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1. 发明授权

US07558646B2 Cooperative control system of robots 有权
标题翻译：机器人协同控制系统
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

2. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

3. 发明授权

US06429617B1 Drive-controlling method and apparatus and robot having the apparatus 有权
标题翻译：具有该装置的驱动控制方法和装置以及机器人
公开(公告)号：US06429617B1
公开(公告)日：2002-08-06
申请号：US09692870
申请日：2000-10-20
申请人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
发明人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
IPC分类号： G05B1101
CPC分类号： B25J9/1676 , B25J9/1666 , G05B19/406 , G05B2219/37285 , G05B2219/37632 , G05B2219/40476 , G05B2219/40497
摘要： Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.
摘要翻译：提供一种驱动控制方法和装置以及机器人，其具有用于精确地检测由机器人驱动的臂与障碍物的碰撞并且用于保持臂的碰撞最小化的装置的装置：将臂的路径保持为由机器人在记忆体中驱动; 通过比较驱动臂的伺服电动机的电流值和参考电流值来检测碰撞; 并且控制机器人使得臂基于存储的路线离开障碍物预定的距离，沿着与碰撞之前相同的路线备份臂。

4. 发明授权

US07729804B2 Robot controller and robot control method for synchronous operation and adjusting robot movement based on two movement times 有权
标题翻译：基于两次运动时间的机器人控制器和机器人控制方法，用于同步运行和调整机器人运动
公开(公告)号：US07729804B2
公开(公告)日：2010-06-01
申请号：US11384316
申请日：2006-03-21
申请人： Naoyuki Matsumoto , Masatoshi Sano
发明人： Naoyuki Matsumoto , Masatoshi Sano
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , B25J9/1669 , G05B19/41815 , G05B2219/31157 , G05B2219/33088 , G05B2219/33097 , G05B2219/34314 , G05B2219/39105 , G05B2219/39144 , G05B2219/45142 , Y02P90/08 , Y02P90/087 , Y02P90/18 , Y02P90/20
摘要： A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
摘要翻译：控制器在最短时间内将每个机器人手从移动开始位置移动到同步操作位置时计算出第一移动时间，并将最长的第一移动时间决定为第二移动时间。控制器为每个机器人生成机器人操作计划，用于在第二移动时间内不停止从移动开始位置移动到同步操作位置的每个机器人手。每个机器人的机器人手从运动开始位置移动到同步操作位置而不停止并同时到达同步操作位置。

5. 发明申请

US20060217841A1 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US20060217841A1
公开(公告)日：2006-09-28
申请号：US11384316
申请日：2006-03-21
申请人： Naoyuki Matsumoto , Masatoshi Sano
发明人： Naoyuki Matsumoto , Masatoshi Sano
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B19/41815 , G05B2219/31157 , G05B2219/33088 , G05B2219/33097 , G05B2219/34314 , G05B2219/39105 , G05B2219/39144 , G05B2219/45142 , Y02P90/08 , Y02P90/087 , Y02P90/18 , Y02P90/20
摘要： A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
摘要翻译：控制器在最短时间内将每个机器人手从移动开始位置移动到同步操作位置时计算出第一移动时间，并将最长的第一移动时间决定为第二移动时间。控制器为每个机器人生成机器人操作计划，用于在第二移动时间内不停止从移动开始位置移动到同步操作位置的每个机器人手。每个机器人的机器人手从运动开始位置移动到同步操作位置而不停止并同时到达同步操作位置。

6. 发明授权

US06069338A Method and apparatus for controlling spot welding robot 失效
标题翻译：点焊机器人控制方法及装置
公开(公告)号：US06069338A
公开(公告)日：2000-05-30
申请号：US307790
申请日：1999-05-10
申请人： Masatoshi Sano , Naoyuki Matsumoto
发明人： Masatoshi Sano , Naoyuki Matsumoto
IPC分类号： B23K11/24 , B23K11/11 , B23K11/31 , G05B19/18 , G05B19/404 , B23K37/02
CPC分类号： B23K11/314
摘要： The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.
摘要翻译：所公开的点焊机器人控制方法和装置能够进行点焊装置的加压操作，而没有由流体压力驱动的点焊枪的点焊机器人的死区时间。控制方法包括以下步骤：在使用枪的实际焊接操作中测量枪关闭时间，测量轴向重合时间，计算指令位置轴向一致的时间点与加压命令的输出时间点之间的时间差关闭时间和轴向一致时间，并且在通过从实际焊接操作中的指令位置轴向一致的时间点减去时间差而导出的时间点，向点焊枪输出加压指令。

7. 发明申请

US20120033058A1 Stereoscopic Video Display Apparatus and Display Method 审中-公开
标题翻译：立体视频显示装置及显示方法
公开(公告)号：US20120033058A1
公开(公告)日：2012-02-09
申请号：US13051844
申请日：2011-03-18
申请人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
发明人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
IPC分类号： H04N13/04
CPC分类号： H04N13/351 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/354
摘要： In one embodiment, a stereoscopic video display apparatus is configured to divide each of frames displaying a stereoscopic video into two subframes; assign one pixel from among the plurality of parallax images to each row in each subframe; display parallax images of a first group from among the plurality of parallax images in odd-numbered rows and displaying parallax images of a remaining second group from among the plurality of parallax images in even-numbered rows, when displaying one of the first and second subframes; and display parallax images of the second group in odd-numbered rows and displaying parallax images of the first group in even-numbered rows when displaying the other of the first and second subframes.
摘要翻译：在一个实施例中，立体视频显示装置被配置为将显示立体视频的每个帧分成两个子帧; 从多个视差图像中分配一个像素到每个子帧中的每一行; 在奇数行的多个视差图像中显示第一组的视差图像，并且当显示第一和第二子帧中的一个时，显示偶数行中的多个视差图像中剩余的第二组的视差图像 ; 并显示奇数行中的第二组的视差图像，并且当显示第一和第二子帧中的另一个时，显示偶数行中的第一组的视差图像。

8. 发明授权

US08537205B2 Stereoscopic video display apparatus and display method 失效
标题翻译：立体视频显示装置及显示方法
公开(公告)号：US08537205B2
公开(公告)日：2013-09-17
申请号：US13044416
申请日：2011-03-09
申请人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
发明人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
IPC分类号： H04N13/00 , H04N15/00
CPC分类号： H04N13/351 , H04N13/305 , H04N13/317 , H04N13/324
摘要： In one embodiment, a stereoscopic video display apparatus includes: a plane display unit including a display screen in which first to third subpixels having respectively different color components are arranged in a matrix form; and an optical plate. The plane display unit includes a configuration obtained by arranging a first subpixels and the second subpixels alternately on a first subpixel row, arranging the third subpixels on a second subpixel row adjacent to the first subpixel row, arranging the first subpixels and the second subpixels alternately on a third subpixel row adjacent to the second subpixel row to have a sequence opposite to that on the first subpixel row, arranging the third subpixels on a fourth subpixel row adjacent to the third subpixel row, and arranging a set of the first to fourth subpixel rows in the column direction of subpixels on the display screen repeatedly.
摘要翻译：在一个实施例中，立体视频显示装置包括：平面显示单元，包括显示屏，其中分别具有不同颜色分量的第一至第三子像素以矩阵形式排列; 和光学板。平面显示单元包括通过在第一子像素行上交替布置第一子像素和第二子像素而获得的配置，将第三子像素排列在与第一子像素行相邻的第二子像素行上，交替地布置第一子像素和第二子像素与第二子像素行相邻的第三子像素行，具有与第一子像素行相反的序列，将第三子像素排列在与第三子像素行相邻的第四子像素行上，并且配置第一至第四子像素行的集合在显示屏幕上的子像素的列方向上重复。

9. 发明申请

US20120033055A1 Stereoscopic Video Display Apparatus and Display Method 审中-公开
标题翻译：立体视频显示装置及显示方法
公开(公告)号：US20120033055A1
公开(公告)日：2012-02-09
申请号：US13044427
申请日：2011-03-09
申请人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
发明人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
IPC分类号： H04N13/04
CPC分类号： H04N13/351 , H04N13/305 , H04N13/324
摘要： In one embodiment, a stereoscopic video display apparatus is configured to assign one subpixel column to each of a plurality of parallax images, and select three subpixels, which are the first to third subpixels, arranged consecutively in the column direction of subpixels with the third subpixel located in the center, as a pixel displaying each parallax image; cause pixels adjacent in the column direction of subpixels in each parallax image to share the first subpixel or the second subpixel; divide each of frames displaying a stereoscopic video into two subframes; assign one pixel from among the plurality of parallax images to each row in each subframe; display odd-numbered rows when displaying one of the first and second subframes; and display even-numbered rows when displaying the other of the first and second subframes.
摘要翻译：在一个实施例中，立体视频显示装置被配置为将一个子像素列分配给多个视差图像中的每一个，并且选择作为第一至第三子像素的三个子像素，它们在子像素的列方向上连续排列，其中第三子像素位于中心，作为显示每个视差图像的像素; 使每个视差图像中的子像素的列方向相邻的像素共享第一子像素或第二子像素; 将显示立体视频的每个帧划分为两个子帧; 从多个视差图像中分配一个像素到每个子帧中的每一行; 当显示第一和第二子帧中的一个时显示奇数行; 并且当显示第一和第二子帧中的另一个时显示偶数行。

10. 发明申请

US20120033054A1 Stereoscopic Video Display Apparatus and Display Method 失效
标题翻译：立体视频显示装置及显示方法
公开(公告)号：US20120033054A1
公开(公告)日：2012-02-09
申请号：US13044416
申请日：2011-03-09
申请人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
发明人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
IPC分类号： H04N13/04
CPC分类号： H04N13/351 , H04N13/305 , H04N13/317 , H04N13/324
摘要： In one embodiment, a stereoscopic video display apparatus includes: a plane display unit including a display screen in which first to third subpixels having respectively different color components are arranged in a matrix form; and an optical plate. The plane display unit includes a configuration obtained by arranging a first subpixels and the second subpixels alternately on a first subpixel row, arranging the third subpixels on a second subpixel row adjacent to the first subpixel row, arranging the first subpixels and the second subpixels alternately on a third subpixel row adjacent to the second subpixel row to have a sequence opposite to that on the first subpixel row, arranging the third subpixels on a fourth subpixel row adjacent to the third subpixel row, and arranging a set of the first to fourth subpixel rows in the column direction of subpixels on the display screen repeatedly.
摘要翻译：在一个实施例中，立体视频显示装置包括：平面显示单元，包括显示屏，其中分别具有不同颜色分量的第一至第三子像素以矩阵形式排列; 和光学板。平面显示单元包括通过在第一子像素行上交替布置第一子像素和第二子像素而获得的配置，将第三子像素排列在与第一子像素行相邻的第二子像素行上，交替地布置第一子像素和第二子像素与第二子像素行相邻的第三子像素行，具有与第一子像素行相反的序列，将第三子像素排列在与第三子像素行相邻的第四子像素行上，并且配置第一至第四子像素行的集合在显示屏幕上的子像素的列方向上重复。

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