公开(公告)号：US08737692B2

公开(公告)日：2014-05-27

申请号：US13604108

申请日：2012-09-05

Applicant: Minami Asatani

Inventor： Minami Asatani

IPC: G06F9/00

CPC classification number: G06K9/00664 ,  G05D1/0251 ,  G05D2201/0217

Abstract: A state where at least a part of the virtual object (e.g., a foot of a robot) enters into the actual object (e.g., floor), i.e., a state where at least a part of a plurality of virtual points located on the surface of the virtual object is inside the actual object, can be assumed. At each of the inside and the outside of the actual object, as a virtual point is located at a deeper position inside and away from the surface or the skin part of the actual object and as a coordinate value difference ΔZi is larger, a higher value is calculated for the cost Ei as well. The combination Z^ of coordinate values of virtual points, bringing the total cost E=ΣiEi closer to an absolute minimum or a local minimum, can be searched.

Abstract translation: 虚拟物体（例如，机器人的脚）的至少一部分进入实际物体（例如，地板）的状态，即位于表面上的多个虚拟点的至少一部分的状态 的虚拟对象是在实际对象内部，可以假设。 在实际物体的内部和外部的每一个处，由于虚拟点位于实际物体的表面或皮肤部分内部和远处的较深位置，并且作为坐标值差Dgr; Zi较大，a 对于成本Ei也计算较高的值。 可以搜索虚拟点的坐标值的组合Z ^，使总成本E =＆Sgr; iEi更接近绝对最小值或局部最小值。

公开(公告)号：US08483876B2

公开(公告)日：2013-07-09

申请号：US12747094

申请日：2008-11-13

Applicant: Nobuyuki Ohno

Inventor： Nobuyuki Ohno

IPC: B25J13/00 ,  G05D1/02

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

Abstract: A controller for a mobile robot which carries out task of moving an object so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms is made to contact a portion adjacent to one end of the object, which variably sets the position of the representative point of the object in an object coordinate system when the object 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的控制器，其执行移动对象的任务，以使得物体的代表点的位置和物体的姿势遵循期望的位置轨迹和期望的姿势轨迹，在远端部分 使臂部接触与物体的一端相邻的部分，当至少按照偏转轴方向观察物体时，将物体的代表点的位置可变地设定在物体坐标系中 在期望的姿势轨迹中围绕偏转轴线改变期望姿势。 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。

公开(公告)号：US20130166137A1

公开(公告)日：2013-06-27

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

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：US08447455B2

公开(公告)日：2013-05-21

申请号：US12666485

申请日：2008-10-24

Applicant: Shinichi Matsunaga

Inventor： Shinichi Matsunaga

IPC: G01C22/00 ,  G05D1/00 ,  G06F19/00

CPC classification number: B25J9/1664 ,  G05B2219/40465 ,  G05D1/0212 ,  G05D1/0217 ,  G05D1/0225 ,  G05D2201/0217

Abstract: A target route generation system which generates a target route for a robot (R) to travel along autonomously is provided with a route candidate generation element (110) which generates a plurality of travel route candidates to connect the terminating point and the starting point by connecting links stored at a link storing element (211), state recognition elements (115 to 118) which recognize a state of the robot (R), and a route evaluation IC element (120) which evaluates a cost of a travel route candidate including therein an action point stored in an action point storing element (212) lower as the necessity for passing by the action point is higher in view of the state of the robot (R) recognized by the state recognition elements (115 to 118). According to the system, the robot can be made to travel through the action point with a high necessity in view of the state of the robot.

Abstract translation: 产生用于机器人（R）自主行进的目标路线的目标路线产生系统设置有路线候选生成元件（110），其生成多个行驶路线候选，以通过连接来连接终点和起点 存储在链接存储元件（211）的链接，识别机器人（R）的状态的状态识别元件（115〜118）以及评估其中包括的旅行路线候选者的成本的路线评估IC元件（120） 鉴于由状态识别元件（115至118）识别的机器人（R）的状态，存储在动作点存储元件（212）中的动作点作为通过动作点的必要性较低。 根据该系统，考虑到机器人的状态，机器人可以以高的必要性使其行进通过动作点。

公开(公告)号：US20130058538A1

公开(公告)日：2013-03-07

申请号：US13604108

申请日：2012-09-05

Applicant: Minami Asatani

Inventor： Minami Asatani

IPC: G06K9/62

CPC classification number: G06K9/00664 ,  G05D1/0251 ,  G05D2201/0217

Abstract: A state where at least a part of the virtual object (e.g., a foot of a robot) enters into the actual object (e.g., floor), i.e., a state where at least a part of a plurality of virtual points located on the surface of the virtual object is inside the actual object, can be assumed. At each of the inside and the outside of the actual object, as a virtual point is located at a deeper position inside and away from the surface or the skin part of the actual object and as a coordinate value difference ΔZi is larger, a higher value is calculated for the cost Ei as well. The combination Ẑ of coordinate values of virtual points, bringing the total cost E=ΣiEi closer to an absolute minimum or a local minimum, can be searched.

Abstract translation: 虚拟物体（例如，机器人的脚）的至少一部分进入实际物体（例如，地板）的状态，即位于表面上的多个虚拟点的至少一部分的状态 的虚拟对象是在实际对象内部，可以假设。 在实际物体的内部和外部的每一个处，由于虚拟点位于实际物体的表面或皮肤部分内部和远处的较深位置，并且作为坐标值差Dgr; Zi较大，a 对于成本Ei也计算较高的值。 可以搜索虚拟点的坐标值的组合，，使总成本E =＆Sgr; iEi更接近绝对最小值或局部最小值。

公开(公告)号：US08233079B2

公开(公告)日：2012-07-31

申请号：US12526804

申请日：2008-01-15

Applicant: Chiaki Aoyama

Inventor： Chiaki Aoyama

IPC: H04N5/222 ,  H04N7/18

CPC classification number: G05D1/0246 ,  G01S7/023 ,  G01S7/4802 ,  G01S17/89 ,  G05D2201/0217 ,  G06K9/2036

Abstract: In an environment recognition apparatus including a light projector that intermittently projects a light pattern toward an object to be measured existing in an environmental space in accordance with a duty factor of a pulse train defining one frame, a camera that outputs a difference image between an image of the object taken at an exposure where the light pattern is projected and an image of the object taken at an exposure where the light pattern is not projected and the object is recognized based on the difference image, there is equipped with a timing controller that controls the projection timing by varying a pulse repetition period in the pulse train in one frame at random, thereby effectively avoiding the interference with the other while using a camera of ordinary sensitivity.

Abstract translation: 在包括根据定义一帧的脉冲序列的占空因数在环境空间中存在于待测对象物上的光图案的光投影仪的环境识别装置中，输出图像之间的差分图像的相机 在光图案被投射的曝光下拍摄的物体和基于差异图像识别光图案的曝光而拍摄的物体的图像，配备有控制器的控制器 通过随机地在一帧中改变脉冲序列中的脉冲重复周期的投影定时，从而在使用普通灵敏度的相机时有效地避免与另一帧的干扰。

公开(公告)号：US20110153138A1

公开(公告)日：2011-06-23

申请号：US13059797

申请日：2009-08-14

Applicant: Makoto Sekiya

Inventor： Makoto Sekiya

IPC: G05D1/02 ,  B25J13/00

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：US20110035087A1

公开(公告)日：2011-02-10

申请号：US12805270

申请日：2010-07-21

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

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

IPC: G01C21/34

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：US20110035050A1

公开(公告)日：2011-02-10

申请号：US12805271

申请日：2010-07-21

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

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

IPC: B25J9/06

CPC classification number: B25J9/1666 ,  G05B2219/40264 ,  G05D1/0214 ,  G05D2201/0217

Abstract: If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.

Abstract translation: 如果在扩展节点以生成路径时机器人的操纵器落入局部最小值中，则操纵器可以通过随机转义方法和目标函数改变方法或其组合中的任何一种来有效地从本地最小值逃逸以生成路径。 当由于局部最小值而不能获得反向运动学的解时，或者由于不准确的目标函数而不能获得反向运动学的解，可以有效地搜索避免障碍物的最佳运动路径。 获得解决方案的速度可能会增加，从而可以缩短搜索最佳运动路径所消耗的时间。

公开(公告)号：US07769491B2

公开(公告)日：2010-08-03

申请号：US11363178

申请日：2006-02-28

Applicant: Masaki Fukuchi ,  Steffen Gutmann

Inventor： Masaki Fukuchi ,  Steffen Gutmann

IPC: G05B19/18

CPC classification number: G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0217

Abstract: The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles. The obstacle avoiding apparatus, to be used for a mobile robot apparatus to avoid obstacles, includes an obstacle environment map drawing section that divides the range of height from the reference surface for the mobile robot apparatus to move thereon to the height of the mobile robot apparatus into a plurality of layers corresponding to predetermined respective ranges of height and draws obstacle environment maps, each showing the condition of being occupied by one or more than one obstacles existing in the corresponding layer, and a route planning section that plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps as a function of the cross sectional profile of the mobile robot apparatus in each of the layers.

Abstract translation: 本发明提供一种能够精确地建模机器人装置并设计用于避免障碍物的机器人装置的高精度移动路线的障碍物避障装置，障碍物避障方法，障碍物避免程序和移动机器人装置。 用于移动机器人装置以避免障碍物的障碍物避免装置包括障碍物环境地图绘制部分，其将与移动机器人装置的参考表面的高度范围分开以移动到移动机器人装置的高度 分成对应于预定的各个高度范围的多个层，并且绘制各自示出由相应层中存在的一个或多个障碍物占据的状况的障碍物环境图;以及路线规划部，其计划机器人的路线 根据通过在障碍物环境地图中扩大障碍物或障碍物所占据的面积而制定的放大的环境地图作为每个层中的可移动机器人装置的横截面轮廓的函数来移动的装置。