公开(公告)号：US20140074292A1

公开(公告)日：2014-03-13

申请号：US14114333

申请日：2012-04-16

Applicant: Tsutomu Sawada

Inventor： Tsutomu Sawada

IPC: B25J9/16 ,  G06K9/00

CPC classification number: B25J9/1697 ,  B25J9/1674 ,  B25J11/0085 ,  B25J19/0058 ,  B25J19/023 ,  G05B2219/39053 ,  G05D1/00 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0217 ,  G06K9/00664 ,  H04N5/2171

Abstract: Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand.A robot device 100 detects a site in which there is the dirt or the scratch using an image of the hand taken by a camera 305 as a reference image. Further, this determines whether the detected dirt or scratch is due to the lens of the camera 305 or the hand by moving the hand. The robot device 100 performs cleaning work assuming that the dirt is detected, and then this detects the difference between the dirt and the scratch depending on whether the dirt is removed.

Abstract translation: 提供了一种优良的机器人装置，其能够优选地检测相机的镜头上的污垢和划痕之间的差异以及手上的污垢和划痕之间的差异。 机器人装置100使用由照相机305拍摄的手的图像作为参考图像来检测存在污物或划痕的位置。 此外，这通过移动手腕来确定检测到的污物或划痕是否由于照相机305的透镜或手。 机器人装置100进行清洁工作，假设检测到污物，然后根据灰尘被去除来检测污垢和划痕之间的差异。

公开(公告)号：US20140025201A1

公开(公告)日：2014-01-23

申请号：US13731719

申请日：2012-12-31

Applicant: Korea University Research and Business Foundation ,  Center of Human-Centered Interaction for Coexistence

Inventor： Soo Hyun Ryu ,  Nak Ju Doh ,  Yeon Sik Kang ,  Bum Jae You

IPC: G05D1/02

CPC classification number: G05D1/02 ,  G05D1/0214 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0217 ,  Y10S901/01

Abstract: The present invention provides a method for planning a path for an autonomous walking humanoid robot that takes an autonomous walking step using environment map information, the method comprising: an initialization step of initializing path input information of the autonomous walking humanoid robot using origin information, destination information, and the environment map information; an input information conversion step of forming a virtual robot including information on the virtual robot obtained by considering the radius and the radius of gyration of the autonomous walking humanoid robot based on the initialized path input information; a path generation step of generating a path of the virtual robot using the virtual robot information, the origin information S, the destination information G, and the environment map information; and an output information conversion step of converting the path of the autonomous walking humanoid robot based on the virtual robot path generated in the path generation step.

Abstract translation: 本发明提供了一种用于规划自主行走人形机器人的路径的方法，所述路径采用环境地图信息进行自主步行步骤，所述方法包括：初始化步骤，使用原始信息初始化自主行走人形机器人的路径输入信息，目的地 信息和环境地图信息; 输入信息转换步骤，基于初始化的路径输入信息，形成包含通过考虑自主行走类人机器人的半径和回转半径而获得的虚拟机器人的信息的虚拟机器人; 使用虚拟机器人信息，原始信息S，目的地信息G和环境地图信息生成虚拟机器人的路径的路径生成步骤; 以及输出信息转换步骤，其基于在路径生成步骤中生成的虚拟机器人路径来转换自主行走人形机器人的路径。

公开(公告)号：US20130116823A1

公开(公告)日：2013-05-09

申请号：US13668579

申请日：2012-11-05

Applicant: Samsung Electronics Co., Ltd.

Inventor： Sung Hwan AHN ,  Kyung Shik ROH ,  Suk June YOON ,  Seung Yong HYUNG

IPC: G05B15/00

CPC classification number: G05D1/0272 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0217

Abstract: A mobile apparatus and a position recognition method thereof capable of enhancing performance in position recognition, such as accuracy and convergence in position recognition of the mobile apparatus performs the position recognition by use of a distributed filter system, which is composed of a plurality of local filters independently operating and a single fusion filter that integrates the position recognition result performed by each of the plurality of local filters. The mobile apparatus includes a plurality of sensors, a plurality of local filters configured to receive detection information from at least one of the plurality of sensors to perform a position recognition of the mobile apparatus, and a fusion filter configured to integrate the position recognition result of the plurality of local filters and to perform a position recognition of the mobile apparatus by using the integrated position recognition result.

Abstract translation: 能够提高位置识别的性能的移动装置和位置识别方法，例如移动装置的位置识别中的精度和收敛，通过使用由多个局部滤波器构成的分布式滤波器系统进行位置识别 独立操作的单个融合滤波器和集成了由多个局部滤波器中的每一个执行的位置识别结果的单个融合滤波器。 移动装置包括多个传感器，多个局部滤波器被配置为从多个传感器中的至少一个传感器接收检测信息，以执行移动装置的位置识别;以及融合滤波器，其被配置为将位置识别结果 所述多个局部滤波器，并且通过使用所述集成位置识别结果来执行所述移动装置的位置识别。

公开(公告)号：US08311676B2

公开(公告)日：2012-11-13

申请号：US12324853

申请日：2008-11-27

Applicant: Ruey-Ning Shih

Inventor： Ruey-Ning Shih

IPC: G05B19/04

CPC classification number: G05D1/0011 ,  G05D1/0246 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0217

Abstract: A system for controlling a bipedal robot via a communication device. The system acquires a mapping data and a current location of the bipedal robot via a Global Positioning System (GPS), determines a route on the mapping data, and directs movement of the bipedal robot until it reaches a preset destination. A method for controlling the robot and a storage device containing computer instructions for execution of the method are also provided.

Abstract translation: 一种用于经由通信装置控制双足机器人的系统。 系统通过全球定位系统（GPS）获取双足机器人的映射数据和当前位置，确定映射数据上的路由，并引导双足机器人的移动，直到其到达预设目的地。 还提供了一种用于控制机器人的方法和包含用于执行该方法的计算机指令的存储装置。

公开(公告)号：US20120158182A1

公开(公告)日：2012-06-21

申请号：US13280586

申请日：2011-10-25

Applicant: Ju Suk Lee ,  Kyung Shik Roh ,  Woong Kwon ,  Jae Ho Park

Inventor： Ju Suk Lee ,  Kyung Shik Roh ,  Woong Kwon ,  Jae Ho Park

IPC: G05B15/00

CPC classification number: B25J9/162 ,  G05B2219/40244 ,  G05D2201/0217

Abstract: A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time.

Abstract translation: 一种机器人的行走控制装置和方法。 步行控制方法包括：当机器人的步行速度和行走命令由机器人接收时，通过判断机器人的行走状态来判断摆动腿和支撑腿，生成髋关节单元的基准节点 基于步行状态和所述机器人的步行速度进行摆动腿，使用所述基准节距点产生所述摆动腿的髋关节单元的目标俯仰角轨迹，计算跟踪所述目标俯仰角轨迹的扭矩，并输出所述转矩 到摆动腿的髋关节单元以控制机器人的步行速度。 通过调整步长和步进时间中的至少一个来快速且容易地改变机器人的步行速度。

公开(公告)号：US08204679B2

公开(公告)日：2012-06-19

申请号：US12062026

申请日：2008-04-03

Applicant: Makoto Nakamura

Inventor： Makoto Nakamura

IPC: G05B19/04 ,  G06G7/78

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

Abstract: A mobile apparatus capable of moving while avoiding contact with an object by allowing the object to recognize the behavioral change of the mobile apparatus is provided. The robot and its behavioral state and the object and its behavioral state are recognized as a first spatial element and its behavioral state and a second spatial element and its behavioral state, respectively, in an element space. Based on the recognition result, if the first spatial element may contact the second spatial element in the element space, a shift path is set which is tilted from the previous target path by an angle responsive to the distance between the first spatial element and the second spatial element. With the end point of the shift path as a start point, a path allowing the first spatial element to avoid contact with an expanded second spatial element is set as a new target path.

Abstract translation: 提供一种移动装置，其能够通过允许对象识别移动装置的行为变化来避免与对象的接触而移动。 机器人及其行为状态和对象及其行为状态分别被识别为元素空间中的第一空间元素及其行为状态和第二空间元素及其行为状态。 基于识别结果，如果第一空间元素可以接触元素空间中的第二空间元素，则设置偏移路径，其从先前的目标路径倾斜一角度，该角度响应于第一空间元素与第二空间元素之间的距离 空间元素 以移位路径的终点作为起始点，允许第一空间元素避免与扩展的第二空间元素接触的路径被设置为新的目标路径。

公开(公告)号：US08170738B2

公开(公告)日：2012-05-01

申请号：US12614639

申请日：2009-11-09

Applicant: Shinzo Urushidani ,  Eiji Ninomiya

Inventor： Shinzo Urushidani ,  Eiji Ninomiya

IPC: G01C22/00

CPC classification number: G05D1/0242 ,  G01S7/4004 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D2201/0217

Abstract: An autonomous mobile apparatus (R) at a reference position (1) is confronted to a subject (T) with a predefined distance. The autonomous mobile apparatus (R) is rotated at the reference position (1) to confront plural directions sequentially. The subject (T) is detected every time when the autonomous mobile apparatus (R) is rotated to confront each direction to determine whether or not it is functioning normally.

Abstract translation: 在参考位置（1）处的自主移动装置（R）面对具有预定距离的对象（T）。 自主移动装置（R）在参考位置（1）处旋转以顺序地面对多个方向。 每当自主移动装置（R）旋转以面对每个方向以确定其是否正常工作时，检测被摄体（T）。

公开(公告)号：US07933684B2

公开(公告)日：2011-04-26

申请号：US11302231

申请日：2005-12-14

Applicant: Tsukasa Sugino ,  Takashi Nakayama

Inventor： Tsukasa Sugino ,  Takashi Nakayama

IPC: G06F19/00 ,  G05B15/00 ,  G05B19/00 ,  H04R3/00

CPC classification number: G05D1/0255 ,  G05D1/0251 ,  G05D2201/0217

Abstract: An autonomous mobile robot is provided which is autonomously movable, including an upper body, legs connected under the upper body, a first detector which detects an object in a front region of the upper body in a moving direction of the robot, and a second detector which detects an object in a region other than a sensing region sensed by the first detector including at least a rear region, a rear right region, and a rear left region of the upper body.

Abstract translation: 提供一种自主移动机器人，其可自主移动，包括上身，连接在上身下的腿，第一检测器，其在机器人的移动方向上检测上体前部区域中的物体，第二检测器 其检测除了包括上身体的后区域，后右区域和后左区域的由第一检测器感测的感测区域以外的区域中的物体。

公开(公告)号：US07865267B2

公开(公告)日：2011-01-04

申请号：US10941813

申请日：2004-09-16

Applicant: Kohtaro Sabe ,  Steffen Gutmann

Inventor： Kohtaro Sabe ,  Steffen Gutmann

IPC: G06F19/00

CPC classification number: G06K9/00691 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00201

Abstract: An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.

Abstract translation: 环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以 使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。 机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别 包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和 路线规划部404，其适于基于环境图来规划路线。 路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

公开(公告)号：US07840308B2

公开(公告)日：2010-11-23

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: G05B19/18

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。