Номер записи: 83
11-01-2018 дата публикации

Traffic Light Detection Device and Traffic Light Detection Method

Номер: US20180012088A1
Автор: Daiki YAMANOI, Haruo Matsuo, Takahiko Oki
Принадлежит: Nissan Motor Co Ltd

A traffic light detection device includes: an image capture unit capturing an image of surroundings; a traffic light location estimation unit estimating a location of a traffic light around the vehicle and setting a traffic light search area in which the traffic light is estimated to be present; a traffic light detection unit detecting the traffic light by searching the traffic light search area on the image; and an obstruction estimation unit. When the obstruction estimation unit estimates that a continuous obstruction state where a view of the traffic light is continuously obstructed occurs in the traffic light search area, the traffic light location estimation unit selects the traffic light search area based on the continuous obstruction state.

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Номер записи: 84
09-01-2020 дата публикации

SYSTEM, METHOD, AND COMPUTER-READABLE MEDIUM FOR AN AUTONOMOUS VEHICLE TO PASS A BICYCLE

Номер: US20200012286A1
Автор: Bao Shan, Delp Michael J., Feng Ruijia
Принадлежит:

An autonomous vehicle configured to autonomously pass a cyclist includes an imaging device and processing circuitry configured to receive information from the imaging device. Additionally, the processing circuitry of the autonomous vehicle is configured to identify a cyclist passing situation based on the information received from the imaging device, and plan a path of an autonomous vehicle based on the cyclist passing situation. The autonomous vehicle also includes a positioning system and the processing circuitry is further configured to receive information from the positioning system, determine if the cyclist passing situation is sufficiently identified, and identify the cyclist passing situation based on the information from the imaging device and the positioning system when the cyclist passing situation is not sufficiently identified based on the information received from the imaging device. 1. A system , comprising:an imaging device; and receive information from the imaging device,', 'identify a cyclist passing situation including identifying variables to a left side and a right side of an autonomous vehicle based on the information received from the imaging device,', 'match the identified cyclist passing situation with real world data collected from human drivers, and', 'plan a path of the autonomous vehicle based on the matched real world data., 'processing circuitry configured to'}2. The system of claim 1 , further comprising:a positioning system, wherein the positioning system utilizes maps accessible by the processing circuitry.3. The system of claim 2 , wherein the processing circuitry is further configured toreceive information from the positioning system,determine if the cyclist passing situation is sufficiently identified, andidentify the cyclist passing situation based on the information from the imaging device and the positioning system when the cyclist passing situation is not sufficiently identified based on the information received from the ...

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Номер записи: 85
09-01-2020 дата публикации

MOBILE ROBOT AND CONTROL METHOD THEREOF

Номер: US20200012292A1
Автор: PARK Sangyeol, SONG JAEWON
Принадлежит:

The present invention relates to a moving robot and a control method thereof, and includes a sensor unit configured to detect an obstacle located in a traveling direction; a camera configured to photograph the obstacle, when the obstacle is detected by the sensor unit; a controller configured to control a certain operation to be performed in accordance with the obstacle. The controller analyzes a plurality of image data of the obstacle inputted from the camera to determine whether the obstacle can be identified and filters the image data, transmits the filtered image data among the plurality of image data to the server through the communication unit, and controls the traveling unit in accordance with obstacle information received from the server. Hence, by transmitting only recognizable image, unnecessary data transmission is reduced, and accordingly, transmission traffic is reduced and the load of image processing of the server is reduced. As the load of the server decreases, the obstacle can be quickly determined, and accordingly, the moving robot can recognize the obstacle in a short time and determine the type of the obstacle to cope with, thereby performing the operation suitable for the feature of the obstacle, the cleaning area, or the surrounding environment. 1. A moving robot comprising:a sensor unit configured to be provided at a front side of a main body, and to detect an obstacle located in a traveling direction;a camera configured to photograph the obstacle, when the obstacle is detected by the sensor unit;a controller configured to control a certain operation to be performed in accordance with the obstacle;a traveling unit configured to perform a designated operation according to a control command of the controller; anda communication unit configured to communicate with a server,wherein the controller analyzes a plurality of image data of the obstacle inputted from the camera to determine whether the obstacle can be identified and filters the image ...

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Номер записи: 86
14-01-2021 дата публикации

Need-Sensitive Image And Location Capture System And Method

Номер: US20210012122A1
Автор: Belmon Stephane, Brewington Brian Edmond, Cooper Alexander
Принадлежит:

The disclosure provides for a method of controlling one or more sensors on a moving vehicle that is executable by one or more computing devices. The one or more computing devices may detect a first surface at a first location and a second surface at a second location using the one or more sensors. The second surface may be classified as a target of interest. Then the one or more computing devices may determine one or more timing characteristics of the one or more sensors based on a pose or motion of the one or more sensors relative to the first location of the first surface and the second location of the second surface. Then, the one or more computing devices may control the one or more sensors to capture data according to the determined one or more timing characteristics. 1. A method of controlling one or more sensors on a moving vehicle to determine information relating to surroundings of the vehicle , comprising:identifying, by one or more computing devices, one or more targets of interest;determining target information using the one or more computing devices, the target information comprising information relating to the identified one or more targets of interest;determining, by the one or more computing devices, one or more timing characteristics for capturing data relating to the one or more targets of interest, the one or more timing characteristics being determined based on the target information and a predetermined set of rules relating to information need; andcontrolling, by the one or more computing devices, the one or more sensors to capture data relating to the one or more targets of interest based on the one or more determined timing characteristics.2. The method of claim 1 , wherein:identifying one or more targets of interest comprises identifying first and second targets of interest determining one or more timing characteristics comprises:determining a first rate of capture for capturing data relating to the first target of interest; anddetermining a ...

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Номер записи: 87
10-01-2019 дата публикации

CALIBRATION VERIFICATION METHODS FOR AUTONOMOUS VEHICLE OPERATIONS

Номер: US20190012808A1
Автор: MOU Wei
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle includes a camera onboard the vehicle, a lidar device onboard the vehicle, a data storage element onboard the vehicle maintaining one or more transformation parameter values associated with a pairing of the camera and the lidar device, one or more sensors onboard the vehicle, and a controller. The controller detects a stationary condition based on output of the one or more sensors, obtains a first set of image data from the camera during the stationary condition, filters horizontal edge regions from the first set, obtains a second set of the ranging data during the stationary condition, and validates the one or more transformation parameter values based on a relationship between the filtered set of the image data and the second set of the ranging data. 1. A method of controlling a vehicle , the method comprising:detecting, by a control module onboard the vehicle, a stationary condition of the vehicle based on output of a sensor system onboard the vehicle; obtaining, by the control module, a first image from an imaging device onboard the vehicle during the stationary condition; and', 'obtaining, by the control module, a first set of ranging data corresponding to a field of view of the imaging device from a ranging device onboard the vehicle during the stationary condition;, 'in response to the stationary conditioncorrelating, by the control module, first edge regions from the first image with second edge regions of the first set of ranging data;detecting an anomalous condition exists based on a relationship between the correlated first and second edge regions relative to a reference relationship associated with the one or more transformation parameter values; andin response to the anomalous condition, initiating one or more remedial actions with respect to the anomalous condition.2. The method of claim 1 , wherein:detecting the anomalous condition comprises determining the ...

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Номер записи: 88
16-01-2020 дата публикации

Autonomously Operated Agricultural Vehicle and Method

Номер: US20200015408A1
Автор: Armstead Alan Dean
Принадлежит:

A method for autonomously performing an agricultural operation includes automatically moving a vehicle having at least one agricultural operation device to a starting location for the agricultural operation. An indicator for the starting location is optically identified. A position of the vehicle to a selected distance from the indicator is automatically adjusted. The agricultural operation device is automatically operated. The vehicle is automatically moved along a selected trajectory and the automatically operating the at least one agricultural operation device is repeated until a predetermined number of automatic operations of the agricultural operation device have been performed. 1. A method for autonomously performing an agricultural operation , comprising:automatically moving a vehicle having at least one agricultural operation device to a starting location for the agricultural operation;automatically optically identifying an indicator for the starting location;automatically adjusting position of the vehicle to a selected distance from the indicator;automatically operating the at least one agricultural operation device; andautomatically moving the vehicle along a selected trajectory and repeating the automatically operating the at least one agricultural operation device until a predetermined number of automatic operations of the at least one agricultural operation device have been performed.2. The method of wherein the automatically moving to the starting location comprises determining geodetic location of the vehicle with reference to a geodetic location of the indicator.3. The method of wherein the determining geodetic location of the vehicle comprises detecting geodetic position signals from a satellite.4. The method of wherein the moving along the selected trajectory comprises measuring a geomagnetic direction.5. The method of wherein the automatically optically identifying comprises obtaining an optical image of the indicator and comparing the optical ...

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Номер записи: 89
18-01-2018 дата публикации

STEERING METHOD, INDUSTRIAL TRUCK AND DESTINATION GUIDANCE SYSTEM

Номер: US20180016124A1
Автор: KELLER JUERGEN
Принадлежит: HUBTEX MASCHINENBAU GMBH & CO., KG

A steering method of a multi-directional industrial truck for controlling a movement of the multi-directional industrial truck from a starting position into a target position. The method includes selectively controlling automatically at least one of a rotatory component of the movement and a translatory component of the movement. 18-. (canceled)9. A steering method of a multi-directional industrial truck for controlling a movement of the multi-directional industrial truck from a starting position into a target position , the method comprising:selectively controlling automatically at least one of a rotatory component of the movement and a translatory component of the movement.109. The steering method as recited in aim , further comprising:ascertaining the rotatory component of the movement;selectively controlling automatically only the rotatory component of the movement,wherein,the ascertaining of the rotatory component of the movement is performed separately from an ascertaining of the translatory component of the movement.11. The steering method as recited in claim 10 , further comprising:automatically measuring an actual rotational position of the industrial truck;comparing the actual rotational position of the multi-directional industrial truck measured to at least one of a stored or measured target rotational position; andif a deviation of the actual rotational position of the multi-directional industrial truck from the stored or measured target rotational position exists, selecting an automatic steering process so as to reduce the deviation.12. The steering method as recited in claim 11 , wherein the measurement of the actual rotational position of the multi-directional industrial truck is performed by at least two distance sensors.13. The steering method as recited in claim 12 , wherein the at least two distance sensors are arranged on the multi-directional industrial truck.14. The steering method as recited in claim 12 , wherein the at least two distance ...

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Номер записи: 90
03-02-2022 дата публикации

Multi-Channel Light Detection and Ranging (LIDAR) Unit Having a Telecentric Lens Assembly and Single Circuit Board For Emitters and Detectors

Номер: US20220035008A1
Автор: Borden Michael, Haslim James Allen, Sing Daniel
Принадлежит:

A LIDAR unit includes a housing defining a cavity. The LIDAR unit further include a plurality of emitters disposed on a circuit board within the cavity. Each of the emitters emits a laser beam along a transmit path. The LIDAR system further includes a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly. The LIDAR further includes a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly. The first telecentric lens assembly and the second telecentric lens assembly each include a field flattening lens and at least one other lens. 1. A light detection and ranging (LIDAR) unit comprising:a housing defining a cavity;a plurality of emitters disposed on a surface of a circuit board positioned within the cavity, each of the plurality of emitters configured to emit a laser beam along a transmit path;a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly, the first telecentric lens assembly comprising a first field flattening lens and at least one other lens;a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly, the second telecentric lens assembly comprising a second field flattening lens and at least one other lens; anda plurality of detectors disposed on the surface of the circuit board, each of the plurality of detectors spaced apart from a corresponding emitter of the plurality of emitters, each of the plurality of detectors configured to detect one or more of the ...

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Номер записи: 91
19-01-2017 дата публикации

ROBOTIC APPARATUS FOR PLOWING OF SNOW FROM A PREDEFINED AREA

Номер: US20170017234A1
Автор: WILSON Iain
Принадлежит:

The enclosed application discloses an apparatus for removing snow from a predefined area of ground, said apparatus being configured to follow a pre-set pattern of fixed markers on or under the predefined area of ground. By dispensing with the need for GPS guidance, for complex and expensive circuitry and software, for melting of large quantities of snow which can then ref reeze into ice, and for potentially dangerous spinning augers, the apparatus allows users to clear snow from a driveway, road or other useful surface without constant attention to steering or personal exposure to the elements. 2. The system according to claim 1 , wherein the motorized vehicle further comprises a heating element located on a bottom of the vehicle and spaced above the surface for melting residual snow.3. The system according to wherein the central processing unit further comprisesa processing unit for processing the output of sensors positioned so as to detect guidance markers and using this output to send signals to the one or more motors in such a way as to control the apparatus along a line of said guidance markers;an electronic latch, triggered by the output of the plurality of sensors, being positioned so as to detect guidance markers installed in or on the surface, said latch being capable when triggered, of changing the direction in which the one or more motors move the apparatus; andone or more control switches which are capable of connecting or disconnecting the plurality of sensors, the heating element, the one or more motors and any actuators which may be controlling the one or more plow blades, from the power source.4. The system according to wherein the plow blades further comprises a liner at the base of the plow claim 1 , said liner being composed of a material sufficiently rigid to move snow but sufficiently flexible to bend around solid obstructions; and/orone or more actuators positioned between the one or more plow blades and the frame, said actuators are capable ...

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Номер записи: 92
19-01-2017 дата публикации

AUTOMATED GUIDED VEHICLE SYSTEM BASED ON AUTONOMOUS MOBILE TECHNIQUE AND A METHOD FOR CONTROLLING THE SAME

Номер: US20170017236A1
Автор: JUNG Min Kuk, PARK Chan Soo, SON Jung Ho, SONG Jae Bok
Принадлежит: KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION

The present invention provides an autonomous mobile-based automated guided vehicle system comprising a system input unit configured to set and input a mobile path between a departure point and an end point of the autonomous mobile-based automated guided vehicle as one or more mobile path blocks in the unit of a block, a system control unit configured to apply a control signal to a corresponding autonomous mobile-based automated guided vehicle based on one or more mobile paths in the unit of a block and a system storage unit configured to store the mobile paths in the unit of a block, which are inputted by a user through the system input unit, and a method for controlling the autonomous mobile-based automated guided vehicle system. 1. A method for controlling an autonomous mobile-based automated guided vehicle system that controls at least one autonomous mobile-based automated guided vehicle comprising a vehicle sensor unit , a vehicle drive unit configured to drive a vehicle body having mounted thereon the vehicle sensor unit , and a vehicle control unit connected to the vehicle sensor unit and the vehicle drive unit and configured to control the drive of the drive unit , the autonomous mobile-based automated guided vehicle system comprising a system input unit configured to set and input a mobile path between a departure point and an end point of the autonomous mobile-based automated guided vehicle as one or more mobile path blocks in the unit of a block , a system control unit configured to apply a control signal to a corresponding autonomous mobile-based automated guided vehicle based on one or more mobile paths in the unit of a block , which are inputted through the system input unit and a sensing signal detected by the vehicle sensor unit to control the path movement of the corresponding autonomous mobile-based automated guided vehicle , and a system storage unit configured to store the mobile paths in the unit of a block , which are inputted by a user through ...

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Номер записи: 93
16-01-2020 дата публикации

AUTONOMOUS DRYWALL INSTALLATION SYSTEMS AND RELATED METHODS

Номер: US20200016619A1
Автор: Raman Sreenivas, Rodriguez Ricky E., Tompkins Bill
Принадлежит:

Any system described herein may be implemented in the context of an autonomous drywall installation robot. For example, an autonomous drywall installation robot may include one or more components such as a series of nested carriages, one or more drywall attachment mechanisms, one or more drywall positioning and fastening mechanisms, etc. In various other embodiments, any system described herein may be configured to utilize two or more robots described herein to work in conjunction toward one or more common goals. In one illustrative example, a first and second drywall installation robot may be configured to work in conjunction to: (1) lift a panel (e.g., a stone panel, tile, piece of drywall, sheetrock, gypsum board, or other construction board, etc.); (2) position the panel in a desired area; and (3) secure the panel in the desired area. 1. An autonomous drywall installation robot comprising:a wheeled base configured to support the autonomous drywall installation robot adjacent a support surface; a first vertical support that extends from the wheeled base and is perpendicular to the support surface; and', 'a second vertical support configured to slide relative to the first vertical support in a telescoping manner;, 'a drywall installation support system comprising at least one vertical support, wherein the at least one vertical support comprisesa drywall installation assembly adjacent the at least one vertical support and configured to translate vertically along a track defined by the second vertical support; and lifting the sheet of drywall using the drywall installation assembly;', 'causing the second vertical support to slide vertically relative to the first vertical support; and', 'causing the drywall installation assembly to slide relative to the second vertical support until the sheet of drywall is adjacent the desired installation location., 'causing the autonomous drywall installation robot to position a sheet of drywall adjacent a desired installation ...

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Номер записи: 94
21-01-2021 дата публикации

Mobile robot performing multiple detections using image frames of same optical sensor

Номер: US20210016449A1
Автор: Guo-Zhen Wang
Принадлежит: PixArt Imaging Inc

There is provided a mobile robot that controls an exposure time of an optical sensor during a time interval during which images of a gap between tiles are captured. At an end of the time interval that an image of a gap between tiles is captured, the exposure time of the optical sensor is adjust to the exposure time being used right before the time interval to avoid high brightness of the captured image while the image of a gap between tiles is suddenly disappeared from a field of view of the optical sensor.

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Номер записи: 95
17-01-2019 дата публикации

Methods and Systems for Clearing Sensor Occlusions

Номер: US20190018131A1
Автор: Brandon Douglas Luders, Nathaniel Fairfield, Tim Campbell
Принадлежит: Waymo LLC

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

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Номер записи: 96
17-01-2019 дата публикации

Sensor Adjustment Based on Vehicle Motion

Номер: US20190018416A1
Автор: Blaise Gassend
Принадлежит: Waymo LLC

An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes one or more sensors that indicate measurements related to motion of a vehicle associated with the LIDAR device. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the motion of the vehicle indicated by the one or more sensors.

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Номер записи: 97
17-01-2019 дата публикации

SURFACE TYPE DETECTION FOR ROBOTIC CLEANING DEVICE

Номер: US20190018420A1
Автор: LUCAS Rachel, Suvarna Sarath, Yee Kingman
Принадлежит:

The present disclosure describes techniques for a robotic cleaning device to determine a plan to clean an environment based on types of surfaces in the environment. The plan can include a route to take in the environment and/or one or more configurations to apply to the robotic cleaning device during the route. Determining the plan can include inserting detected surface types into an environmental map of the environment. The environmental map can then be used on future routes such that the robotic cleaning device can know a surface type of a surface before the robotic cleaning device reaches the surface. In some examples, a type of a surface of the environment can be detected by the robotic cleaning device based on optical polarization of light. 1. A robotic cleaning device comprising:a housing;a drive motor mounted in the housing;a drive system, coupled to the drive motor, for moving the robotic cleaning device;a light emitter configured to transmit a light beam at a surface;a first polaroid filter;at least a first light detector configured to detect an intensity of a first reflected portion of the light beam after the first reflected portion is filtered by the first polaroid filter;a second polaroid filter;the at least a first light detector being configured to detect an intensity of a second reflected portion of the light beam after the second reflected portion is filtered by the second polaroid filter; and a processor; and', send the intensity of the first reflected portion of the light beam and the intensity of the second reflected portion to a device remote from the robotic cleaning device, wherein the device is configured to determine a type of the surface based on the intensity of the first reflected portion and the intensity of the second reflected portion; or', 'determine a type of the surface based on the intensity of the first reflected portion and the intensity of the second reflected portion; or, 'a non-transitory computer-readable medium including ...

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Номер записи: 98
17-01-2019 дата публикации

Method for operating an automatically moving service device

Номер: US20190018424A1
Автор: Lorenz Hillen
Принадлежит: Vorwerk and Co Interholding GmbH

The invention relates to a method for operating an automatically moving service device ( 1 ), wherein a detection device ( 2, 3 ) detects obstacles ( 11 ) within an environment, wherein detection results of the detection device ( 2, 3 ) are used to generate an environment map ( 4 ) of the environment, and wherein the service device ( 1 ) moves within the environment based on the environment map ( 4 ). In order to ensure an optimal operation of the service device ( 1 ), it is proposed that a control device of the service device ( 1 ) receive information about a spatial position of a base station ( 5 ) in the environment, wherein a maneuvering area ( 6 ) for the service device ( 1 ) to approach, turn toward and/or dock with the base station ( 5 ) is further determined, and wherein the spatial position and maneuvering area ( 6 ) are stored in the environment map ( 4 ), wherein a turning point ( 7 ) for a directional change is prescribed within the maneuvering area ( 6 ), wherein the service device ( 1 ), as it moves toward the base station ( 5 ), can execute a last directional change at this turning point ( 7 ) at the latest and independently of the remaining progression of movement, before it moves along a straight line toward the base station ( 5 ).

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Номер записи: 99
16-01-2020 дата публикации

Mobile Robot Cleaning System

Номер: US20200019156A1
Автор: Drew Kenrick E., Jones Christopher V., Wasserman Philip
Принадлежит:

A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system. 1. A method comprising:determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with a mobile robot, in which the first coordinate system is different from the second coordinate system; andproviding at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.2. The method of in which the user interface is configured to enable the user to use the mobile device to instruct the mobile robot to perform a specified action at a specified location.3. The method of claim 2 , comprising:configuring the user interface to enable the user to specify a location on an image shown on a display module of the mobile device,identifying, using at least one processor, coordinates of the location specified by the user, andsending an instruction from the mobile device to the mobile robot to instruct the mobile robot to perform the cleaning operation at the location specified by the user, in which the instruction includes the coordinates of the location specified by the user.4. The method of claim 3 , comprising:determining first coordinates of the location specified by the user, in which the first coordinates are based on the first coordinate system,converting the ...

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Номер записи: 100