公开(公告)号：US09802320B2

公开(公告)日：2017-10-31

申请号：US15142611

申请日：2016-04-29

Applicant: Sony Corporation

Inventor： Tsutomu Sawada

IPC: B25J19/00 ,  B25J9/16 ,  G06K9/00 ,  G05D1/00 ,  H04N5/217

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.

公开(公告)号：US20170274529A1

公开(公告)日：2017-09-28

申请号：US15618822

申请日：2017-06-09

Applicant: X Development LLC

Inventor： Junichi Urata ,  Yoshito Ito

IPC: B25J9/16 ,  B25J13/08 ,  B25J5/00 ,  G01S17/89

CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/023 ,  B25J19/026 ,  B25J19/027 ,  G01S15/60 ,  G01S15/88 ,  G01S17/50 ,  G01S17/89 ,  G05D1/0214 ,  G05D1/0255 ,  G05D2201/0217 ,  Y10S901/01

Abstract: An example method for detecting a movable element on a surface involves receiving, from a depth sensor coupled to a mobile robot, a first depth measurement between the depth sensor and a ground surface. The method also involves causing at least one transducer coupled to the mobile robot to emit a directional pressure wave toward the ground surface. The method further involves receiving, from the depth sensor coupled to the mobile robot, a second depth measurement between the depth sensor and the ground surface after emitting the directional pressure wave. Additionally, the method involves identifying one or more differences between the first depth measurement and the second depth measurement indicating that the ground surface includes a movable element. Further, the method involves providing navigation instructions to the mobile robot based on the identified one or more differences between the first depth measurement and the second depth measurement.

公开(公告)号：US09563528B2

公开(公告)日：2017-02-07

申请号：US13723459

申请日：2012-12-21

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Sung Hwan Ahn ,  No San Kwak ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

IPC: G06F11/30 ,  G05D1/02

CPC classification number: G06F11/30 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06F11/3013 ,  G06F11/3058

Abstract: A mobile apparatus and a localization method thereof which perform localization of the mobile apparatus using a distributed filter system including a plurality of local filters independently operated and one fusion filter integrating results of localization performed through the respective local filters, and additionally apply accurate topological absolute position information to the distributed filter system to improve localization performance (accuracy, convergence and speed in localization, etc.) of the mobile apparatus on a wide space. The mobile apparatus includes at least one sensor, at least one first distribution filter generating current relative position information using a value detected by the at least one sensor, at least one second distribution filter generating current absolute position information using the value detected by the at least one sensor, and a fusion filter integrating the relative position information and the absolute position information to perform localization.

Abstract translation: 一种移动装置及其定位方法，其使用包括独立操作的多个局部滤波器的分布式滤波器系统来执行移动装置的定位，并且一个融合滤波器集成通过各个局部滤波器执行的定位结果，并且另外应用精确的拓扑绝对位置 向分布式滤波器系统提供信息，从而在宽广的空间上提高移动设备的定位性能（定位精度，收敛速度和定位速度等）。 所述移动装置包括至少一个传感器，至少一个第一分布滤波器，使用由所述至少一个传感器检测的值产生电流相对位置信息;至少一个第二分布滤波器，使用至少由所述至少一个传感器检测到的值产生当前绝对位置信息 一个传感器，以及集成了相对位置信息和绝对位置信息以进行定位的融合滤波器。

公开(公告)号：US09517561B2

公开(公告)日：2016-12-13

申请号：US14586519

申请日：2014-12-30

Applicant: Google Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: G06F19/00 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

Abstract translation: 控制系统可以接收指示对应于连接到机器人的多个传感器的各个关节角度的第一多个测量值。 机器人可以包括主体和连接到与主体相关联的主体的多个连接的四肢。 控制系统还可以接收指示机器人的身体的取向的身体取向测量。 控制系统可以基于与机器人的连接肢体相关联的属性来进一步确定第一多个测量与身体取向测量之间的关系。 另外，控制系统可以基于第一多个测量，身体取向测量和所确定的关系来估计机器人的聚集取向。 此外，控制系统可以基于估计的机器人的总体取向来提供控制机器人的至少一个接合肢体的指令。

公开(公告)号：US09517559B2

公开(公告)日：2016-12-13

申请号：US14498871

申请日：2014-09-26

Applicant: HONDA MOTOR CO., LTD.

Inventor： Koji Kawabe ,  Taro Yokoyama ,  Takayuki Kanda ,  Satoru Satake ,  Takamasa Iio ,  Kotaro Hayashi ,  Florent Ferreri

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1664 ,  B25J11/0005 ,  G05D1/0251 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot control system detects a position and a direction of each user by a plurality of range image sensors provided in an exhibition hall. A central controller records an inspection action after a user attends the exhibition hall until the user leaves to generate an inspection action table. When the user attends again, the central controller reads a history of inspection action from the inspection action table. Then, the central controller chooses from an utterance content table an utterance content containing a phrase that mentions the inspection action included in the history at a time of last time attendance, determines the utterance content, and makes a robot output the determined utterance content to the user.

Abstract translation: 机器人控制系统通过设置在展厅中的多个范围图像传感器来检测每个用户的位置和方向。 中央控制器在用户出席展厅后记录检查动作，直到用户离开生成检查动作表。 当用户再次出现时，中央控制器从检查动作表中读取检查动作的历史记录。 然后，中央控制器从话语内容表中选择包含在上次出席时提及历史中包括的检查动作的短语的话语内容，确定话语内容，并使机器人将确定的话语内容输出到 用户。

公开(公告)号：US09499218B1

公开(公告)日：2016-11-22

申请号：US14585542

申请日：2014-12-30

Applicant: Google Inc.

Inventor： Benjamin Stephens

IPC: B62D57/032

CPC classification number: B62D57/032 ,  G05D1/0891 ,  G05D2201/0217 ,  G06N3/00

Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.

Abstract translation: 用于确定机械定时的脚步声的示例实施方式可以涉及具有与地面接触的第一脚和不与地面接触的第二脚的机器人。 机器人可以确定其质心和质心速度的位置，并且基于这些，确定机器人的捕获点。 机器人还可以确定捕获点的阈值位置，其中阈值位置基于第二脚接触地面之后的捕获点的目标轨迹。 机器人可以确定捕获点已经达到该阈值位置，并且基于该确定，使得第二脚接触地面。

公开(公告)号：US09411335B2

公开(公告)日：2016-08-09

申请号：US12805270

申请日：2010-07-21

Applicant: Myung Hee Kim ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Guo Chunxu

Inventor： Myung Hee Kim ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Guo Chunxu

IPC: G05B19/04 ,  G05D1/02 ,  B25J9/16 ,  G05B19/18 ,  G06F19/00 ,  G06F17/10

CPC classification number: G05D1/0217 ,  B25J9/1666 ,  G05D1/0274 ,  G05D2201/0216 ,  G05D2201/0217

Abstract: A suitable waypoint is selected using a goal score, a section from a start point to a goal point through the waypoint is divided into a plurality of sections based on the waypoint with a solution of inverse kinematics, and trees are simultaneously expanded in the sections using a Best First Search & Rapidly Random Tree (BF-RRT) algorithm so as to generate a path. By this configuration, a probability of local minima occurring is decreased compared with the case where the waypoint is randomly selected. In addition, since the trees are simultaneously expanded in the sections each having the waypoint with a solution of inverse kinematics, the solution may be rapidly obtained. A time consumed to search for an optimal motion path may be shortened and path plan performance may be improved.

Abstract translation: 使用目标分数选择合适的航点，通过航路点从起始点到目标点的部分根据航点与基于反向运动学的解方法分为多个部分，并且在各部分中同时扩展树 最佳搜索和快速随机树（BF-RRT）算法，以生成路径。 通过该配置，与随机选择航点的情况相比，发生局部最小值的概率降低。 另外，由于在具有反运动学解的路点的部分中同时扩展树，所以可以快速获得解。 可以缩短搜索最佳运动路径消耗的时间，并且可以提高路径规划性能。

公开(公告)号：US09116521B2

公开(公告)日：2015-08-25

申请号：US14131046

申请日：2011-07-15

Applicant: Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

Inventor： Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G05D1/02 ,  G05D1/024 ,  G05D2201/0206 ,  G05D2201/0217

Abstract: An autonomous moving device includes a travel unit with a wheel driven by a motor and an upper body including an environment-recognition sensor that detects an obstacle in a traveling direction. The upper body includes means that recognize device and obstacle positions, means that evaluates avoidance capability, and means that obtains priority of collision avoidance of an estimated passage area of the obstacle. The upper body further includes a control unit that moves the travel unit to an area where an estimated passage area of an obstacle whose priority of collision avoidance is high that does not overlap an area where the travel unit is located and which is an area where collision can be avoided even if an area where an estimated passage area of an obstacle whose priority of collision avoidance is low overlaps the area where the travel unit is located.

Abstract translation: 自主移动装置包括具有由马达驱动的轮的行进单元和包括检测行进方向的障碍物的环境识别传感器的上身。 上身包括识别装置和障碍物位置的装置，评估避免能力的手段，以及获得障碍物估计通过区域的避碰的优先级的手段。 上身还包括一个控制单元，该移动单元将行驶单元移动到与碰撞避免的优先级高的障碍物的估计通过区域不与旅行单元所在的区域重叠的区域，并且是碰撞区域 即使防止碰撞优先的障碍物的估计通过面积与行进单元所在的区域重叠的区域也可以避免。

公开(公告)号：US08873831B2

公开(公告)日：2014-10-28

申请号：US13326680

申请日：2011-12-15

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

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

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06T7/0042 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06T7/73

Abstract: A walking robot and a simultaneous localization and mapping method thereof in which odometry data acquired during movement of the walking robot are applied to image-based SLAM technology so as to improve accuracy and convergence of localization of the walking robot. The simultaneous localization and mapping method includes acquiring image data of a space about which the walking robot walks and rotational angle data of rotary joints relating to walking of the walking robot, calculating odometry data using kinematic data of respective links constituting the walking robot and the rotational angle data, and localizing the walking robot and mapping the space about which the walking robot walks using the image data and the odometry data.

Abstract translation: 一种步行机器人及其同步定位和映射方法，其中将行走机器人移动期间获取的测距数据应用于基于图像的SLAM技术，以提高步行机器人的定位精度和收敛性。 同步定位和映射方法包括获取步行机器人行走的空间的图像数据和与步行机器人的步行相关的旋转接头的旋转角度数据，使用构成步行机器人的各个链接的运动学数据和旋转的计算数据 角度数据，并定位步行机器人，并使用图像数据和测距数据绘制步行机器人走路的空间。

公开(公告)号：US08855820B2

公开(公告)日：2014-10-07

申请号：US13737344

申请日：2013-01-09

Applicant: Honda Motor Co., Ltd.

Inventor： Tomoki Watabe

IPC: G05D3/12 ,  B62D57/032 ,  G05D1/02

CPC classification number: G05D3/12 ,  B62D57/032 ,  G05D1/0251 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A device 11 includes a floor surface information acquisition portion 21 which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator 22 of the device 11 sets the desired landing position and posture of a free leg 3 of a robot 1 within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg 3 to determine a desired vertical motion trajectory of the distal end of the free leg 3 so that the height of the distal end of the free leg 3 is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg 3 and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.

Abstract translation: 装置11包括地面信息获取部21，其获取地板表面的多个局部区域中的地面面信息。 装置11的步态发生器22将机器人1的自由腿3的期望的着陆位置和姿势设置在一个局部区域内并且确定自由腿3的远端的期望的水平运动轨迹以确定期望的垂直运动 自由腿3的远端的轨迹，使得自由腿3的远端的高度等于或高于确定为防止自由腿3的远端与自由腿3的远端之间的接触的下限高度 在所需的水平运动轨迹上的多个采样点的位置处的局部区域的地板表面。