公开(公告)号：US20090148035A1

公开(公告)日：2009-06-11

申请号：US12329056

申请日：2008-12-05

Applicant: Nobuyuki Ohno ,  Tadaaki Hasegawa

Inventor： Nobuyuki Ohno ,  Tadaaki Hasegawa

IPC: G06K9/00

CPC classification number: G06T7/20 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0211 ,  G05D2201/0217 ,  G06T2207/10016 ,  G06T2207/30252

Abstract: A controller of a mobile robot that moves an object such that the position of a representative point of the object and the posture of the object follow a desired position and posture trajectory is provided. The desired posture trajectory of the object includes the desired value of the angular difference about a yaw axis between a reference direction, which is a direction orthogonal to the yaw axis of the object, and the direction of the moving velocity vector of the representative point of the object, defined by the desired position trajectory. The controller has a desired angular difference setting means which variably sets the desired value of the angular difference according to at least a required condition related to a movement mode of the object. This allows the object to be moved at a posture which meets the required condition of the movement mode.

Abstract translation: 提供了移动机器人的控制器，其移动物体，使得物体的代表点的位置和物体的姿势遵循期望的位置和姿势轨迹。 物体的期望的姿势轨迹包括在作为与物体的偏航轴正交的方向的参考方向与代表点的移动速度矢量的方向之间的偏转轴的角度差的期望值 该对象由所需的位置轨迹定义。 控制器具有期望的角度差设定装置，其根据至少与物体的移动模式有关的必要条件可变地设定角度差的期望值。 这允许物体以满足移动模式的所需条件的姿势移动。

公开(公告)号：US20080310705A1

公开(公告)日：2008-12-18

申请号：US12056502

申请日：2008-03-27

Applicant: Minami Asatani ,  Masatoshi Okutomi ,  Shigeki Sugimoto

Inventor： Minami Asatani ,  Masatoshi Okutomi ,  Shigeki Sugimoto

IPC: B25J9/00 ,  G06K9/20

CPC classification number: B62D57/032 ,  G05D1/0246 ,  G05D2201/0217 ,  G06K9/00201 ,  G06T7/70

Abstract: A robot capable of performing appropriate movement control while reducing arithmetic processing for recognizing the shape of a floor. The robot sets a predetermined landing position of steps of the legs on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot. An image projection areas is set, and is projected on each image captured by cameras mounted on the robot for each predetermined landing position in the vicinity of each of the predetermined landing positions. Shape parameters representing the shape of an actual floor partial area are estimated, forming an actual floor whose image is captured in each partial image area, of based on the image of the partial image area generated by projecting the set image projection area on the images captured by the cameras for each partial image area.

Abstract translation: 能够进行适当的移动控制的机器人，同时减少用于识别地板的形状的算术处理。 机器人在机器人运动期间，将当前假想地板上的腿的步骤的预定着陆位置设置为当前假想地板，其是由用于机器人的当前运动控制的楼板形状信息表示的楼层。 设置图像投影区域，并且在每个预定着陆位置附近的每个预定着陆位置处投影到安装在机器人上的照相机捕获的每个图像上。 基于通过将设置的图像投影区域投影到捕获的图像而生成的部分图像区域的图像，估计表示实际楼层部分区域的形状的形状参数，形成其图像被捕获在每个部分图像区域中的实际楼层 通过每个部分图像区域的相机。

公开(公告)号：US20080249662A1

公开(公告)日：2008-10-09

申请号：US12062000

申请日：2008-04-03

Applicant: Makoto Nakamura

Inventor： Makoto Nakamura

IPC: G05B19/04

CPC classification number: B62D57/032 ,  B25J9/1676 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0217

Abstract: A mobile apparatus or the like capable of moving or acting while surely preventing contact with an object such as a human being, by avoiding the situation where the object inappropriately changes its behavior for the purposes of preventing contact with the mobile apparatus, is provided. According to the robot (1) of the present invention, a path that can prevent contact with the selected third spatial element satisfying the requirement regarding the size in the element space (QS), among a plurality of third spatial elements (Q3i) arranged around the second spatial element (Q2), is set as a target path (Rk+1). This allows the robot (1) to move in accordance with a consistent rule that is modified in response to the width of the clearance between the object (2) and the boundary of the passable region.

Abstract translation: 本发明提供了一种能够通过避免物体不适当地改变其行为以防止与移动装置接触的情况而能够移动或作用的移动装置，同时确保防止与诸如人的物体的接触。 根据本发明的机器人（1），在多个第三空间要素（Q _{）中，能够防止与所选择的第三空间要素接触的路径，满足关于元件空间（QS） 被设置为目标路径（R＆gt; k + 1）的第二空间元素（Q 2> 2 N）周围。 这允许机器人（1）根据一致的规则移动，该规则是响应于物体（2）和可通过区域的边界之间的间隙的宽度被修改的。}

公开(公告)号：US20080154430A1

公开(公告)日：2008-06-26

申请号：US11958928

申请日：2007-12-18

Applicant: Makoto Nakamura ,  Yasuhiro Sawada ,  Mitsuhide Kuroda

Inventor： Makoto Nakamura ,  Yasuhiro Sawada ,  Mitsuhide Kuroda

IPC: G05B19/00

CPC classification number: B62D57/032 ,  G05D1/0212 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0217

Abstract: A mobile apparatus for moving or acting while avoiding contact with an object, and reducing a change in the behavior of the object. It is determined whether there is a first spatial element that satisfies a contact condition that there is a possibility of contact with a reference spatial element on a discriminant plane including at least part of a representative point trajectory of a robot. If there is a first spatial element that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether there is a first spatial element that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If there is no first spatial element that satisfies the contact condition on the new discriminant plane, the assumed new “second action plan element” is set.

Abstract translation: 一种移动装置，用于在避免与对象接触的同时移动或起作用，并减少对象的行为变化。 确定是否存在满足在包括机器人的代表性点轨迹的至少一部分的判别平面上存在与参考空间元素接触的可能性的接触条件的第一空间元素。 如果存在满足接触条件的第一空间元素，则假设涉及改变代表点轨迹的第二动作平面单元，并且确定是否存在满足新判别平面上的接触条件的第一空间元素，包括在 至少部分改变的代表点轨迹。 如果没有满足新判别平面上的接触条件的第一空间元素，则设置假定的新的“第二动作平面元素”。

公开(公告)号：US07362258B2

公开(公告)日：2008-04-22

申请号：US11089354

申请日：2005-03-25

Applicant: Koji Kawabe ,  Satoki Matsumoto

Inventor： Koji Kawabe ,  Satoki Matsumoto

IPC: G01S13/74 ,  G01S13/42 ,  G01S13/86

CPC classification number: G01S13/765 ,  G01S1/70 ,  G05D1/028 ,  G05D2201/0217

Abstract: A target object detection system for detecting a target object using a detector and a tag on the target object; the tag includes a radio wave receiver receiving radio wave from the detector; a light receiver receiving a light signal from the detector; a receipt signal generator generating a receipt signal; and a transmitter which transmits the receipt signal to the detector; and the detector includes a radio wave transmitter transmitting radio wave to the surrounding area; a receiver receiving the receipt signal from the tag; a light emitter irradiating the light signal to a search region; a controller controlling the radio wave transmitter, the receiver, and the light emitter; and a target position measuring unit measuring a distance to the target object based on the intensity of the receipt signal, and regarding the irradiation direction of the light signal from the light emitter as the direction of the target-object.

Abstract translation: 一种目标对象检测系统，用于使用检测器和目标对象上的标签来检测目标对象; 所述标签包括从所述检测器接收无线电波的无线电波接收机; 接收来自检测器的光信号的光接收器; 产生收据信号的收据信号发生器; 以及发送器，其将接收信号发送到检测器; 并且检测器包括向周围区域发送无线电波的无线电波发射机; 从标签接收收据信号的接收器; 将光信号照射到搜索区域的发光体; 控制无线电波发射器，接收器和发光器的控制器; 以及目标位置测量单元，其基于接收信号的强度来测量到目标对象的距离，并且关于来自发光器的光信号的照射方向作为目标对象的方向。

公开(公告)号：US20070233318A1

公开(公告)日：2007-10-04

申请号：US11308489

申请日：2006-03-29

Applicant: Tianmo Lei

Inventor： Tianmo Lei

IPC: G06F19/00

CPC classification number: G06N3/008 ,  G05D1/0038 ,  G05D2201/0217

Abstract: A follow robot is disclosed. The follow robot comprises body, head, limbs and muscles same as or proportional with human's body, head, limbs and muscle in shape, size, Specific Gravity (SG) and Center of Gravity (CG). The follow robot's joints are same as or proportional with human's joints and can turn around to reach same angle as human's joints. The follow robot's head, body, limbs, bones and joints possess the same or proportional support ability as human's head, body, limb, bones and joints, and are droved by artificial muscle, step motor, hydraulic pressure component. Many position and distance sensors are mounted on or around a man, which measure any action of the man continuously. These movement signals are collected by a Personal computer (PC) and transmitted to the follow robot. Following these signals, the follow robot repeats every movement of the man, acts exactly same as the man. Many sensors are also mounted on the follow robot; they are eyes, ears, skin and noses of the follow robot. Any thing the follow robot seeing, hearing, feeling and smelling will be converted to digital signal and transmitted to the man by the PC. The man can see, hear, feel and smell any thing around the fellow robot real timely, and respond to it immediately.

Abstract translation: 公开了一种跟随机器人。 跟随机器人包括身体，头部，四肢和肌肉，与身体，头部，四肢和肌肉在形状，大小，比重（SG）和重心（CG））相同或成比例。 跟随机器人的关节与人的关节相同或成比例，可以转向与人的关节达到相同的角度。 跟随机器人的头部，身体，四肢，骨骼和关节具有与人的头部，身体，肢体，骨骼和关节相同或成比例的支撑能力，并被人造肌肉，步进马达，液压部件驱动。 许多位置和距离传感器安装在人身上或周围，可以持续测量人的任何动作。 这些运动信号由个人计算机（PC）收集并传送到随后的机器人。 遵循这些信号，跟随机器人重复人的每一个运动，与男人完全相同。 许多传感器也安装在跟随机器人上; 它们是跟随机器人的眼睛，耳朵，皮肤和鼻子。 任何跟随机器人看到，听觉，感觉和嗅觉的东西都将被转换成数字信号，并由PC传送给男人。 该人可以及时看到，听到，感觉和闻到其他机器人周围的任何东西，并立即作出回应。

公开(公告)号：US20060126918A1

公开(公告)日：2006-06-15

申请号：US11301114

申请日：2005-12-13

Applicant: Takahiro Oohashi ,  Naohide Ogawa

Inventor： Takahiro Oohashi ,  Naohide Ogawa

IPC: G05B15/00

CPC classification number: G05D1/0251 ,  G05D2201/0217

Abstract: A target object detection apparatus for identifying a target object by using at least a camera and a wireless tag provided on the target object which exists outside of the target object detection apparatus, comprising: a target detector for reading a first identification information documented in the wireless tag; an image processor for extracting a first image information of the target object imaged by the camera; a personal identifier for identifying an imaged target object by comparing the first image information extracted by the image processor and a second image information specific to the target object; and an integration processor for determining a third identification information of the target object based on at least a second identification information identified by the personal identifier and the first identification information read by the target detector.

Abstract translation: 一种目标对象检测装置，用于通过至少使用存在于目标对象检测装置外部的目标对象上的摄像机和无线标签来识别目标对象，其特征在于，包括：目标检测器，用于读取无线中记录的第一识别信息 标签; 图像处理器，用于提取由所述照相机成像的所述目标对象的第一图像信息; 用于通过比较由图像处理器提取的第一图像信息和对目标对象特有的第二图像信息来识别成像的目标对象的个人标识符; 以及集成处理器，用于基于由所述个人标识符识别的至少第二识别信息和由所述目标检测器读取的所述第一识别信息来确定所述目标对象的第三识别信息。

公开(公告)号：US20060058920A1

公开(公告)日：2006-03-16

申请号：US11221903

申请日：2005-09-09

Applicant: Shinichi Matsunaga ,  Nobuo Higaki ,  Takahiro Oohashi ,  Yuichi Yoshida

Inventor： Shinichi Matsunaga ,  Nobuo Higaki ,  Takahiro Oohashi ,  Yuichi Yoshida

IPC: G06F19/00

CPC classification number: B25J9/1694 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0217

Abstract: The control apparatus for a movable robot comprises: environment information acquisition means (such as video camera 3 and microphone 4); a current position detecting means (15); a map storage (7); a control parameter storage (9) for storing control parameters adjusted to different environments; and control means (11, 12) for determining a current position of the robot on the map data based on a signal from the current position detecting means, retrieving control parameters suitable for the current position from the parameter storage, and controlling the environment information acquisition means or actuators for moving the robot by using the retrieved control parameters.

Abstract translation: 用于可移动机器人的控制装置包括：环境信息获取装置（诸如摄像机3和麦克风4）; 当前位置检测装置（15）; 地图存储（7）; 控制参数存储器（9），用于存储调整到不同环境的控制参数; 以及控制装置（11,12），用于基于来自当前位置检测装置的信号来确定机器人在地图数据上的当前位置，从参数存储器检索适合于当前位置的控制参数，以及控制环境信息采集 用于通过使用检索到的控制参数来移动机器人的装置或致动器。

公开(公告)号：US20040015265A1

公开(公告)日：2004-01-22

申请号：US10390494

申请日：2003-03-17

Inventor： Yasuharu Asano ,  Junichi Yamashita

IPC: G06F019/00

CPC classification number: G06N3/008 ,  B25J13/003 ,  G05D2201/0217 ,  G10L25/78

Abstract: A robot apparatus which may be turned to a sound source direction by a spontaneous whole-body concerted operation. With the possible range of rotation of the neck unit of a robot apparatus 1 of nullYnull and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of Xnull, the entire body trunk unit of the robot apparatus 1 is rotated through (XnullY)null, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Ynull to the direction of the sound source S, so that the robot apparatus is turned to the direction of the sound source S. If the robot apparatus 1 has found the face of a person already known to the robot apparatus through previous learning and has verified that the person has accosted the apparatus, the body trunk unit is rotated through Ynull, at the same time as the neck joint yaw axis is rotated through nullYnull to eliminate neck distortion as the apparatus is gazing at the object, so that the apparatus may face the sound source S aright by a spontaneous operation.

Abstract translation: 可以通过自发的全身协调操作而转向声源方向的机器人装置。 由机器人装置1的颈部单元的±Y°的旋转角度与声源S的方向相对于机器人装置1的前方的相对角度为X°，整个躯干部分 使机器人装置1的颈关节偏转轴沿着声源S的方向旋转Y°，使机器人装置1通过（XY）°旋转，同时将机器人装置转向 声源S的方向。如果机器人装置1已经通过先前的学习找到了机器人装置已知的人的面部，并且已经证实该人已经搭载了该装置，则躯干单元旋转Y°， 同时当颈部关节偏转轴线通过-Y°旋转以消除颈部变形，因为装置正在注视物体，使得该装置可以通过自发操作面对声源S。

公开(公告)号：US06483536B2

公开(公告)日：2002-11-19

申请号：US09985432

申请日：2001-11-02

Applicant: Chiaki Aoyama

Inventor： Chiaki Aoyama

IPC: H04N718

CPC classification number: G01S17/87 ,  G01C3/02 ,  G01C11/02 ,  G01S7/481 ,  G01S17/08 ,  G01S17/89 ,  G05D1/0248 ,  G05D1/0251 ,  G05D2201/0217

Abstract: A distance measuring apparatus is disclosed, which measures the entire image of a target object by employing a light-section method within a short time, without assigning any specific feature to light beams having a beam form obtained by passing through slits. The apparatus comprises a device for simultaneously emitting such light beams; first and second image taking devices for taking an image obtained by light reflected by the target object, where the distance between the first image taking device and the beam emitting device is relatively short while the distance between the first image taking device and the beam emitting device is relatively long; a section for estimating the distance to the target object based on the image taken by the first image taking device; and a section for determining the distance based on the estimated result and on the image taken by the second image taking device.

Abstract translation: 公开了一种距离测量装置，其通过在短时间内采用光分割方法来测量目标物体的整个图像，而不向通过狭缝获得的具有波束形状的光束分配任何特定特征。 该装置包括用于同时发射这种光束的装置; 用于拍摄由目标物体反射的光所获得的图像的第一和第二图像拍摄装置，其中第一拍摄装置和光束发射装置之间的距离相对较短，而第一拍摄装置和光束发射装置之间的距离 比较长 基于由第一摄像装置拍摄的图像来估计到目标对象的距离的部分; 以及用于基于估计结果和由第二摄像装置拍摄的图像来确定距离的部分。