公开(公告)号：EP3848898A1

公开(公告)日：2021-07-14

申请号：EP19856640.8

申请日：2019-03-07

申请人： OMRON Corporation

发明人： KONISHI, Yoshinori ,  KOGA, Tatsuya

IPC分类号： G06T7/70

摘要： Provided is art capable of recognizing the states of a plurality of target objects arranged in a prescribed space region. This target object recognition device is provided with: a plurality of calculation processing units (21, 22) which each calculate the attitude state of a target object in a prescribed space region using a different technique; a state recognition unit (23) which recognizes the layout state of all of a plurality of target objects arranged in the space region; a method determination unit (24) which, in accordance with the result of the recognition by the state recognition unit (23), determines a method for using the results of the calculation performed by the calculation processing units (21, 22); and a target object recognition unit (25) which recognizes the attitude states of the target objects by means of the determined method for using the results of the calculation.

公开(公告)号：EP3176662B1

公开(公告)日：2018-01-31

申请号：EP16201440.1

申请日：2016-11-30

申请人： OMRON Corporation

发明人： KOGA, Tatsuya ,  NAKANISHI, Ryuichiro

IPC分类号： G05B19/42

CPC分类号： G05B23/0286 ,  G05B19/416 ,  G05B19/42 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/42016

摘要： Problem: The velocity and force of a target is controlled to have a predetermined relationship, independently of changes in the velocity at which the target is driven using a velocity command value and in an external force from the target. Solution: A controller controls a control target, driven to generate a predetermined viscous force as a reaction force, by periodically outputting a command value to the control target using a target value calculated from a command pattern for driving the control target and a feedback value from the control target relative to the target value. A correction operation unit obtains a control physical quantity different from the command value, calculates a correction command value based on a relationship between an error of the obtained control physical quantity from its target value and an error of the feedback value from the target value, and outputs the correction command value to the control target.

公开(公告)号：EP4177695A1

公开(公告)日：2023-05-10

申请号：EP21833402.7

申请日：2021-06-21

申请人： OMRON Corporation

发明人： OKADA, Yasutaka ,  SASAKI, Jun ,  YAMADA, Ryota ,  KOGA, Tatsuya

IPC分类号： G05D1/02

摘要： A route planning system includes an obtaining unit configured to obtain an environmental map indicating, for any obstacle, a location and a degree of certainty that the obstacle is present at that location,, a planning unit configured to plan a movement route along which a mobile robot moves, excluding any obstacles in the environmental map, that have a degree of certainty that does not satisfy a predetermined standard, and an output unit configured to output route information, which is information on the planned movement route, to the mobile robot. A mobile robot configured to obtain the route information from the route planning system includes a movement control unit configured to move based on the route information; and a detection unit configured to detect any surrounding obstacles while the robot moves under the control of the movement control unit, and the detection unit executes detection processing that is finer than regular detection processing, on any obstacle included in the excluded object information.

公开(公告)号：EP3176661B1

公开(公告)日：2019-01-23

申请号：EP16200740.5

申请日：2016-11-25

申请人： OMRON CORPORATION

发明人： KOGA, Tatsuya

IPC分类号： G05B19/416 ,  H02P29/20

公开(公告)号：EP3316059A1

公开(公告)日：2018-05-02

申请号：EP17190189.5

申请日：2017-09-08

申请人： Omron Corporation

发明人： KOGA, Tatsuya

IPC分类号： G05B19/416

CPC分类号： G05B19/4141 ,  G05B19/371 ,  G05B19/416 ,  G05B2219/34013 ,  G05B2219/41 ,  G05B2219/43034 ,  G05B2219/43045 ,  G05B2219/43092

摘要： A torque peak is suppressed without significantly modifying a structure of an apparatus. Included are an input reception unit (100) for receiving a designated driving time, and a locus unit (200) that generates a torque locus with an maximum value at its minimum by adjusting a switching timing and a maximum value under the conditions that the torque locus is a rectangular wave, the absolute values of the maximum value and the minimum value of torque are equal, and switching between the maximum value and the minimum value of the torque occurs once.

摘要翻译： 扭矩峰值被抑制而不会显着改变装置的结构。 包括用于接收指定的驱动时间的输入接收单元（100）和通过调节转换时间和最大值来产生最小值为最大值的转矩轨迹的轨迹单元（200） 轨迹是矩形波时，转矩的最大值和最小值的绝对值相等，并且转矩的最大值和最小值之间的切换发生一次。

公开(公告)号：EP3299916A1

公开(公告)日：2018-03-28

申请号：EP17157092.2

申请日：2017-02-21

申请人： Omron Corporation

发明人： KOGA, Tatsuya ,  MURAI, Masahiro

IPC分类号： G05B19/4065 ,  B23Q17/09

CPC分类号： G05B19/404 ,  B23Q17/0961 ,  G05B2219/37256 ,  G05B2219/39355 ,  G05B2219/41161 ,  G05B2219/41371 ,  G05B2219/41376 ,  G05B2219/41379 ,  G05B2219/42025 ,  G05B2219/42338 ,  Y02P90/265

摘要： The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

摘要翻译： 本发明提供了一种控制装置，包括：实际值获取部件，获取转矩实际值和速度实际值，其中，转矩实际值代表驱动源产生的转矩，速度实际值代表运动体的速度 ; 推定部，其基于所述转矩实际值，通过使用表示所述运动体的驱动的预定模型的运算公式，计算每隔一个运算周期的外力推断值和速度推断值，其中，所述外力推定值表示 由控制系统产生的外力; 以及输出部分，如果推断部分计算外部推断值，则基于一起计算出的速度推断值来评估外力推断值的可靠性，并且当判断出存在指定的可靠性时有效地输出外力推断值 。

公开(公告)号：EP3176661A1

公开(公告)日：2017-06-07

申请号：EP16200740.5

申请日：2016-11-25

申请人： OMRON CORPORATION

发明人： KOGA, Tatsuya

IPC分类号： G05B19/416 ,  H02P29/20

CPC分类号： G05B19/416 ,  G05B2219/34122 ,  H02P29/20

摘要： A velocity profile is calculated to have a lower power peak or a lower torque peak and to allow a control target to reach a predetermined position within an intended time. An input reception unit (100) receives a designated drive time. A profiling unit (200) generates an input profile including a leading edge portion, a flat portion, and a trailing edge portion calculated based on the principle of least action.

摘要翻译： 计算速度分布以具有较低的功率峰值或较低的转矩峰值并且允许控制目标在预定时间内到达预定位置。 输入接收单元（100）接收指定的驱动时间。 配置单元（200）生成包括基于最小动作原理计算出的前缘部分，平坦部分和后缘部分的输入配置文件。

公开(公告)号：EP4194987A1

公开(公告)日：2023-06-14

申请号：EP21854606.7

申请日：2021-07-16

申请人： OMRON Corporation

发明人： OKADA, Yasutaka ,  YAMADA, Ryota ,  SASAKI, Jun ,  KOGA, Tatsuya

IPC分类号： G05D1/02

摘要： The environmental change proposing system includes: an acquiring unit configured to acquire processing information regarding processing of a conveyance task from a conveyance robot that has executed the conveyance task using an environmental map; an evaluation computing unit configured to perform an evaluation computation for evaluating, based on the processing information, a virtual layout in which the arrangement of installation objects on the environmental map has been changed; and an output unit configured to generate and output proposal information regarding a change in arrangement of the installation objects, based on an evaluation result of the evaluation computing unit.

公开(公告)号：EP3316060A1

公开(公告)日：2018-05-02

申请号：EP17190241.4

申请日：2017-09-08

申请人： Omron Corporation

发明人： KOGA, Tatsuya ,  MURAI, Masahiro

IPC分类号： G05B19/416

CPC分类号： G05B19/0415 ,  G05B19/066 ,  G05B19/291 ,  G05B19/416 ,  G05B19/41865 ,  G05B2219/43034 ,  G05B2219/43045 ,  G05B2219/43092

摘要： A control apparatus and the like that can perform optimal control in all steps are realized. Included are a time allocation setting unit (201) that sets a time allocation for steps in the total driving time, and an operation value calculation unit (202) that calculates minimum operation values for the times set by the time allocation setting unit (201), and the time allocation setting unit (201) sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.

摘要翻译： 实现了可以在所有步骤中执行最佳控制的控制装置等。 包括时间分配设置单元（201）和操作值计算单元（202），该时间分配设置单元设置总驱动时间中的步骤的时间分配，该时间分配设置单元计算由时间分配设置单元（201）设置的时间的最小操作值， ，并且时间分配设置单元（201）在总驱动时间中设置步骤的时间分配，使得这些步骤的最小操作值之间的差落入预定范围内。

公开(公告)号：EP3176662A1

公开(公告)日：2017-06-07

申请号：EP16201440.1

申请日：2016-11-30

申请人： OMRON CORPORATION

发明人： KOGA, Tatsuya ,  NAKANISHI, Ryuichiro

IPC分类号： G05B19/42

CPC分类号： G05B23/0286 ,  G05B19/416 ,  G05B19/42 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/42016

摘要： Problem: The velocity and force of a target is controlled to have a predetermined relationship, independently of changes in the velocity at which the target is driven using a velocity command value and in an external force from the target. Solution: A controller controls a control target, driven to generate a predetermined viscous force as a reaction force, by periodically outputting a command value to the control target using a target value calculated from a command pattern for driving the control target and a feedback value from the control target relative to the target value. A correction operation unit obtains a control physical quantity different from the command value, calculates a correction command value based on a relationship between an error of the obtained control physical quantity from its target value and an error of the feedback value from the target value, and outputs the correction command value to the control target.

摘要翻译： 问题：目标的速度和力被控制为具有预定关系，与使用速度命令值驱动目标的速度变化以及来自目标的外力无关。 解决方案：控制器通过使用从用于驱动控制目标的指令模式计算出的目标值和来自控制对象的反馈值周期性地向控制对象周期性地输出指令值，来控制被驱动以产生预定的粘性力作为反作用力的控制目标 控制目标相对于目标值。 校正操作单元获得与命令值不同的控制物理量，基于获得的控制物理量与其目标值的误差与反馈值与目标值的误差之间的关系计算校正命令值，以及 将校正指令值输出到控制目标。