公开(公告)号：US20140157156A1

公开(公告)日：2014-06-05

申请号：US14234658

申请日：2012-07-25

Applicant: Kenta Kawamoto ,  Yoshiaki Iwai

Inventor： Kenta Kawamoto ,  Yoshiaki Iwai

IPC: G05B15/02 ,  G06F3/0484

CPC classification number: G05B15/02 ,  G05B2219/40099 ,  G05B2219/40123 ,  G05B2219/40409 ,  G05B2219/40411 ,  G05D1/0038 ,  G05D2201/0217 ,  G06F3/04842

Abstract: A control system, method and computer program product cooperate to assist control for an autonomous robot. The system includes a communications interface that exchanges information with the autonomous robot (22). A user interface displays a scene of location in which the autonomous robot (22) is positioned, and also receives an indication of a user selection of a user selected area within the scene. The communications interface transmits an indication of said user selected area to the autonomous robot (22) for further processing of the area by said autonomous robot (22).

Abstract translation: 控制系统，方法和计算机程序产品协同协调自动机器人的控制。 该系统包括与自主机器人（22）交换信息的通信接口。 用户界面显示自主机器人（22）所在位置的场景，并且还接收场景内用户选择用户选择区域的指示。 通信接口将所述用户选择区域的指示发送到自主机器人（22），用于由所述自主机器人（22）进一步处理所述区域。

公开(公告)号：US08688307B2

公开(公告)日：2014-04-01

申请号：US13059797

申请日：2009-08-14

Applicant: Makoto Sekiya

Inventor： Makoto Sekiya

IPC: G06F19/00

CPC classification number: B25J9/1676 ,  B25J9/162 ,  G05B2219/39091 ,  G05D1/0217 ,  G05D2201/0217

Abstract: Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a second classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The “first moving condition” is a condition that the robot is capable of moving without being obstructed by the object when the robot moves according to a current target position trajectory. The “second moving condition” is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The “second classification” means a classification of the object which is capable of being moved by a force from the robot acting thereon.

Abstract translation: 即使当不满足第一移动条件时，当确定满足第二移动条件并且同时对象属于第二分类时，控制机器人的操作以便使对象按照 到第一模式或任意模式。 “第一移动条件”是当机器人根据当前目标位置轨迹移动时能够移动而不被物体阻碍的条件。 “第二移动条件”是当物体根据第一图案移位时，机器人能够根据当前目标位置轨迹移动而不被物体阻碍的条件。 “第二分类”是指能够通过来自机器人作用于其上的力而被移动的对象的分类。

公开(公告)号：US08666548B2

公开(公告)日：2014-03-04

申请号：US12654165

申请日：2009-12-11

Applicant: San Lim

Inventor： San Lim

IPC: G05D1/00

CPC classification number: G05D1/0217 ,  G05D2201/0217 ,  G06Q10/047

Abstract: Disclosed are a path planning apparatus of a robot, which generates a path plan to control movements of the robot, and a method thereof. An improved RRT algorithm is employed, when a tree is extended in a configuration space so as to satisfy a constraint, and thus steeply bent or roundabout portions of the tree are reduced.

Abstract translation: 公开了一种机器人的路径规划装置及其方法，其生成用于控制机器人的移动的路径规划。 当树在配置空间中扩展以满足约束时，采用改进的RRT算法，因此树的陡峭弯曲或迂回部分减少。

公开(公告)号：US08340823B2

公开(公告)日：2012-12-25

申请号：US12329056

申请日：2008-12-05

Applicant: Nobuyuki Ohno ,  Tadaaki Hasegawa

Inventor： Nobuyuki Ohno ,  Tadaaki Hasegawa

IPC: B25J9/10 ,  G05B19/04 ,  B25J5/00 ,  B62D57/032

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：US20120089295A1

公开(公告)日：2012-04-12

申请号：US13236050

申请日：2011-09-19

Applicant: Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

Inventor： Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

IPC: G05D1/00

CPC classification number: G05D1/0274 ,  G05D1/0242 ,  G05D2201/0217

Abstract: A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.

Abstract translation: 一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。 该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在 数据库构建一个集合空间的3D地图。 该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

公开(公告)号：US08019475B2

公开(公告)日：2011-09-13

申请号：US12078686

申请日：2008-04-03

Applicant: Mitsuhide Kuroda

Inventor： Mitsuhide Kuroda

IPC: G05B19/4061 ,  G05B19/18 ,  G05B15/00 ,  G06F19/00 ,  G08G1/16 ,  G06G7/78

CPC classification number: G05D1/0214 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0217

Abstract: A routing apparatus includes a sensor unit which has capabilities to detect an object in a target field of view and measure position of the object, and an electronic control unit which controls movements of the autonomous mobile unit. An electronic control unit determines velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, determines a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and determines the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle.

Abstract translation: 一种路由设备包括具有检测目标视场中的对象并测量对象的位置的能力的传感器单元，以及一个控制自主移动单元的移动的电子控制单元。 电子控制单元基于在多个测量周期中从传感器单元获得的对象的位置的变化来确定对象的速度和行进方向，确定自主移动单元的路径，以避免与对象的碰撞 基于物体的位置，速度和行进方向，通过将对象的速度设定为等于或小于预定值的值来确定自主移动单元的路径，如果在先前 测量周期在当前测量周期内无法识别。

公开(公告)号：US08019145B2

公开(公告)日：2011-09-13

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: G06K5/00

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 area 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, 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运算处理。 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拍摄的每个图像上。 基于通过将设置的图像投影区域投影到由图像捕获的图像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 每个部分图像区域的相机。

公开(公告)号：US07987021B2

公开(公告)日：2011-07-26

申请号：US12526279

申请日：2008-01-18

Applicant: Yutaka Takaoka

Inventor： Yutaka Takaoka

IPC: G06K9/36 ,  G05B19/00 ,  G01C11/00

CPC classification number: B25J9/1676 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00664

Abstract: To reduce a calculation time required for generating an environment map in a mobile robot. A mobile robot (100) generates a three-dimensional position data set representing an external environment using measurement information obtained from a range sensor (10). Next, based on an old environment map which is the environment map generated in the past and an amount of movement of the mobile robot (100), at least three-dimensional position data belonging to an area determined as the obstacle area in the old environment map, and three-dimensional position data belonging to an unobserved area which is not included in the old environment map are selected as plane-detection target data from among three-dimensional position data included in the three-dimensional position data set. Then, plane detection is executed using the plane-detection target data. Then, the movable area and the obstacle area which are included in the plane-detection target data are recognized using the results of the plane detection. Lastly, a new environment map is generated by integrating the movable area and obstacle area, which are recognized using the results of the plane detection, with an area determined as the movable area in the old environment map.

Abstract translation: 减少在移动机器人中生成环境地图所需的计算时间。 移动机器人（100）使用从距离传感器（10）获得的测量信息，生成表示外部环境的三维位置数据集。 接下来，基于作为过去生成的环境映射的旧环境映射和移动机器人（100）的移动量，至少三维位置数据属于被确定为旧环境中的障碍区域的区域 地图和属于未包含在旧环境地图中的不可观察区域的三维位置数据从三维位置数据组中包括的三维位置数据中选择为平面检测目标数据。 然后，使用平面检测目标数据执行平面检测。 然后，使用平面检测的结果来识别包括在平面检测目标数据中的可移动区域和障碍物区域。 最后，通过使用平面检测结果识别的可移动区域和障碍物区域与在旧环境地图中确定为可移动区域的区域进行集成来生成新的环境地图。

公开(公告)号：US20100324769A1

公开(公告)日：2010-12-23

申请号：US12526279

申请日：2008-01-18

Applicant: Yutaka Takaoka

Inventor： Yutaka Takaoka

IPC: G05D1/02

CPC classification number: B25J9/1676 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00664

Abstract: To reduce a calculation time required for generating an environment map in a mobile robot. A mobile robot (100) generates a three-dimensional position data set representing an external environment using measurement information obtained from a range sensor (10). Next, based on an old environment map which is the environment map generated in the past and an amount of movement of the mobile robot (100), at least three-dimensional position data belonging to an area determined as the obstacle area in the old environment map, and three-dimensional position data belonging to an unobserved area which is not included in the old environment map are selected as plane-detection target data from among three-dimensional position data included in the three-dimensional position data set. Then, plane detection is executed using the plane-detection target data. Then, the movable area and the obstacle area which are included in the plane-detection target data are recognized using the results of the plane detection. Lastly, a new environment map is generated by integrating the movable area and obstacle area, which are recognized using the results of the plane detection, with an area determined as the movable area in the old environment map.

Abstract translation: 减少在移动机器人中生成环境地图所需的计算时间。 移动机器人（100）使用从距离传感器（10）获得的测量信息，生成表示外部环境的三维位置数据集。 接下来，基于作为过去生成的环境映射的旧环境映射和移动机器人（100）的移动量，至少三维位置数据属于被确定为旧环境中的障碍区域的区域 地图和属于未包含在旧环境地图中的不可观察区域的三维位置数据从三维位置数据组中包括的三维位置数据中选择为平面检测目标数据。 然后，使用平面检测目标数据执行平面检测。 然后，使用平面检测的结果来识别包括在平面检测目标数据中的可移动区域和障碍物区域。 最后，通过使用平面检测结果识别的可移动区域和障碍物区域与在旧环境地图中确定为可移动区域的区域进行集成来生成新的环境地图。

公开(公告)号：US20100268382A1

公开(公告)日：2010-10-21

申请号：US12747094

申请日：2008-11-13

Applicant: Nobuyuki Ohno

Inventor： Nobuyuki Ohno

IPC: B25J13/00 ,  B25J5/00 ,  G05D1/02

CPC classification number: G05D1/0246 ,  G05B2219/40088 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0211 ,  G05D2201/0217

Abstract: A controller for a mobile robot 1 which carries out task of mobbing an object W so as to make a position of a representative point of the object W and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms 7, 7 is made to contact a portion Wb adjacent to one end of the object W, which variably sets the position of the representative point of the object W in an object coordinate system when the object W is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.

Abstract translation: 一种用于移动机器人1的控制器，其执行移动对象W的任务，以使得对象W的代表点的位置和对象的姿势遵循期望的位置轨迹和期望的姿势轨迹，处于状态 其中臂7,7的远端部分接触与物体W的一端相邻的部分Wb，当在物体W中观察物体W时，将物体W的代表点的位置可变地设定在物体坐标系中 偏转轴方向，至少根据在期望的姿态轨迹中围绕偏转轴的期望姿势的变化。 通过这样做，执行适合于对象的期望姿势的改变模式的对象的移动。