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    Robot and method for creating path of the robot
    1.
    发明授权
    Robot and method for creating path of the robot 有权
    用于创建机器人路径的机器人和方法

    公开(公告)号：US09254571B2

    公开(公告)日：2016-02-09

    申请号：US13307169

    申请日：2011-11-30

    申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

    发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

    IPC分类号： B25J9/10 ,  B25J9/16 ,  G05D1/02

    CPC分类号： B25J9/1666 ,  G05B2219/40442 ,  G05B2219/40475 ,  G05D1/024 ,  G05D1/0274

    摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

    摘要翻译： 机器人和创建机器人路径的方法。 用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取 通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率 位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。

    ROBOT AND METHOD FOR CREATING PATH OF THE ROBOT
    2.
    发明申请
    ROBOT AND METHOD FOR CREATING PATH OF THE ROBOT 有权
    机器人和创造机器人路径的方法

    公开(公告)号：US20120158178A1

    公开(公告)日：2012-06-21

    申请号：US13307169

    申请日：2011-11-30

    申请人： Seung Yong HYUNG ,  Kyung Shik Roh ,  Suk June Yoon

    发明人： Seung Yong HYUNG ,  Kyung Shik Roh ,  Suk June Yoon

    IPC分类号： B25J9/10

    CPC分类号： B25J9/1666 ,  G05B2219/40442 ,  G05B2219/40475 ,  G05D1/024 ,  G05D1/0274

    摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

    摘要翻译： 机器人和创建机器人路径的方法。 用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取 通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率 位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。

    MOVEMENT PATH GENERATION DEVICE FOR ROBOT
    3.
    发明申请
    MOVEMENT PATH GENERATION DEVICE FOR ROBOT 审中-公开
    机器人运动路生成装置

    公开(公告)号：US20100204828A1

    公开(公告)日：2010-08-12

    申请号：US12670958

    申请日：2008-07-29

    申请人： Shintaro Yoshizawa ,  Yutaka Hirano

    发明人： Shintaro Yoshizawa ,  Yutaka Hirano

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1666 ,  G05B2219/40264 ,  G05B2219/40475

    摘要： A movement path generating device for a robot is provided which can generate a movement path of a jointed robot satisfying a constraint condition and accomplishing optimization of various estimation conditions. The movement path generating device for a robot generating a movement path of a jointed robot with a dynamic constraint includes: constraint condition acquiring means for acquiring a constraint condition of the robot; estimation condition acquiring means for acquiring an estimation condition of the robot; posture generating means for generating a plurality of postures of the robot satisfying the constraint condition; posture estimating means for estimating the plurality of postures generated by the posture generating means on the basis of the estimation condition; posture selecting means for selecting one posture out of the plurality of postures generated by the posture generating means on the basis of the estimation result by the posture estimating means; and movement path generating means for generating the movement path of the robot using the posture selected by the posture selecting means.

    摘要翻译： 提供了一种用于机器人的移动路径生成装置，其可以生成满足约束条件的接合机器人的移动路径并且实现各种估计条件的优化。 用于产生具有动态约束的接合机器人的移动路径的机器人的移动路径生成装置包括：约束条件获取装置，用于获取机器人的约束条件; 估计条件获取装置，用于获取机器人的估计状况; 姿势产生装置，用于产生满足约束条件的机器人的多个姿势; 姿势估计装置，用于基于所述估计条件来估计由所述姿势产生装置产生的多个姿势; 姿势选择装置，用于根据姿态估计装置的估计结果，从姿势生成装置生成的多个姿势中选择一种姿势; 以及移动路径产生装置，用于使用由姿势选择装置选择的姿势来产生机器人的移动路径。

    Systems and Methods for Time-Based Parallel Robotic Operation
    5.
    发明申请
    Systems and Methods for Time-Based Parallel Robotic Operation 有权

    公开(公告)号：US20170097631A1

    公开(公告)日：2017-04-06

    申请号：US15384273

    申请日：2016-12-19

    申请人： Bot & Dolly, LLC

    发明人： Jeffrey Linnell ,  Kendra Byrne

    IPC分类号： G05B19/418 ,  B25J9/16

    CPC分类号： G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

    摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.

    ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, AND PROGRAM FOR CONTROLLING THE SAME
    6.
    发明申请
    ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, AND PROGRAM FOR CONTROLLING THE SAME 有权
    机器人装置，其控制方法和用于控制其的程序

    公开(公告)号：US20120290132A1

    公开(公告)日：2012-11-15

    申请号：US13456489

    申请日：2012-04-26

    申请人： Wataru KOKUBO ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

    发明人： Wataru KOKUBO ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

    IPC分类号： G05B19/04

    CPC分类号： B25J9/1666 ,  G05B2219/40298 ,  G05B2219/40475

    摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

    摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括所述驱动单元的操作所需的空间的限制区域以及用于显示所述限制区域的区域显示单元。

    Robot interference prevention control device
    7.
    发明申请
    Robot interference prevention control device 审中-公开
    机器人防干扰控制装置

    公开(公告)号：US20060052901A1

    公开(公告)日：2006-03-09

    申请号：US11217413

    申请日：2005-09-02

    申请人： Ryo Nihei ,  Tetsuaki Kato ,  Yukinobu Tsuchida ,  Atsuo Nagayama ,  Masakazu Ichinose

    发明人： Ryo Nihei ,  Tetsuaki Kato ,  Yukinobu Tsuchida ,  Atsuo Nagayama ,  Masakazu Ichinose

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1674 ,  B25J9/1666 ,  G05B2219/39097 ,  G05B2219/39098 ,  G05B2219/40475

    摘要： A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.

    摘要翻译： 机器人防干扰控制装置预先读取每个机器人的教导程序，在从当前插补期间起n个插补周期之后发出停止命令时，计算各机器人的预定停止位置，并且检查是否在 每个机器人的预定停止位置。 当机器人防干扰控制装置判断机器人将与另一机器人相干涉时，在当前插补期间输出停止命令。 由此，在从发生干涉的插补期间开始n个插补周期之前输出停止指令，能够防止发生干扰。