-
公开(公告)号：US07822508B2
公开(公告)日：2010-10-26
申请号：US11636597
申请日：2006-12-11
IPC分类号： G06F19/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译： 自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置 被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。
-
公开(公告)号：US07551978B2
公开(公告)日：2009-06-23
申请号：US11301099
申请日：2005-12-13
申请人： Taro Yokoyama , Kenichiro Sugiyama
发明人： Taro Yokoyama , Kenichiro Sugiyama
CPC分类号： B25J13/082 , B25J9/1612 , Y10S414/136
摘要： The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in an item receiving/passing operation, wherein the receiving/passing motion deciding means comprises: means for determining to start receiving an item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion on the basis of at least one of an external force and an opening-degree during the receiving motion.
摘要翻译： 所述物品承载系统包括：机器人，包括：用于夹紧物品的夹持部分; 外力检测装置，用于检测施加到抓握部分的外力; 开度检测装置，用于检测抓握部的开度; 自主运动手段; 以及接收/通过运动决定装置，用于在项目接收/通过操作中决定机器人的运动，其中接收/通过运动判定装置包括：用于确定开始接收使得抓握部分开始接收运动的项目的装置 如果外力检测装置已经检测到不小于第一预定值的外力，则当夹持部未夹持物品时; 以及用于基于在接收运动期间的外力和开度的至少一个来确定接收运动的完成的装置。
-
公开(公告)号：US07877165B2
公开(公告)日：2011-01-25
申请号：US11297363
申请日：2005-12-09
申请人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
发明人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
IPC分类号： G05B19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。
-
公开(公告)号：US20060142896A1
公开(公告)日：2006-06-29
申请号：US11301099
申请日：2005-12-13
申请人： Taro Yokoyama , Kenichiro Sugiyama
发明人： Taro Yokoyama , Kenichiro Sugiyama
IPC分类号： G06F19/00
CPC分类号： B25J13/082 , B25J9/1612 , Y10S414/136
摘要： The present invention aims to provide an item-carrying system in which a robot can perform an item-receiving motion without giving the human a sense of discomfort when receiving it from the human. The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item and can open/close; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; and autonomous movement means; and receiving/passing motion deciding means 240 for deciding a motion of the robot in an item receiving/passing operation, the system receiving/passing the item with the gripping portion, wherein the receiving/passing motion deciding means 240 comprises: means for determining to start receiving an item 243 that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion that determines the completion of an item-receiving motion on the basis of at least one of an external force detected by the external force detecting means and an opening-degree detected by the opening-degree detecting means, during the receiving motion.
摘要翻译： 本发明的目的在于提供一种携带物品的系统，其中机器人可以执行物品接收运动，而不会给人类从人体接收到不适感。 所述物品承载系统包括：机器人，其包括：用于夹紧物品并可以打开/关闭的夹持部分; 外力检测装置，用于检测施加到抓握部分的外力; 开度检测装置，用于检测抓握部的开度; 自主运动手段; 以及接收/通过运动决定装置240，用于在项目接收/通过操作中决定机器人的运动，系统通过抓握部分接收/通过该项目，其中接收/通过运动决定装置240包括：用于确定 如果外力检测装置已经检测到不小于第一预定值的外力，则当夹紧部分不夹持物品时，开始接收使夹持部分开始接收运动的物品243; 以及用于基于由外力检测装置检测到的外力和由开度检测检测到的开度确定接收运动的完成来确定物品接收运动的完成的装置， 意味着在接收动议期间。
-
公开(公告)号：US20060129278A1
公开(公告)日：2006-06-15
申请号：US11297363
申请日：2005-12-09
申请人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
发明人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。
-
公开(公告)号：US09003468B2
公开(公告)日：2015-04-07
申请号：US13978385
申请日：2011-01-07
申请人： Haruki Uehara , Fukutaro Okuyama , Taro Yokoyama , Kenji Matahira
发明人： Haruki Uehara , Fukutaro Okuyama , Taro Yokoyama , Kenji Matahira
IPC分类号： H04N7/173 , H04N21/24 , G10H1/00 , H04N21/43 , H04N21/8547 , H04N21/439 , G10H1/36
CPC分类号： H04N21/2402 , G10H1/00 , G10H1/0066 , G10H1/368 , G10H2240/031 , G10H2240/056 , G10H2240/171 , G10H2240/175 , G10H2240/305 , H04N21/4307 , H04N21/4392 , H04N21/8547
摘要： An automatic performance device includes a performance data receiving unit that receives performance data transmitted from a storage device without passing through a moving image distribution server, the storage device configured to store the performance data having a combination of performance information and time information, the time information indicating the time when the performance indicated by the performance information was carried out; a synchronization signal receiving unit that receives a synchronization signal by using an audio signal transmission path for an audio via the moving image distribution server; and a reproducing unit that reproduces the performance information of the performance data in synchronization with a video distributed at the time when the synchronization signal is distributed, at the timing corresponding to the time indicated by the time information and the time indicated by the synchronization signal.
摘要翻译： 一种自动演奏装置，包括性能数据接收单元，其接收从存储装置发送的演奏数据，而不通过运动图像分配服务器，所述存储装置被配置为存储具有演奏信息和时间信息的组合的演奏数据，所述时间信息 表示执行情况信息表明的表现时间; 同步信号接收单元，其经由所述运动图像分发服务器通过使用用于音频的音频信号传输路径来接收同步信号; 以及再现单元，其在与由时间信息指示的时间和由同步信号指示的时间相对应的定时处，与在分发同步信号时分配的视频同步地再现演奏数据的演奏信息。
-
公开(公告)号：US08314319B2
公开(公告)日：2012-11-20
申请号：US12876646
申请日：2010-09-07
CPC分类号： G10H1/0066 , G10H2240/155
摘要： A plurality of musical instrument is connected to a server device through a network to form a storage system. The musical instrument generates performance data, and sends the performance data to the server device every time the performance data is generated. The server device receives the performance data sent from the musical instrument. The server device has a clock unit that measures date and time, and a storage unit that stores the performance data received by the receiving unit. Further, a file generation unit of the server device divides a polarity of the performance data stored in the storage unit into blocks based on the date and time of the performance data measured by the clock unit when the performance data is received by the receiving unit, and generates performance files corresponding to the blocks of the performance data.
摘要翻译： 多个乐器通过网络连接到服务器设备以形成存储系统。 乐器产生演奏数据，并在每次演奏数据生成时将演奏数据发送到服务器设备。 服务器设备接收从乐器发送的演奏数据。 服务器设备具有测量日期和时间的时钟单元，以及存储由接收单元接收的演奏数据的存储单元。 此外，当接收单元接收到演奏数据时，服务器装置的文件生成单元将存储在存储单元中的演奏数据的极性根据由时钟单元测量的演奏数据的日期和时间分成块， 并生成与演奏数据的块对应的演奏文件。
-
公开(公告)号：US08019474B2
公开(公告)日：2011-09-13
申请号：US11637000
申请日：2006-12-12
申请人： Taro Yokoyama , Sachie Hashimoto
发明人： Taro Yokoyama , Sachie Hashimoto
IPC分类号： G05B19/408 , G10L11/00 , G06F19/00
CPC分类号： B62D57/032 , G06Q10/10 , G06Q50/12
摘要： In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which identifies a human being like visitor to be conducted in a company building and the like, and controls operation of the leg actuator to conduct the identified visitor to a destination such as a reception room in the company building space along a route determined based on a map stored in a map database, while keeping pace with the visitor, thereby enabling to establish better communication with the visitor.
摘要翻译： 在具有连接到身体并由腿部致动器驱动的身体和腿部的有腿移动机器人的控制系统中，提供了一个操作控制器，其识别要在公司建筑物等中进行的访客的人，以及 控制腿部致动器的操作，以便在与访问者保持同步的同时沿着沿着存储在地图数据库中的映射确定的路线将识别的访问者导向到公司建筑空间中的接收室等目的地，从而能够建立更好的 与访客沟通。
-
9.发明授权公开(公告)号：US07983794B2
公开(公告)日：2011-07-19
申请号：US11635041
申请日：2006-12-07
申请人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
发明人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
IPC分类号： G05B19/00
CPC分类号： G10L13/00 , G01S17/74 , G01S19/49 , G06K9/00221 , G10L15/26
摘要： A robot recording a message on a wireless tag which includes: a voice recognition unit recognizing a voice input by a voice input unit which inputs a voice of a person; a message extraction unit extracting the message from the voice recognized by the voice recognition unit based on a fixed phrase provided for obtaining a message; a recording unit recording the message extracted by the message extraction unit on the wireless tag provided on an object.
摘要翻译： 一种在无线标签上记录消息的机器人，包括：语音识别单元，识别由输入人的声音的语音输入单元输入的语音; 消息提取单元，基于为获得消息而提供的固定短语，从由所述语音识别单元识别的语音提取所述消息; 记录单元，将由消息提取单元提取的消息记录在设置在对象上的无线标签上。
-
公开(公告)号：US07826927B2
公开(公告)日：2010-11-02
申请号：US11608021
申请日：2006-12-07
IPC分类号： G05B19/048
CPC分类号： G06N3/008 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D2201/0217
摘要： When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.
摘要翻译： 当存在能够以期望的路径与机器人1接触的对象时，机器人1根据从机器人1到期望路径的预测接触位置的距离L而逐步减速。 例如，机器人1的腿13等被控制为当距离L小于第一阈值L1时，移动速度被降低到第一速度V1，并且当距离L小于第二阈值 低于第一阈值，移动速度从第一速度降低到第二速度。
-
-
-
-
-
-
-
-
-
搜索结果
34 条记录 (耗时 0.023 秒)
