公开(公告)号：US09329599B1

公开(公告)日：2016-05-03

申请号：US14583462

申请日：2014-12-26

Applicant: Industrial Technology Research Institute

Inventor： Kuan-Chun Sun ,  Meng-Ju Han ,  Jwu-Sheng Hu ,  Cheng-Hua Wu

IPC: G01S17/89 ,  G05D1/02

CPC classification number: G05D1/0261 ,  G05D2201/0216

Abstract: An automatic guided vehicle includes a vehicle body and a positioning identification module which being furnished in the vehicle body further includes a three-axis magnetic signal sensing unit and a logic operation processing unit. The logic operation processing unit is connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom. A magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle. The three-axis magnetic signal sensing unit senses the magnetic field of magnetic pointer unit and generates a magnetic field information that transmits to the logic operation processing unit.

Abstract translation: 一种自动引导车辆，包括车身和位于车体内的定位识别模块，还包括三轴磁信号检测单元和逻辑运算处理单元。 逻辑运算处理部通过从其发送的信号与三轴磁信号检测部连接。 磁性指针单元配备在自动引导车辆的行进路线附近。 三轴磁信号检测单元感测磁指针单元的磁场，并产生向逻辑运算处理单元发送的磁场信息。

公开(公告)号：US20130158773A1

公开(公告)日：2013-06-20

申请号：US13686626

申请日：2012-11-27

Applicant: Industrial Technology Research Institute

Inventor： Cheng-Hua Wu ,  Yu-Lun Ho ,  Yueh-Ju Pu ,  Ching-Yi Kuo ,  Jwu-Sheng Hu

IPC: G05D1/02

CPC classification number: G05D1/0231 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0261 ,  G05D2201/0216

Abstract: A system for guiding an automated guided vehicle (AGV) is provided. The system includes a guidance path, an AGV, an image capturing apparatus and an operation unit. The guidance path guides the AGV. The AGV moves on the guidance path and is guided by the guidance path. The AGV moves in a vision guidance region after departing from the guidance path. The image capturing apparatus captures a vision guidance region associated image. The vision guidance region associated image at least includes an image of the vision guidance region. The operation unit determines whether the AGV departs from the guidance path, and calculates position information of the AGV in the vision guidance region. When the AGV departs from the guidance path, the operation unit guides the AGV according to the vision guidance region associated image.

Abstract translation: 提供了一种用于引导自动导引车辆（AGV）的系统。 该系统包括引导路径，AGV，图像捕获装置和操作单元。 引导路径引导AGV。 AGV在引导路径上移动，并由引导路径引导。 在离开引导路径之后，AGV在视觉引导区域中移动。 图像捕获装置捕获视觉引导区域相关图像。 视觉引导区域相关图像至少包括视觉引导区域的图像。 操作单元确定AGV是否离开引导路径，并且计算视觉引导区域中的AGV的位置信息。 当AGV离开引导路径时，操作单元根据视觉引导区域相关联的图像引导AGV。

公开(公告)号：US20170151070A1

公开(公告)日：2017-06-01

申请号：US14982881

申请日：2015-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Kuan-Chun Sun ,  Yi-Jeng Tsai ,  Cheng-Hua Wu ,  Jwu-Sheng Hu

IPC: A61F2/70 ,  H04W4/02 ,  A61B5/11 ,  A61H1/02 ,  A61H3/00

CPC classification number: A61F2/70 ,  A61B5/112 ,  A61B2562/0219 ,  A61F2002/689 ,  A61F2002/704 ,  A61H1/0255 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2205/108 ,  B25J9/0006 ,  G05B2219/37134 ,  G05B2219/37388 ,  G05B2219/40305 ,  H04W4/029

Abstract: A method for estimating posture of robotic walking aid comprises: providing a motor controller, a motor encoder and a motor on right and left hip joints, and right and left knee joints of a robotic walking aid, providing an inertial sensor on upper body of the robotic walking aid, wherein the motor controller, the motor encoder, the motor and the inertial sensor are coupled to a control unit; installing the robotic walking aid on a user; inputting the lengths of the upper body, two thighs, two shanks, two feet of the robotic walking aid to the control unit, wherein the upper body, two thighs, two shanks, two feet form a plurality of points; obtaining an angle of the upper body corresponding to a reference frame with the inertial sensor; obtaining angles of those joints with those motor encoders; and calculating 3 dimensional coordinates of each point with a motion model.

公开(公告)号：US09207676B2

公开(公告)日：2015-12-08

申请号：US13686626

申请日：2012-11-27

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Cheng-Hua Wu ,  Yu-Lun Ho ,  Yueh-Ju Pu ,  Ching-Yi Kuo ,  Jwu-Sheng Hu

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0231 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0261 ,  G05D2201/0216

Abstract: A system for guiding an automated guided vehicle (AGV) is provided. The system includes a guidance path, an AGV, an image capturing apparatus and an operation unit. The guidance path guides the AGV. The AGV moves on the guidance path and is guided by the guidance path. The AGV moves in a vision guidance region after departing from the guidance path. The image capturing apparatus captures a vision guidance region associated image. The vision guidance region associated image at least includes an image of the vision guidance region. The operation unit determines whether the AGV departs from the guidance path, and calculates position information of the AGV in the vision guidance region. When the AGV departs from the guidance path, the operation unit guides the AGV according to the vision guidance region associated image.

Abstract translation: 提供了一种用于引导自动导引车辆（AGV）的系统。 该系统包括引导路径，AGV，图像捕获装置和操作单元。 引导路径引导AGV。 AGV在引导路径上移动，并由引导路径引导。 在离开引导路径之后，AGV在视觉引导区域中移动。 图像捕获装置捕获视觉引导区域相关图像。 视觉引导区域相关图像至少包括视觉引导区域的图像。 操作单元确定AGV是否偏离引导路径，并且计算视觉引导区域中的AGV的位置信息。 当AGV离开引导路径时，操作单元根据视觉引导区域相关联的图像引导AGV。

公开(公告)号：US20160147231A1

公开(公告)日：2016-05-26

申请号：US14583462

申请日：2014-12-26

Applicant: Industrial Technology Research Institute

Inventor： KUAN-CHUN SUN ,  Meng-Ju Han ,  JWU-SHENG Hu ,  Cheng-Hua Wu

IPC: G05D1/02

CPC classification number: G05D1/0261 ,  G05D2201/0216

Abstract: An automatic guided vehicle includes a vehicle body and a positioning identification module which being furnished in the vehicle body further includes a three-axis magnetic signal sensing unit and a logic operation processing unit. The logic operation processing unit is connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom. A magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle. The three-axis magnetic signal sensing unit senses the magnetic field of magnetic pointer unit and generates a magnetic field information that transmits to the logic operation processing unit.

Abstract translation: 一种自动引导车辆，包括车身和位于车体内的定位识别模块，还包括三轴磁信号检测单元和逻辑运算处理单元。 逻辑运算处理部通过从其发送的信号与三轴磁信号检测部连接。 磁性指针单元配备在自动引导车辆的行进路线附近。 三轴磁信号检测单元感测磁指针单元的磁场，并产生向逻辑运算处理单元发送的磁场信息。

公开(公告)号：US08971583B2

公开(公告)日：2015-03-03

申请号：US13669191

申请日：2012-11-05

Applicant: Industrial Technology Research Institute

Inventor： Meng-Ju Han ,  Cheng-Hua Wu ,  Ching-Yi Kuo ,  Wei-Han Wang ,  Jwu-Sheng Hu

IPC: G06K9/00

CPC classification number: G01C3/08 ,  G01B11/026 ,  G01S17/89

Abstract: A distance measurement apparatus and a distance measurement method are provided. The apparatus includes a line-shaped laser transmitter, an image sensing device and a processing unit. The line-shaped laser transmitter transmits a line-shaped laser, and the image sensing device senses the line-shaped laser to output a line-shaped laser image. The processing unit receives the line-shaped laser image, and segments the line-shaped laser image into several sub-line-shaped laser images. The processing unit further calculates a vertical position for a laser line in each sub-line-shaped laser image, and outputs each distance information according to the corresponding sub-line-shaped laser image and a transformation relation.

Abstract translation: 提供了距离测量装置和距离测量方法。 该装置包括线形激光发射器，图像感测装置和处理单元。 线状激光发射器发射线状激光，并且图像感测装置感测线状激光器以输出线状激光图像。 处理单元接收线形激光图像，并将线状激光图像分割成若干子线形激光图像。 处理单元进一步计算每个子线形激光图像中的激光线的垂直位置，并根据相应的子线形激光图像和变换关系输出每个距离信息。