公开(公告)号：US20120083923A1

公开(公告)日：2012-04-05

申请号：US13375669

申请日：2010-05-27

申请人： Kosei Matsumoto ,  Toshio Moriya

发明人： Kosei Matsumoto ,  Toshio Moriya

IPC分类号： G05B15/00

CPC分类号： B25J9/1664 ,  G05B2219/40424 ,  G05B2219/40506 ,  G05B2219/40516 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207

摘要： The invention notifies a robot controller of the need to re-create map data. A robot control system (1) includes a robot (2) that moves along a path while detecting obstacles, and a robot control terminal (3) that records map data (321) and specifies the path of said robot (2), whereby said robot (2) uses lasers to make measurements while in motion and sends the results as sensor data (324) to said robot control terminal (3) which uses said sensor data to generate simulated sensor data (325) along the future path of said robot, and if the proportion of sections for which simulated sensor data and said map data (321) do not coincide exceeds a threshold value, the user is notified of a reconstruction of said map data (321).

摘要翻译： 本发明通知机器人控制器需要重新创建地图数据。 机器人控制系统（1）包括在检测障碍物的同时沿路径移动的机器人（2）和记录地图数据（321）并指定所述机器人（2）的路径的机器人控制终端（3），由此所述机器人 机器人（2）使用激光器在运动中进行测量，并将结果作为传感器数据（324）发送到所述机器人控制终端（3），所述机器人控制终端（3）使用所述传感器数据沿着所述机器人的未来路径生成模拟传感器数据（325） 并且如果模拟传感器数据和所述地图数据（321）不一致的部分的比例超过阈值，则向用户通知所述地图数据的重建（321）。

公开(公告)号：US08023727B2

公开(公告)日：2011-09-20

申请号：US12118014

申请日：2008-05-09

申请人： Kosei Matsumoto ,  Toshio Moriya

发明人： Kosei Matsumoto ,  Toshio Moriya

IPC分类号： G06K9/00

CPC分类号： G06K9/00691

摘要： An environment map generating apparatus is provided. The environment map generating apparatus includes: a storage unit, a cross-sectional image generating unit, a model processing unit, an obtaining unit and an environment map generating unit. The storage unit stores a model of an obstacle. The cross-sectional image generating unit generates a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment. The model processing unit generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle. The obtaining unit obtains an obstacle map at the predetermined height from the reference plane in the environment. The environment map generating unit generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.

摘要翻译： 提供环境地图生成装置。 环境地图生成装置包括：存储单元，截面图像生成单元，模型处理单元，获取单元和环境地图生成单元。 存储单元存储障碍物的模型。 横截面图像生成单元在环境中从参考平面生成预定高度的障碍物的模型的横截面图像。 模型处理单元通过将横截面图像叠加在障碍物的模型上来生成横截面图像附加模型。 获取单元从环境中的参考平面获得预定高度的障碍物图。 环境地图生成单元生成将跨剖面图像附加模型以半透明状态叠加到障碍物图中的对应障碍物上的环境映射。

公开(公告)号：US20080066207A1

公开(公告)日：2008-03-13

申请号：US11646381

申请日：2006-12-28

申请人： Fumiko Beniyama ,  Toshio Moriya ,  Nobutaka Kimura ,  Kosei Matsumoto

发明人： Fumiko Beniyama ,  Toshio Moriya ,  Nobutaka Kimura ,  Kosei Matsumoto

IPC分类号： B25J5/00

CPC分类号： B25J5/007 ,  B25J9/0003 ,  B25J9/1692

摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

摘要翻译： 运输系统中的计算机包括：拍摄部件，用于通过控制相机来拍摄第一校准盘; 托盘位置计算部件，用于计算拍摄部分拍摄的拍摄图像内的第一校准托盘的托盘位置; 指针位置获取部分，用于获取指示手动机器人当手动机器人安装到第一校准托盘上时用于校准的第一输送物品的位置的指针位置; 基于托盘位置和手位置计算校准数据的校准部件; 以及运送物品安装部，其中当所述移动机器人到达预定到达区域时，基于所述校准数据来控制所述手持机器人，以将第二传送物品安装到第二托盘上，所述移动机器人的第二托盘 随附。

公开(公告)号：US07990415B2

公开(公告)日：2011-08-02

申请号：US11396641

申请日：2006-04-04

申请人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

发明人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

IPC分类号： H04N7/18

CPC分类号： G01C15/004 ,  G01C25/00 ,  G01S7/497 ,  G01S17/023

摘要： Provided is an image input device which includes a laser range finder and a camera, and is capable of automatically calibrating the laser range finder and the camera at an appropriate timing without using special equipment. The image input device includes the laser range finder which measures distance information of an object by using invisible light and the camera which measures color information of the object. In order to detect a calibration error between the laser range finder and the camera, an invisible light filter which blocks visible light and transmits invisible light is automatically attached to a lens of the camera by a switching operation between two kinds of lenses. By the camera to which the invisible light filter is being attached, a pattern of the invisible light projected onto the object from the laser range finder is photographed as a visible image. By the comparison between the thus obtained invisible light pattern image and a reference image, the calibration error between the laser range finder and the camera is calculated. When the calibration error exceeds a predetermined value, a relative position and a relative posture between the laser range finder and the camera are automatically calibrated by control of a platform or the like.

摘要翻译： 提供了一种包括激光测距仪和照相机的图像输入装置，并且能够在不使用特殊设备的情况下在适当的时间自动校准激光测距仪和照相机。 图像输入装置包括通过使用不可见光测量对象的距离信息的激光测距仪和测量对象的颜色信息的摄像机。 为了检测激光测距仪和相机之间的校准误差，通过两种透镜之间的切换操作自动地将阻挡可见光和透射不可见光的不可见光滤光器附接到相机的透镜。 通过安装有不可见光滤光器的相机，将从激光测距仪投影到物体上的不可见光的图案被拍摄为可视图像。 通过这样获得的不可见光图案图像与参考图像之间的比较，计算出激光测距仪和相机之间的校准误差。 当校准误差超过预定值时，通过平台等的控制来自动校准激光测距仪和摄像机之间的相对位置和相对姿态。

公开(公告)号：US07424342B2

公开(公告)日：2008-09-09

申请号：US11646381

申请日：2006-12-28

申请人： Fumiko Beniyama ,  Toshio Moriya ,  Nobutaka Kimura ,  Kosei Matsumoto

发明人： Fumiko Beniyama ,  Toshio Moriya ,  Nobutaka Kimura ,  Kosei Matsumoto

IPC分类号： G06F19/00

CPC分类号： B25J5/007 ,  B25J9/0003 ,  B25J9/1692

摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

公开(公告)号：US08036775B2

公开(公告)日：2011-10-11

申请号：US11396643

申请日：2006-04-04

申请人： Kosei Matsumoto ,  Toshio Moriya ,  Kazuo Yano

发明人： Kosei Matsumoto ,  Toshio Moriya ,  Kazuo Yano

IPC分类号： G05D1/02 ,  G05D1/12 ,  G05D1/00 ,  G06F19/00

CPC分类号： G06N3/008 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0211

摘要： The system includes a mobile apparatus that moves after receiving an input of a path. The system has a path-setting unit for setting the path of a mobile apparatus according to the inputted path, a measuring unit for measuring an environment in which the mobile apparatus exists, an extracting unit for extracting an object existence region in the environment according to the values measured by the measuring unit, a judging unit that judges the validity of the path according to (1) the path set by the path setting unit and (2) the object existence region extracted by the extracting unit, a position determining unit that determines a target position to which the mobile apparatus is to move by selecting it from the portions of the path judged as valid, and a movement controller for controlling the mobile apparatus to move to the target position.

摘要翻译： 该系统包括在接收到路径的输入之后移动的移动装置。 该系统具有路径设定单元，用于根据输入路径设定移动装置的路径，测量单元，用于测量移动装置存在的环境;提取单元，用于根据所述环境中的对象存在区域提取根据 由测量单元测量的值，根据（1）由路径设置单元设置的路径和（2）由提取单元提取的对象存在区域来判断路径的有效性的判断单元，位置确定单元， 通过从被判定为有效的路径的部分中选择移动装置来移动的目标位置，以及移动控制器，用于控制移动装置移动到目标位置。

公开(公告)号：US08022812B2

公开(公告)日：2011-09-20

申请号：US12132034

申请日：2008-06-03

申请人： Fumiko Beniyama ,  Toshio Moriya ,  Kosei Matsumoto

发明人： Fumiko Beniyama ,  Toshio Moriya ,  Kosei Matsumoto

IPC分类号： H04Q5/22

CPC分类号： G05D1/024 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0216 ,  G06K7/0008 ,  G06K7/10079 ,  G06K17/00 ,  G06K2017/0045 ,  G06K2017/0051 ,  G06Q10/047 ,  H04Q2213/13095 ,  H04Q2213/13098

摘要： An information collection system is provided, which can automatically calculate an operation or a travel path of a tag reader for collecting information of an RF tag. The information collection system of the present invention moves, in a movable area of a two-dimensional map, the tag reader along a surface of an object by referring to a three-dimensional map to emit radio waves while moving an information collection robot, records, upon reception of tag ID from the RF tag, a position of the information collection robot at the time as a data acquisition position, and calculates a path passing through data acquisition positions of all the recorded data as a moving sequence in a movable area of the information collection robot.

摘要翻译： 提供一种信息收集系统，其可以自动计算用于收集RF标签信息的标签读取器的操作或行进路径。 本发明的信息收集系统在二维地图的可移动区域中，通过参考三维地图沿着物体的表面移动标签读取器，以在移动信息收集机器人时发射无线电波，记录 在从RF标签接收到标签ID时，作为数据获取位置的信息收集机器人的位置，并且计算经过所有记录数据的数据获取位置的路径作为移动序列在可移动区域 信息收集机器人。

公开(公告)号：US20090093907A1

公开(公告)日：2009-04-09

申请号：US12180755

申请日：2008-07-28

申请人： Ryoso Masaki ,  Toshio Moriya ,  Kosei Matsumoto ,  Junichi Tamamoto ,  Motoya Taniguchi

发明人： Ryoso Masaki ,  Toshio Moriya ,  Kosei Matsumoto ,  Junichi Tamamoto ,  Motoya Taniguchi

IPC分类号： G06F17/00

CPC分类号： G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D1/0297 ,  G05D2201/0206 ,  G05D2201/0207 ,  G05D2201/0216

摘要： In a robot system constructed by a superior controller and a robot, it is necessary to carry out a high-speed computation in a system which simultaneously generate a map together with identifying a posture of the robot, there is a problem that the robot system becomes expensive because a computing load becomes enlarged, and it is an object to reduce the computing load. In order to achieve the object, there is provided a robot system constructed by a controller having a map data and a mobile robot, in which the robot is provided with a distance sensor measuring a plurality of distances with respect to a peripheral object, and an identifying apparatus identifying a position and an angle of the robot by collating with the map data, and the controller is provided with a map generating apparatus generating or updating the map data on the basis of the position and the angle of the robot, and the measured distance with respect to the object. Accordingly, it is possible to reduce the computing load of the controller and the robot, and it is possible to achieve a comparatively inexpensive robot system.

摘要翻译： 在由上级控制器和机器人构成的机器人系统中，需要在同时生成地图并识别机器人的姿势的系统中进行高速计算，存在机器人系统变为 因为计算负载变大，所以这是降低计算负荷的对象。 为了实现该目的，提供了一种由具有地图数据和移动机器人的控制器构成的机器人系统，其中机器人设置有相对于周边物体测量多个距离的距离传感器，以及 通过与地图数据对照来识别机器人的位置和角度的识别装置，并且控制器设置有基于机器人的位置和角度生成或更新地图数据的地图生成装置，并且测量 相对于物体的距离。 因此，可以减少控制器和机器人的计算负担，并且可以实现相对便宜的机器人系统。

公开(公告)号：US20070188615A1

公开(公告)日：2007-08-16

申请号：US11589117

申请日：2006-10-30

申请人： Fumiko Beniyama ,  Toshio Moriya ,  Kosei Matsumoto

发明人： Fumiko Beniyama ,  Toshio Moriya ,  Kosei Matsumoto

IPC分类号： H04N5/225

CPC分类号： H04N7/185 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  H04N7/183 ,  H04N7/188

摘要： In the monitoring system that used fixed camera and movement camera, the technique is provided in which facilitates the route making and the movement control of the mobile robot in the remote place. The mobile image-taking device and a monitoring device are connected to each other via a communication network. The monitoring device stores map on the place to be monitored, and outputs the map to a display. Moreover, the monitoring system receives the taking image from a fixed camera, and outputs the image to a display. If abnormality is detected from the taking image of a fixed camera, the movement camera is moved to the abnormality occurrence position. The monitoring device transmits a route of the mobile monitoring device, which is inputted from an input device, to the mobile monitoring device. The mobile monitoring device moves in the place to be monitored according to the received route. The mobile monitoring device takes an image with a camera according to an instruction from the monitoring device, and transmits the taken image to the monitoring device.

摘要翻译： 在使用固定摄像机和移动摄像机的监控系统中，提供了便于远程操作的移动机器人的路线制作和移动控制的技术。 移动图像拍摄装置和监视装置经由通信网络彼此连接。 监视装置将地图存储在要监视的地方，并将地图输出到显示器。 此外，监视系统从固定摄像机接收拍摄图像，并将图像输出到显示器。 如果从固定摄像机的拍摄图像检测到异常，则移动摄像机被移动到异常发生位置。 监视装置将从输入装置输入的移动监视装置的路径发送到移动监视装置。 移动监视设备根据接收到的路由移动到要监视的位置。 移动监视装置根据来自监视装置的指示，利用摄像机拍摄图像，并将拍摄图像发送到监视装置。

公开(公告)号：US08175748B2

公开(公告)日：2012-05-08

申请号：US11923747

申请日：2007-10-25

申请人： Kosei Matsumoto ,  Toshio Moriya

发明人： Kosei Matsumoto ,  Toshio Moriya

IPC分类号： G05B19/18

CPC分类号： G05D1/0251 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/0216

摘要： A technology is provided that easily acquires the location where an article is placed and then moves to that location, even in cases where the article was originally placed in a location shielded from GPS radio wave, and subsequently moved to another location. Marks and RFID tags are affixed to a movable tray. A transfer robot includes a camera, a reader, and a sensor. The transfer robot detects the tray location from the location of a region in an image photographed by the camera that matches mark information. Furthermore, the reader in the transfer robot detects the tray location from the intensity of a radio wave whose information, when read, matches an ID retained in the RFID tag. The transfer robot moves with the camera and the reader, detecting the tray that is the target destination.

摘要翻译： 即使在最初将物品放置在屏蔽GPS无线电波的位置，随后移动到另一位置的情况下，也提供了容易获取物品放置位置并移动到该位置的技术。 标记和RFID标签固定在可动托盘上。 传送机器人包括相机，读取器和传感器。 传送机器人从相机拍摄的图像中与标记信息相匹配的图像中的区域的位置检测托盘位置。 此外，传送机器人中的读取器根据读取时的信息与保持在RFID标签中的ID匹配的无线电波的强度来检测托盘位置。 传送机器人随相机和读卡器移动，检测作为目标目的地的托盘。