公开(公告)号：US20170153634A1

公开(公告)日：2017-06-01

申请号：US15364948

申请日：2016-11-30

Applicant: OMRON Corporation

Inventor： Tatsuya KOGA ,  Ryuichiro NAKANISHI

IPC: G05B23/02 ,  G05B19/416

CPC classification number: G05B23/0286 ,  G05B19/416 ,  G05B19/42 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/42016

Abstract: 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. 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：US20210299878A1

公开(公告)日：2021-09-30

申请号：US17267039

申请日：2019-03-07

Applicant: OMRON Corporation

Inventor： Yoshinori KONISHI ,  Tatsuya KOGA

IPC: B25J9/16 ,  G06T7/73 ,  G06T7/13

Abstract: 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：US20230244235A1

公开(公告)日：2023-08-03

申请号：US18002664

申请日：2021-06-21

Applicant: OMRON Corporation

Inventor： Yasutaka OKADA ,  Jun SASAKI ,  Ryota YAMADA ,  Tatsuya KOGA

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0274 ,  G05D1/0238

Abstract: A route planning system according to one or more embodiments may include 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.

公开(公告)号：US20180095451A1

公开(公告)日：2018-04-05

申请号：US15710878

申请日：2017-09-21

Applicant: OMRON Corporation

Inventor： Tatsuya KOGA

IPC: G05B19/414 ,  G05B19/37

CPC classification number: G05B19/4141 ,  G05B19/371 ,  G05B19/416 ,  G05B2219/34013 ,  G05B2219/41 ,  G05B2219/43034 ,  G05B2219/43045 ,  G05B2219/43092

Abstract: An apparatus includes an input reception unit for receiving a designated driving time, and a locus unit that generates a torque locus with a 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.

公开(公告)号：US20230297086A1

公开(公告)日：2023-09-21

申请号：US18006292

申请日：2021-07-16

Applicant: OMRON Corporation

Inventor： Yasutaka OKADA ,  Ryota YAMADA ,  Jun SASAKI ,  Tatsuya KOGA

IPC: G05B19/418

CPC classification number: G05B19/41865 ,  G05B2219/39106

Abstract: 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：US20180095438A1

公开(公告)日：2018-04-05

申请号：US15714090

申请日：2017-09-25

Applicant: OMRON Corporation

Inventor： Tatsuya KOGA ,  Masahiro MURAI

IPC: G05B19/04 ,  G05B19/29 ,  G05B19/418 ,  G05B19/06

Abstract: A control apparatus and the like may include a time allocation setting unit that sets a time allocation for steps in the total driving time, and an operation value calculation unit that calculates minimum operation values for the times set by the time allocation setting unit, and the time allocation setting unit 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.

公开(公告)号：US20180088553A1

公开(公告)日：2018-03-29

申请号：US15438653

申请日：2017-02-21

Applicant: OMRON Corporation

Inventor： Tatsuya KOGA ,  Masahiro MURAI

IPC: G05B19/402

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

Abstract: 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.

公开(公告)号：US20170153628A1

公开(公告)日：2017-06-01

申请号：US15359817

申请日：2016-11-23

Applicant: OMRON Corporation

Inventor： Tatsuya KOGA

IPC: G05B19/416

CPC classification number: G05B19/416 ,  G05B2219/34122 ,  H02P29/20

Abstract: 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 receives a designated drive time. A profiling unit 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.