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1. 发明授权

US11911916B2 Natural pitch and roll 有权
公开(公告)号：US11911916B2
公开(公告)日：2024-02-27
申请号：US17814776
申请日：2022-07-25
申请人： Boston Dynamics, Inc.
发明人： Alex Khripin , Alfred Anthony Rizzi
IPC分类号： B25J9/16 , B62D57/032
CPC分类号： B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
摘要： 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.

2. 发明授权

US10635080B2 Work region estimation device, control device, control system, work region estimation method, and non-transitory computer-readable recording medium 有权
公开(公告)号：US10635080B2
公开(公告)日：2020-04-28
申请号：US15750845
申请日：2017-01-10
申请人： OMRON Corporation
发明人： Sayaka Naito , Yoshikazu Mori , Kazuki Kasai , Osamu Nishizaki
IPC分类号： G05B19/4061 , B62D65/18 , B25J9/16
CPC分类号： G05B19/4061 , B25J9/1676 , G05B2219/39082 , G05B2219/40202 , G05B2219/40203 , G05B2219/40339 , G05B2219/49143 , G05B2219/50193
摘要： This work region estimation device, which estimates a region in which a worker performs work, is provided with an orientation acquisition unit that acquires worker orientation information, and a work region calculation unit that, on the basis of the orientation information and a worker body model, calculates a region in which a worker operation is forecast.

3. 发明授权

US10503976B2 Methods and apparatus for autonomous robotic control 有权
公开(公告)号：US10503976B2
公开(公告)日：2019-12-10
申请号：US15463299
申请日：2017-03-20
申请人： Neurala, Inc.
发明人： Massimiliano Versace , Anatoly Gorshechnikov
IPC分类号： G06K9/00 , B25J9/16 , G06K9/32 , G06N3/04 , G06K9/46 , G06T7/73 , G06T7/11 , G06T7/292 , G06T7/187 , G06T7/194 , G06N3/08 , G06N3/00
CPC分类号： G06K9/00664 , B25J9/1697 , G06K9/3241 , G06K9/4628 , G06N3/0409 , G06N3/049 , G06N3/088 , G06T7/11 , G06T7/187 , G06T7/194 , G06T7/292 , G06T7/74 , G05B2219/39082 , G06N3/008 , G06T2207/30244
摘要： Sensory processing of visual, auditory, and other sensor information (e.g., visual imagery, LIDAR, RADAR) is conventionally based on “stovepiped,” or isolated processing, with little interactions between modules. Biological systems, on the other hand, fuse multi-sensory information to identify nearby objects of interest more quickly, more efficiently, and with higher signal-to-noise ratios. Similarly, examples of the OpenSense technology disclosed herein use neurally inspired processing to identify and locate objects in a robot's environment. This enables the robot to navigate its environment more quickly and with lower computational and power requirements.

4. 发明申请

US20180043536A1 INTELLIGENT MOTION CONTROL SYSTEM AND METHOD 审中-公开
公开(公告)号：US20180043536A1
公开(公告)日：2018-02-15
申请号：US15253723
申请日：2016-08-31
申请人： HON HAI PRECISION INDUSTRY CO., LTD.
发明人： YOU-YUN LEE , KUANG-YU LIU , YA-KUAN CHUANG , PO-HSIANG CHEN , PO-CHENG CHEN
IPC分类号： B25J9/16 , G05D1/02
CPC分类号： B25J9/1682 , B25J9/163 , B25J9/1651 , B25J9/1666 , G05B2219/39082 , G05B2219/39091 , G05B2219/40475 , G05B2219/40476 , G05D1/0212 , G05D1/0214 , G05D1/0274 , Y10S901/01 , Y10S901/08
摘要： An intelligent motion control system for devices moving in a locality includes a number of intelligent motion bodies and a server. The server includes a storage module, a task assigning module, a path planning module, and a communication module. The storage module stores a map and a path planning rule. The task assigning module assigns a motion task to each intelligent motion body. The path planning module plans a moving path for each intelligent motion body according to the map, the motion task, and the path planning rule. The communication module transmits the moving path to the intelligent motion body. The intelligent motion body moves according to the moving path and can provide feedback to the server as to any obstacles in the moving path. An intelligent motion control method is also disclosed.

5. 发明授权

US09827675B2 Collision avoidance method, control device, and program 有权
公开(公告)号：US09827675B2
公开(公告)日：2017-11-28
申请号：US14953223
申请日：2015-11-27
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Tomohisa Moridaira
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1623 , G05B2219/39082 , Y10S901/02
摘要： A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.

6. 发明申请

US20170144300A1 MANUAL FEED APPARATUS OF ROBOT FOR CALCULATING OPERABLE RANGE OF ROBOT 审中-公开
公开(公告)号：US20170144300A1
公开(公告)日：2017-05-25
申请号：US15293414
申请日：2016-10-14
申请人： FANUC CORPORATION
发明人： Tatsuya OUMI
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/161 , B25J9/1666 , B25J9/1674 , B25J9/1676 , B25J19/06 , G05B2219/36161 , G05B2219/36468 , G05B2219/39082 , G05B2219/40476
摘要： A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.

7. 发明授权

US09626868B2 Object detection device 有权
公开(公告)号：US09626868B2
公开(公告)日：2017-04-18
申请号：US12831473
申请日：2010-07-07
申请人： Masahiro Harada , Katsuhiro Sakai , Toshiki Kindo
发明人： Masahiro Harada , Katsuhiro Sakai , Toshiki Kindo
IPC分类号： G05D1/02 , G06F17/10 , G06G7/78 , G08G1/16 , B60L3/00 , B60Q1/52 , B60Q5/00 , B60Q9/00 , B60R21/013 , B60R21/0134 , B60W30/08 , B60T8/1755 , B60W30/095 , B62D15/02 , G01S13/93 , G01S13/94 , G01S15/93 , G08G3/02 , G08G5/04 , G08G7/02 , B60K31/00 , B60W30/16 , G06K9/00 , B60R21/01
CPC分类号： G08G1/166 , B60K31/0008 , B60L3/0007 , B60L3/0015 , B60Q1/525 , B60Q5/006 , B60Q9/004 , B60Q9/006 , B60Q9/008 , B60R21/013 , B60R21/0134 , B60R2021/01013 , B60R2300/8093 , B60T8/17558 , B60T2201/022 , B60W30/08 , B60W30/095 , B60W30/16 , B62D15/0265 , G01S13/93 , G01S13/94 , G01S15/93 , G05B2219/39082 , G05B2219/39091 , G05D1/0289 , G06K9/00805 , G08G1/16 , G08G3/02 , G08G5/04 , G08G5/045 , G08G7/02
摘要： An object detection device can acquire information of an object in the vicinity of a host-vehicle for appropriate traveling assistance. An object detection device 1 includes a vehicle state detection section 2, an environmental situation acquisition section 3, a road information acquisition section 4, a detection control section 6, and a detection section 7. A host-vehicle state prediction section 61 acquires a target state of a host-vehicle 81. The detection section 7 detects an object. A parameter setting section 63 switches the detection characteristic of the object in the detection section 7 in accordance with the target state.

8. 发明申请

US20160224012A1 SENSOR-BASED SAFETY FEATURES FOR ROBOTIC EQUIPMENT 有权
标题翻译：基于传感器的机器人设备安全特性
公开(公告)号：US20160224012A1
公开(公告)日：2016-08-04
申请号：US14432732
申请日：2014-08-08
申请人： ROBOTIC VISION TECHNOLOGIES, LLC
发明人： Shawn Hunt
IPC分类号： G05B19/4061 , B25J9/16
CPC分类号： G05B19/4061 , B25J9/1676 , G05B2219/39001 , G05B2219/39082 , G05B2219/39094 , G05B2219/40339
摘要： Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.
摘要翻译：技术通常描述用于机器人设备的基于传感器的安全特征及其实现。可以相对于机器人设备定位一个或多个传感器，使得传感器可以从围绕机器人设备的环境的至少一部分捕获光。在一些示例中，传感器可以与机器人设备集成和/或可以被配置为旋转。耦合到传感器的分析模块可以基于由传感器捕获的光来构建环境的模型图像。分析模块可以响应于检测到模型图像的变化而检测到非预期对象正在接近机器人设备，并且基于对象到机器人设备的接近度和/或速度接近，分析模块可以指示机器人设备降低机器人设备的运行速度和/或停止运动。

9. 发明授权

US09308654B2 Control device for link mechanism 有权
标题翻译：连杆机构控制装置
公开(公告)号：US09308654B2
公开(公告)日：2016-04-12
申请号：US14068927
申请日：2013-10-31
申请人： HONDA MOTOR CO., LTD.
发明人： Atsuo Orita
IPC分类号： G05B13/00 , B25J19/06 , B25J9/16
CPC分类号： B25J19/068 , B25J9/1635 , G05B2219/39082 , G05B2219/39186 , G05B2219/39342 , G05B2219/39345
摘要： Provided is a control device for a link mechanism capable of preventing a damage of joint mechanisms even in the case of a collision of a movable part against an external object. The control device 30 includes: a characteristic determination unit 34 which determines desired stiffness k_cmd_i of an elastic element 5 of each joint mechanism Ji so as to be within a range of first stiffness k1_i wherein the joint maximum elastic energy is equal to or more than joint collision kinetic energy to second stiffness k2_i wherein a first time is equal to or longer than a second time; and a characteristic control unit 35 which controls stiffness k_i of the elastic element 5 of each joint mechanism Ji to be the desired stiffness k_cmd_i.
摘要翻译：提供一种用于连杆机构的控制装置，即使在可移动部件与外部物体碰撞的情况下也能够防止关节机构的损坏。控制装置30包括：特性确定单元34，其确定每个关节机构Ji的弹性元件5的期望刚度k_cmd_i，以便在第一刚度k1_i的范围内，其中联合最大弹性能量等于或大于关节碰撞动能到第二刚度k2_i，其中第一次等于或长于第二次; 以及将每个关节机构Ji的弹性元件5的刚度k_i控制为期望刚度k_cmd_i的特性控制单元35。

10. 发明授权

US09069347B2 Machine tool comprising a device for collision monitoring 有权
标题翻译：机床包括用于碰撞监测的装置
公开(公告)号：US09069347B2
公开(公告)日：2015-06-30
申请号：US13358150
申请日：2012-01-25
申请人： Rolf Kettemer
发明人： Rolf Kettemer
IPC分类号： G06F19/00 , G05B19/4061
CPC分类号： G05B19/4061 , G05B2219/37237 , G05B2219/37432 , G05B2219/39082 , G05B2219/49141 , G05B2219/49143
摘要： A numerically controlled machine tool for machining a workpiece is provided. The machine tool includes a work spindle, at least one feed axis, and a device for collision monitoring on said machine tool, wherein the device for collision monitoring includes a collision sensor mounted on a machine part of the machine tool, collision detection means for detecting a collision of machine parts of the machine tool when a measuring value detected by the collision sensor exceeds a collision limit value, and signal output means for outputting a stop signal for stopping the at least one work spindle and the at least one feed axis, of the machine tool when the collision detection means detects a collision. The machine tool includes a unit for determining the collision limit value on the machine tool.
摘要翻译：提供了一种用于加工工件的数控机床。机床包括工作主轴，至少一个进给轴线和用于在所述机床上进行碰撞监测的装置，其中用于碰撞监测的装置包括安装在机床的机器部分上的碰撞传感器，用于检测的碰撞检测装置当由碰撞传感器检测到的测量值超过碰撞极限值时，机床的机器部件的碰撞;以及信号输出装置，用于输出用于停止至少一个工作主轴和至少一个进给轴的停止信号，当碰撞检测装置检测到碰撞时机床。机床包括用于确定机床上的碰撞极限值的单元。

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