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    MASTER-SLAVE SYSTEM AND CONTROLLING METHOD
    3.
    发明申请
    MASTER-SLAVE SYSTEM AND CONTROLLING METHOD 有权

    公开(公告)号：US20220401169A1

    公开(公告)日：2022-12-22

    申请号：US17776606

    申请日：2020-11-13

    申请人： Kawasaki Jukogyo Kabushiki Kaisha

    发明人： Masayuki KAMON ,  Hiroki TAKAHASHI ,  Kai SHIMIZU ,  Yuki TAKAYAMA ,  Jun FUJIMORI ,  Hiroki KINOSHITA ,  Masahiko AKAMATSU ,  Takanori KOZUKI

    IPC分类号： A61B34/37 ,  B25J13/08

    摘要： A master-slave system includes a master unit, a slave unit, and a control device. The control device includes first circuitry that determines a first relationship that is a relationship between a slave coordinate system and an object coordinate system, second circuitry that determines a second relationship that is a relationship between a master coordinate system and the object coordinate system, and third circuitry that outputs an operational command for causing the slave unit to operate according to operational information of the master unit, the first relationship, and the second relationship. When the object coordinate system is moved, the first circuitry newly determines the first relationship after the movement based on the moved object coordinate system and the slave coordinate system, and the second-circuitry determines the second relationship after the movement, as a relationship similar to the second relationship before the movement.

    CONSTRUCTION MACHINERY WITH LEARNING FUNCTION
    4.
    发明申请
    CONSTRUCTION MACHINERY WITH LEARNING FUNCTION 有权

    公开(公告)号：US20220220709A1

    公开(公告)日：2022-07-14

    申请号：US17612641

    申请日：2020-05-20

    申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

    发明人： Masayuki KAMON ,  Hitoshi HASUNUMA ,  Shigetsugu TANAKA

    IPC分类号： E02F9/26 ,  E02F9/20 ,  E02F9/22 ,  G05D1/02 ,  G05D1/00 ,  G06N3/04 ,  G06N3/08

    摘要： Construction machinery with learning function includes an operating part having a working part, a manipulating part, a work-state detecting part, an operation-state detecting part, a reaction detecting part, a learning data memory configured to store a command outputted from the manipulating part in a time series as command data, and store, in a time series as estimation basic data, work-state data, operation-state data, and reaction data, a learning module configured to execute machine learning of command data stored in the learning data memory by using estimation basic data stored in the learning data memory, and, after the machine learning, receive an input of the estimation basic data during the operation of the operating part, and output an estimated command of the command, and a hydraulic drive system configured to drive the operating part based on one of the command and the estimated command, or both of the command and the estimated command.

    ROBOT SYSTEM
    5.
    发明申请
    ROBOT SYSTEM 有权

    公开(公告)号：US20210323165A1

    公开(公告)日：2021-10-21

    申请号：US17273235

    申请日：2019-08-30

    申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

    发明人： Masayuki KAMON ,  Hirokazu SUGIYAMA

    IPC分类号： B25J9/16 ,  H04N13/239 ,  H04N13/344 ,  G06T3/40 ,  G06T5/00

    摘要： A robot system includes a robot body having a working part, a robot manipulation device used by an operator to manipulate the robot body, left and right-eye cameras configured to capture left and right-eye capturing images of a work area where the working part performs the work, a stereoscopic display unit configured to display parallax images seen three-dimensionally by the operator with both eyes, an area manipulation device operated by the operator to specify a stereoscopic vision target area to be seen three-dimensionally on the display unit, in an absolute space in a field of view common between the cameras, a robot controlling module that controls operation of the robot body according to manipulation of the robot manipulation device, a stereoscopic display controlling module that extracts images corresponding to the target area, from the left and right-eye capturing images, and display the extracted images on the stereoscopic display unit.

    WORK ROBOT
    6.
    发明申请
    WORK ROBOT 审中-公开

    公开(公告)号：US20190039254A1

    公开(公告)日：2019-02-07

    申请号：US16076642

    申请日：2017-02-07

    申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

    发明人： Masayuki KAMON ,  Soichi TAMADA

    IPC分类号： B25J19/06 ,  B25J9/16 ,  B25J9/00

    摘要： A robot with an impact buffering member on the surface of a robot arm for alleviating the impact when the arm contacts an object; and a contact detection unit for detecting a contact between the robot arm and object. The unit has a soft porous member on the front surface side of the impact buffering member and softer than the member; a housing member including the soft porous member and formed of a flexible material; a fluid discharge pipe for discharging a fluid inside the housing member when the object makes contact so the volume of the housing member decreases; and a volume change detection portion for detecting a change in volume of the housing member by utilizing the discharged fluid. It is possible to secure sufficient safety in a cooperative work between a person and a robot or the like, even when the person contacts the robot arm.

    ROBOT SYSTEM
    10.
    发明申请
    ROBOT SYSTEM 审中-公开

    公开(公告)号：US20180243901A1

    公开(公告)日：2018-08-30

    申请号：US15755304

    申请日：2016-05-27

    申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

    发明人： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Tsuyoshi MAEHARA ,  Masayuki KAMON ,  Yasushi KUROSAWA ,  Shigetsugu TANAKA

    IPC分类号： B25J9/16 ,  B25J3/00

    摘要： A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.