公开(公告)号：US20100152921A1

公开(公告)日：2010-06-17

申请号：US12614639

申请日：2009-11-09

Applicant: Shinzo URUSHIDANI ,  Eiji Ninomiya

Inventor： Shinzo URUSHIDANI ,  Eiji Ninomiya

IPC: G06F19/00

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：US07719229B2

公开(公告)日：2010-05-18

申请号：US11705772

申请日：2007-02-14

Applicant: Satoshi Kaneko ,  Koji Okazaki ,  Hiroyuki Makino ,  Takashi Nakayama ,  Masaaki Muromachi

Inventor： Satoshi Kaneko ,  Koji Okazaki ,  Hiroyuki Makino ,  Takashi Nakayama ,  Masaaki Muromachi

IPC: H01J7/00 ,  A63H30/00

CPC classification number: B25J19/005 ,  B60L11/1833 ,  G05D1/0225 ,  G05D2201/0217 ,  H01R13/2421 ,  H01R13/6315 ,  H02J7/0042 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T90/12 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/14

Abstract: A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.

Abstract translation: 提供了一种用于有助于定位要充电的机器人并且不对机器人施加负载的有腿移动机器人的计费系统。 充电系统包括设置在机器人1上的能够在后盖3上打开和关闭的电池2，电力接收连接器4和可动活门构件5，以及保持器21，供电连接器22， 滑动机构23，基板25，充电电源26等。机器人1在基板25上进行预定的定位，然后将重心向后方移动以连接 电力接收连接器4连接到供电连接器22.在该步骤中，当机器人1的后盖3由保持器21的第一引导部21a引导时，滑动机构23允许保持器21水平移动。 因此，即使机器人1和充电站20彼此稍微不一致，也能够容易地正确地定位机器人1。

公开(公告)号：US07702420B2

公开(公告)日：2010-04-20

申请号：US11174667

申请日：2005-07-06

Applicant: Takanori Goto ,  Tamao Okamoto

Inventor： Takanori Goto ,  Tamao Okamoto

IPC: G05B19/04

CPC classification number: G05D1/0246 ,  G05D1/12 ,  G05D2201/0217

Abstract: A method for making a mobile unit accompany an objective person moves the mobile unit in correspondence with movement of the objective person and executes control so that the mobile unit moves along the walking direction of the objective person by detecting the foot landing of the objective person, detecting the walking speed and the walking direction of the objective person, and predicting the predictive walking range of the objective person on the basis of the detected information of the walking direction and the foot landing.

Abstract translation: 伴随客观人员的移动单元的制作方法根据客观人物的移动移动移动单元并执行控制，以便移动单元通过检测客观人员的脚踏板沿着客观人物的行走方向移动， 检测目标人的步行速度和步行方向，并根据检测到的步行方向和脚踏着落的信息来预测目标人的预测步行范围。

公开(公告)号：US20080086236A1

公开(公告)日：2008-04-10

申请号：US11905344

申请日：2007-09-28

Applicant: Yoko Saito ,  Koji Kawabe

Inventor： Yoko Saito ,  Koji Kawabe

IPC: G06F19/00 ,  B25J11/00

CPC classification number: G06N3/008 ,  G01S5/0252 ,  G05D1/0251 ,  G05D1/028 ,  G05D2201/0217

Abstract: A mobile robot includes a radio communication unit; a radio environment detector detecting plural types of radio environment data indicating the degree of goodness of radio environment, a comprehensive radio environment data being calculated from results of weighting the plural types of radio environment data with predetermined weights; a self-position detecting unit; a storage for map data of a movement area; the calculated comprehensive radio environment data being written in association with its own position detected. The robot moves at a movement speed not higher than the maximum movement speed determined so that communication with the radio base station is not cut off during movement and, if radio communication is cut off, searches the radio environment map for a communication restoration position where the radio communication is feasible to establish and moves to the communication restoration position and has the radio intensity reporting control section reporting the determined level of radio intensity.

Abstract translation: 移动机器人包括无线电通信单元; 无线电环境检测器，检测指示无线电环境的良好程度的多种类型的无线电环境数据;综合无线电环境数据，是根据预定权重对多种类型的无线电环境数据进行加权的结果计算的; 自身位置检测单元; 用于移动区域的地图数据的存储; 所计算的综合无线电环境数据与其检测到的其自身位置相关联地被写入。 机器人以不高于所确定的最大移动速度的移动速度移动，使得在移动期间与无线电基站的通信不被切断，并且如果无线电通信被切断，则在无线电环境地图中搜索通信恢复位置，其中 无线电通信可以建立并移动到通信恢复位置，并且无线电强度报告控制部分报告所确定的无线电强度水平。

公开(公告)号：US20050131581A1

公开(公告)日：2005-06-16

申请号：US10941813

申请日：2004-09-16

Applicant: Kohtaro Sabe ,  Steffen Gutmann

Inventor： Kohtaro Sabe ,  Steffen Gutmann

IPC: B25J5/00 ,  B25J13/08 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  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：US06904334B2

公开(公告)日：2005-06-07

申请号：US10390494

申请日：2003-03-17

Applicant: Yasuharu Asano ,  Junichi Yamashita

Inventor： Yasuharu Asano ,  Junichi Yamashita

IPC: A63H3/46 ,  A63H11/00 ,  A63H11/18 ,  B25J5/00 ,  B25J13/00 ,  G06N3/00 ,  G10L11/02 ,  G06F19/00

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 ±Y° and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of X°, the entire body trunk unit of the robot apparatus 1 is rotated through (X−Y)°, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Y° 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 Y°, at the same time as the neck joint yaw axis is rotated through −Y° 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 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：US20020060783A1

公开(公告)日：2002-05-23

申请号：US09985432

申请日：2001-11-02

Inventor： Chiaki Aoyama

IPC: G01C003/00 ,  G01C003/08 ,  G01C005/00

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.

公开(公告)号：US20240077873A1

公开(公告)日：2024-03-07

申请号：US18388260

申请日：2023-11-09

Applicant: Suma Gouri PANNALA

Inventor： Suma Gouri PANNALA

IPC: G05D1/02 ,  G01S5/02

CPC classification number: G05D1/0212 ,  G01S5/0231 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G01S2205/06 ,  G05D2201/0217

Abstract: An autonomous bio-inspired mobile robotic device (200) capable of detecting, tracking and communicating location of survivor(s) (34) trapped under earthquake/building collapse debris (30, 32). The small-size, lightweight, ruggedized autonomous legged mobile robot (200) incorporates high-frequency millimeter-wave radar sensor (10) and Ultra Wideband (IR-UWB) radar sensor (12) for detecting presence and perform ranging of trapped survivor(s) (34). The autonomous mobile robot (200) also comprises GNSS (8) and BLE (4) connectivity for location tracking of trapped survivor(s) (34) in conjunction with a Wi-Fi enabled visual sensing solution (20) and a flashlight (16) to aid during rescue operation. The battery-powered (24) autonomous bio-inspired mobile robot (200) also comprises an MCU (26), actuators (14b), motor control circuitry (18) and IMU (6) to control robot (200) locomotion and perform sensor data fusion. BLE (4) connectivity solution of the present invention (200) communicates the location of detected trapped survivor(s) (34) to a plurality of rescue devices (44A, 44B, 44C) using Angle-of-Arrival (700)/Angle-of-Departure (800) method for successful survivor (34) location resolution.

公开(公告)号：US11886192B2

公开(公告)日：2024-01-30

申请号：US17842589

申请日：2022-06-16

Applicant: Sony Group Corporation

Inventor： Toshimoto Mitomo ,  Kazutoshi Serita

IPC: G05D1/02 ,  G08G1/0968 ,  B25J5/00 ,  G01C21/26 ,  G05D1/00 ,  G06V20/10 ,  B64U101/30 ,  B64C39/02 ,  H04N7/14

CPC classification number: G05D1/0212 ,  B25J5/00 ,  G01C21/26 ,  G05D1/0038 ,  G05D1/0088 ,  G05D1/0202 ,  G05D1/0246 ,  G08G1/0968 ,  B64C39/024 ,  B64U2101/30 ,  B64U2201/10 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0211 ,  G05D2201/0213 ,  G05D2201/0217 ,  G06V20/10 ,  H04N7/141 ,  Y10S901/01

Abstract: An information processing method of an information processor includes: obtaining information received from a mobile body through a wireless communication, the mobile body including a movement mechanism and an imaging unit configured to capture image data, the information received from the mobile body including captured image data obtained by the imaging unit, with the captured image data being updated periodically; and generating route guidance information for use in moving the mobile body by the movement mechanism. The captured image data is stored together with data update time information. The route guidance information includes at least two selectable routes. The route guidance information is generated based on the captured image data, position information of the mobile body, and the data update time information.

公开(公告)号：US11872701B2

公开(公告)日：2024-01-16

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  G05D2201/0217

Abstract: A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.