公开(公告)号：US08738179B2

公开(公告)日：2014-05-27

申请号：US12625513

申请日：2009-11-24

申请人： Dai Kouno ,  Takashi Nishimura

发明人： Dai Kouno ,  Takashi Nishimura

IPC分类号： G05B11/00

CPC分类号： B25J9/1664 ,  G05B2219/39393 ,  G05B2219/40385 ,  G05B2219/40425 ,  G05B2219/40447 ,  G05B2219/40519

摘要： Teaching images are acquired at a plurality of separate teaching points on a running route extending from a running start position to a goal position, respectively, under a first light environmental condition and a light environmental condition different from the first light environmental condition, and the teaching images are stored. A present teaching image serving as a target for a robot body in a running direction at present is selected from the stored teaching images. A driving mechanism is controlled so as to increase the matching degree between the present teaching image and an actual image taken by a camera.

摘要翻译： 在第一光环境条件和与第一光环境条件不同的光环境条件下，分别在从运行开始位置到目标位置的运行路线上的多个单独的教学点获取教学图像，并且教学 图像被存储。 从存储的教学图像中选择作为目前在运动方向上的机器人主体的目标的当前教学图像。 控制驱动机构以增加本教导图像与由相机拍摄的实际图像之间的匹配度。

公开(公告)号：US08548665B2

公开(公告)日：2013-10-01

申请号：US13048906

申请日：2011-03-16

申请人： Tetsuro Izumi ,  Dai Kouno

发明人： Tetsuro Izumi ,  Dai Kouno

IPC分类号： G05D1/00

CPC分类号： G05D1/024 ,  G05D1/0253 ,  G05D2201/0216

摘要： A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

摘要翻译： 可移动体系包括附着有摄像装置的移动体; 图像分析器，其执行由图像拾取装置拍摄的图像与先前在可移动体的行进路径上捕获的图像之间的图像匹配; 壁表面检测器，其检测可移动体相对于沿着行进路径布置的壁表面的方向以及壁表面和可移动体之间的距离; 以及行进方向计算器，其从图像分析器或壁面检测器的输出检测可移动体相对于行进路径的偏移，并且计算行进方向以使可移动体在行进路径上行进 。

公开(公告)号：US08473141B2

公开(公告)日：2013-06-25

申请号：US12550402

申请日：2009-08-31

申请人： Dai Kouno

发明人： Dai Kouno

IPC分类号： G01C22/00 ,  G01C21/00

CPC分类号： G05D1/0244 ,  G05B2219/39387 ,  G05B2219/40005 ,  G05B2219/40298 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  Y10S901/01 ,  Y10S901/47

摘要： A robot system includes camera, a distance direction sensor and a controller. The controller is configured to store a plurality of instruction images obtained as a target of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path. The controller is configured to switch, on the basis of predetermined switching conditions, between an image guidance mode in which the controller controls a running subsystem on the basis of a comparison result between the real-time image and the instruction image, and a measurement distance guidance mode in which the controller controls the running subsystem on the basis of a detection result of the distance direction sensor.

摘要翻译： 机器人系统包括相机，距离方向传感器和控制器。 控制器被配置为在设置在预定行进路径上的多个离散指令点的每一个处存储作为实时图像的目标获得的多个指令图像。 控制器被配置为基于预定切换条件，在控制器基于实时图像和指示图像之间的比较结果控制运行子系统的图像引导模式与测量距离 引导模式，其中控制器基于距离方向传感器的检测结果控制运行子系统。

公开(公告)号：US08406924B2

公开(公告)日：2013-03-26

申请号：US12625513

申请日：2009-11-24

申请人： Dai Kouno ,  Takashi Nishimura

发明人： Dai Kouno ,  Takashi Nishimura

IPC分类号： G05B11/00

摘要： Teaching images are acquired at a plurality of separate teaching points on a running route extending from a running start position to a goal position, respectively, under a first light environmental condition and a light environmental condition different from the first light environmental condition, and the teaching images are stored. A present teaching image serving as a target for a robot body in a running direction at present is selected from the stored teaching images. A driving mechanism is controlled so as to increase the matching degree between the present teaching image and an actual image taken by a camera.

公开(公告)号：US20110304858A1

公开(公告)日：2011-12-15

申请号：US13048906

申请日：2011-03-16

申请人： Tetsuro IZUMI ,  Dai Kouno

发明人： Tetsuro IZUMI ,  Dai Kouno

IPC分类号： G01B11/14

CPC分类号： G05D1/024 ,  G05D1/0253 ,  G05D2201/0216

摘要： A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

摘要翻译： 可移动体系包括附着有摄像装置的移动体; 图像分析器，其执行由图像拾取装置拍摄的图像与先前在可移动体的行进路径上捕获的图像之间的图像匹配; 壁表面检测器，其检测可移动体相对于沿着行进路径布置的壁表面的方向以及壁表面和可移动体之间的距离; 以及行进方向计算器，其从图像分析器或壁面检测器的输出检测可移动体相对于行进路径的偏移，并且计算行进方向以使可移动体在行进路径上行进 。

公开(公告)号：US20100152944A1

公开(公告)日：2010-06-17

申请号：US12550402

申请日：2009-08-31

申请人： Dai KOUNO ,  Tamio NAKAMURA

发明人： Dai KOUNO ,  Tamio NAKAMURA

IPC分类号： G05D1/00 ,  G05B19/04 ,  G05B15/00

CPC分类号： G05D1/0244 ,  G05B2219/39387 ,  G05B2219/40005 ,  G05B2219/40298 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  Y10S901/01 ,  Y10S901/47

摘要： A robot system includes camera, a distance direction sensor and a controller. The controller is configured to store a plurality of instruction images obtained as a target of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path. The controller is configured to switch, on the basis of predetermined switching conditions, between an image guidance mode in which the controller controls a running subsystem on the basis of a comparison result between the real-time image and the instruction image, and a measurement distance guidance mode in which the controller controls the running subsystem on the basis of a detection result of the distance direction sensor.

摘要翻译： 机器人系统包括相机，距离方向传感器和控制器。 控制器被配置为在设置在预定行进路径上的多个离散指令点的每一个处存储作为实时图像的目标获得的多个指令图像。 控制器被配置为基于预定切换条件，在控制器基于实时图像和指示图像之间的比较结果控制运行子系统的图像引导模式与测量距离 引导模式，其中控制器基于距离方向传感器的检测结果控制运行子系统。

公开(公告)号：US20100138042A1

公开(公告)日：2010-06-03

申请号：US12625513

申请日：2009-11-24

申请人： Dai KOUNO ,  Takashi NISHIMURA

发明人： Dai KOUNO ,  Takashi NISHIMURA

IPC分类号： G05B15/00

CPC分类号： B25J9/1664 ,  G05B2219/39393 ,  G05B2219/40385 ,  G05B2219/40425 ,  G05B2219/40447 ,  G05B2219/40519

摘要： Teaching images are acquired at a plurality of separate teaching points on a running route extending from a running start position to a goal position, respectively, under a first light environmental condition and a light environmental condition different from the first light environmental condition, and the teaching images are stored. A present teaching image serving as a target for a robot body in a running direction at present is selected from the stored teaching images. A driving mechanism is controlled so as to increase the matching degree between the present teaching image and an actual image taken by a camera.

摘要翻译： 在第一光环境条件和与第一光环境条件不同的光环境条件下，分别在从运行开始位置到目标位置的运行路线上的多个单独的教学点获取教学图像，并且教学 图像被存储。 从存储的教学图像中选择作为目前在运动方向上的机器人主体的目标的当前教学图像。 控制驱动机构以增加本教导图像与由相机拍摄的实际图像之间的匹配度。