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71. 发明公开

EP1884453A2 Crawler robot equipped with a work unit, and control system for such crawler robots 有权
标题翻译： Kriechroboter为这类Kriechroboter一个工作单元和控制装置
公开(公告)号：EP1884453A2
公开(公告)日：2008-02-06
申请号：EP07380116.9
申请日：2007-04-26
申请人： AIRBUS ESPAA, S.L.
发明人： Montero Sanjuan, Pedro , Ramallo Gutierrez, José Luis
IPC分类号： B62D57/032 , B62D57/024 , B21J15/14
CPC分类号： B62D57/032 , B21J15/14 , B21J15/142 , B23B39/14 , B23P2700/01 , B23Q9/0014 , B62D57/024 , B64F5/10 , G05B2219/39146
摘要： The robot comprises a chassis (1) with a first set of legs (2a,2b) with suction pads (6) on tilting supports (7) mounted in a linearly displaceable manner with regard to the chassis and a second set of legs (4) with suction pads (17) mounted in a rotary manner with regard to the chassis. Certain control means are adapted in order to control the functioning of said first and second sets of legs in a coordinated manner for displacing the chassis in any direction on the work surface (S). It includes support feet (9) and a system (25,10,11) for levelling the chassis in relation to a curvature of the work surface. Fitted on the chassis is a work unit (44) with a head for working on the work surface via an opening (12) in the chassis. It includes means for displacing said head along three axes and pivoting the head on two axes with respect to the chassis.

72. 发明公开

EP1701824A1 CONTROL METHOD DEVICE AND SYSTEM FOR ROBOT APPLICATIONS 有权转让
标题翻译：控制方法中，机器人设备及系统
公开(公告)号：EP1701824A1
公开(公告)日：2006-09-20
申请号：EP04806401.8
申请日：2004-12-20
申请人： ABB AS
发明人： BRYNE, Gisle
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1682 , G05B2219/39146 , G05B2219/39151 , Y02P90/18 , Y02P90/28
摘要： The invention is a method, controller and control system for controlling a robot that is used in concert with at least one other robot to perform an operation on one or more work objects. Each robot controller checks whether a common reference value is not acceptable, and if so, provides a signal for the robot to wait before proceeding to the next task. Each robot controller also checks whether the target object is in the correct position or not; and also checks whether or not another robot has stopped. If either another robot has stopped and/or if the work object is not in the right position, the robot waits. The invention is particularly advantageous for automated painting whereby a production line may be re-started more quickly again after a stoppage or production delay.

73. 发明公开

EP1548530A1 Method of controlling swarm of robots 审中-公开
标题翻译： Verfahren zum Steuern einer Gruppe von Robotern
公开(公告)号：EP1548530A1
公开(公告)日：2005-06-29
申请号：EP03293317.8
申请日：2003-12-22
申请人： ALCATEL
发明人： Weis, Bernd Xaver, Dr.-Ing. , Weik, Hartmut, Dipl.-Ing.
IPC分类号： G05B19/418
CPC分类号： B25J9/1643 , G05B2219/39146 , G05B2219/39169
摘要： The invention concerns a method of controlling a swarm of robots (71 to 75, 8), each having a communication unit for communicating with a control center (2) and/or other robots of the swarm, as well as a control device for executing this method. The control device determines position data of one or more robots (71 to 75) of the swarm that act as relay robots for supporting the communication between the control center (2) and one or more robots of the swarm acting in the neighborhood of a target (3). The one or more relay robots (71 to 75) are positioned according to the determined position data. A communication connection between the control center (2) and the robot (8) acting in the neighborhood of the target (3) is established via one or more of the positioned relay robots (71 to 75).
摘要翻译：本发明涉及一种控制一组机器人（71至75,8）的方法，每个机器人具有用于与控制中心（2）和/或群体的其他机器人通信的通信单元，以及用于执行这个方法。控制装置确定作为中继机器人的一个或多个作为中继机器人的机器人（71至75）的位置数据，用于支持控制中心（2）与作用于目标附近的群组的一个或多个机器人之间的通信（3）。一个或多个继电器机器人（71至75）根据确定的位置数据定位。通过一个或多个定位的继电器机器人（71至75）建立在目标（3）附近作用的控制中心（2）和机器人（8）之间的通信连接。

74. 发明公开

EP3234720A1 MOBILE CONFIGURABLE CONVEYOR COMPONENT 有权
标题翻译：移动式可配置输送组件
公开(公告)号：EP3234720A1
公开(公告)日：2017-10-25
申请号：EP15820366.1
申请日：2015-12-09
申请人： Amazon Technologies, Inc.
发明人： MESSINA, Mark, Anthony
IPC分类号： G05D1/02
CPC分类号： B65G41/008 , B25J5/007 , B25J9/0093 , B65G1/0492 , B65G15/00 , B65G15/28 , B65G37/00 , B65G41/005 , G05B2219/39146 , G05D1/0287 , G05D2201/0216 , Y10S901/01
摘要： A mobile robotic device with a conveyor that is configured to link up with another conveyor of a second mobile robotic device is described. In this manner, the mobile robotic devices may provide integrated, flexible conveyors and the ability to link conveyors to make an aggregate conveyor of any shape or size. Moreover, the mobile robotic device is configured to receive a conveyor from a storage unit and move the conveyor to another point within a physical space. The mobile robotic device also has the capability to rotate the conveyor, when docked, about the axis of the mobile robotic device (e.g., for sorting and other operations).
摘要翻译：描述了具有传送器的移动机器人装置，该传送器被配置为与第二移动机器人装置的另一传送器连接。以这种方式，可移动机器人设备可以提供集成的柔性输送机和连接输送机以制造任何形状或尺寸的集料输送机的能力。此外，可移动机器人装置被构造成从存储单元接收传送器并且将传送器移动到物理空间内的另一点。移动机器人设备还具有在对接时围绕移动机器人设备的轴线（例如，用于分拣和其他操作）旋转输送机的能力。

75. 发明公开

EP2915636A3 Coordinated robotic control 有权
标题翻译：协调机器人控制器
公开(公告)号：EP2915636A3
公开(公告)日：2016-06-22
申请号：EP15157675.8
申请日：2015-03-04
申请人： Sarcos LC
发明人： Smith, Fraser M.
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1682 , B25J9/1625 , B25J9/1689 , B25J9/1694 , G05B19/41815 , G05B2219/35444 , G05B2219/39001 , G05B2219/39146 , G05B2219/40134 , G05B2219/40136 , G05B2219/40176 , G05B2219/40234 , G05B2219/40413 , G05B2219/40414 , Y10S901/27 , Y10S901/28 , Y10S901/46
摘要： Device coordinated robotic control technology is described. A network of robotic devices (100) is established. An anthropomorphic motion is sensed from an operator (300). One or more signals are generated that are representative of at least a portion of the anthropomorphic motion. The one or more signals are converted into a collective set of commands to actuate the network of robotic devices (100). The collective set of commands is functionally equivalent to the anthropomorphic motion.

76. 发明授权

EP1701824B1 CONTROL METHOD DEVICE AND SYSTEM FOR ROBOT APPLICATIONS 有权转让
标题翻译：控制方法中，机器人设备及系统
公开(公告)号：EP1701824B1
公开(公告)日：2011-07-13
申请号：EP04806401.8
申请日：2004-12-20
申请人： ABB AS
发明人： BRYNE, Gisle
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1682 , G05B2219/39146 , G05B2219/39151 , Y02P90/18 , Y02P90/28
摘要： The invention is a method, controller and control system for controlling a robot that is used in concert with at least one other robot to perform an operation on one or more work objects. Each robot controller checks whether a common reference value is not acceptable, and if so, provides a signal for the robot to wait before proceeding to the next task. Each robot controller also checks whether the target object is in the correct position or not; and also checks whether or not another robot has stopped. If either another robot has stopped and/or if the work object is not in the right position, the robot waits. The invention is particularly advantageous for automated painting whereby a production line may be re-started more quickly again after a stoppage or production delay.

77. 发明公开

EP1884453A3 Crawler robot equipped with a work unit, and control system for such crawler robots 有权
标题翻译： Kriechroboter为这类Kriechroboter一个工作单元和控制装置
公开(公告)号：EP1884453A3
公开(公告)日：2010-12-22
申请号：EP07380116.9
申请日：2007-04-26
申请人： Airbus Operations S.L.
发明人： Montero Sanjuan, Pedro , Ramallo Gutierrez, José Luis
IPC分类号： B62D57/032 , B62D57/024 , B21J15/14 , B23Q9/00 , B23B41/00 , B25J9/16 , B64F5/00
CPC分类号： B62D57/032 , B21J15/14 , B21J15/142 , B23B39/14 , B23P2700/01 , B23Q9/0014 , B62D57/024 , B64F5/10 , G05B2219/39146
摘要： The robot comprises a chassis (1) with a first set of legs (2a,2b) with suction pads (6) on tilting supports (7) mounted in a linearly displaceable manner with regard to the chassis and a second set of legs (4) with suction pads (17) mounted in a rotary manner with regard to the chassis. Certain control means are adapted in order to control the functioning of said first and second sets of legs in a coordinated manner for displacing the chassis in any direction on the work surface (S). It includes support feet (9) and a system (25,10,11) for levelling the chassis in relation to a curvature of the work surface. Fitted on the chassis is a work unit (44) with a head for working on the work surface via an opening (12) in the chassis. It includes means for displacing said head along three axes and pivoting the head on two axes with respect to the chassis.

78. 发明公开

KR1020170117982A 협력적 로봇 제어 审中-实审
标题翻译：合作机器人控制
公开(公告)号：KR1020170117982A
公开(公告)日：2017-10-24
申请号：KR1020170129130
申请日：2017-10-10
申请人： 사르코스 엘씨
发明人： 스미스,프레이저엠.
IPC分类号： B25J9/00 , B25J9/08 , B25J9/16 , B25J13/08 , B25J19/02
CPC分类号： B25J9/1682 , B25J9/1625 , B25J9/1689 , B25J9/1694 , G05B19/41815 , G05B2219/35444 , G05B2219/39001 , G05B2219/39146 , G05B2219/40134 , G05B2219/40136 , G05B2219/40176 , G05B2219/40234 , G05B2219/40413 , G05B2219/40414 , Y10S901/27 , Y10S901/28 , Y10S901/46
摘要： 디바이스협력적로봇제어기술이기술된다. 로봇식디바이스들의네트워크가확립된다. 인간형모션이오퍼레이터로부터감지된다. 인간형모션의적어도일부를나타내는하나이상의신호들이생성된다. 하나이상의신호들이로봇식디바이스들의네트워크를작동시키기위한명령집합세트로변환된다. 명령집합세트는인간형모션과기능적으로동등하다.
摘要翻译：描述了设备协同机器人控制技术。机器人设备网络建立。操作员检测到人形运动。生成表示人形运动的至少一部分的一个或多个信号。一个或多个信号被转换成用于操作机器人设备网络的一组指令集。该组命令集在功能上等同于人形运动。

79. 发明公开

KR1020130052768A 소형 로봇의 다중 운용 방법 및 그 운용 시스템 审中-实审
标题翻译：用于多小型机器人控制的方法和系统
公开(公告)号：KR1020130052768A
公开(公告)日：2013-05-23
申请号：KR1020110117968
申请日：2011-11-14
申请人： 한국전자통신연구원
发明人： 서범수
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1669 , B25J9/1689 , G05B19/41815 , G05B2219/39146 , G05B2219/40417 , G05D1/0027 , G05D2201/0209 , Y02P90/08 , Y02P90/18
摘要： PURPOSE: A multiple operation method and a system thereof of a small robot are provided to support semi-autonomous operating structure in which operators determine condition of task performance and to perform the task such as monitoring. CONSTITUTION: A multiple operation method of a small robot comprises: a step of generating a task to cooperate with surrounding robots based on the operation of an operator; a step of transferring an operator recruitment message including task summary information about the task to a surrounding robot task device; a step of receiving participation information including robot condition information from the robot task device; a step of assigning a divided task to the operator based on the robot condition information; and a step of transferring the divided task to the robot task device. [Reference numerals] (202) Operating command generator; (204) Task generator; (206) Operator cooperator; (208) Information transceiver; (210) Task executer; (212) Network interface; (214) Image and sound transceiver; (216) Image displayer; (A1) Robot image display; (A2) Operator's robot image; (A3) Other operator's robot image; (B1) Cooperation between operators; (B2) Sounds, characters, images; (B3) Robot information request(Images, sensors, and etc); (CC) Generation of tasks; (DD) Utilization of operator information; (EE) Operator information; (FF) Operator information request; (GG,NN) Character and sound cooperation; (HH) Robot information of each operator; (II) Images and sounds; (JJ) Image and sound request; (KK) Reception of the tasks; (LL) Allocation of the tasks; (MM) State, operator, and robot information; (SMU1) Small tasking device 1; (SMU2) Small tasking device 2; (SMU3) Small tasking device 3; (SMU4) Small tasking device 4
摘要翻译：目的：提供小型机器人的多重操作方法及其系统，以支持操作员确定任务执行状态并执行监视等任务的半自主操作结构。构成：小型机器人的多重操作方法包括：基于操作者的操作产生与周围机器人协作的任务的步骤; 将包括关于任务的任务概要信息的操作员招募消息传送到周围的机器人任务设备的步骤; 从机器人任务装置接收包括机器人状态信息的参与信息的步骤; 基于所述机器人状态信息将划分的任务分配给所述操作者的步骤; 以及将分割的任务传送到机器人任务设备的步骤。（附图标记）（202）操作命令发生器; （204）任务生成器; （206）操作员合作者; （208）信息收发器; （210）任务执行者; （212）网络接口; （214）图像和声音收发器; （216）图像显示; （A1）机器人图像显示; （A2）操作员机器人图像; （A3）其他操作员的机器人图像; （B1）经营者之间的合作; （B2）声音，字符，图像; （B3）机器人信息请求（图像，传感器等）; （CC）生成任务; （DD）运营人信息的利用; （EE）运营商信息; （FF）操作员信息请求; （GG，NN）性格和声音合作; （HH）每个操作员的机器人信息; （二）图像和声音; （JJ）图像和声音请求; （KK）接待任务; （LL）任务分配; （MM）状态，操作员和机器人信息; （SMU1）小型任务设备1; （SMU2）小型任务设备2; （SMU3）小型任务设备3; （SMU4）小型任务设备4

80. 发明授权

KR101599176B1 복수의 로봇들을 항해시키기 위한 방법 및 장치 有权
标题翻译：引导机器人多样化的方法和装置
公开(公告)号：KR101599176B1
公开(公告)日：2016-03-02
申请号：KR1020147022289
申请日：2012-11-27
申请人： 인터내셔널 비지네스 머신즈 코포레이션
发明人： 궈,샹,큐 , 이씨,캔투르크 , 랜취너,조나단 , 무커지,마하라지
IPC分类号： G06G7/78
CPC分类号： G05D1/0291 , G05B19/41815 , G05B2219/39146 , G05B2219/39168 , G05D1/0274 , G05D2201/0207 , G08G1/20
摘要： 복수의로봇들을사용하여환경을발견하고감시하기위한기술들이제공된다. 복수의로봇들이환경을항해하되상기로봇들각각을위한내비게이션버퍼를결정하는단계; 및상기로봇들각각이다른로봇들로부터실질적으로최소의거리를유지하면서상기환경내에서항해하도록허용하는단계에의해서하고, 상기실질적으로최소의거리는상기내비게이션버퍼들에대응하며, 상기내비게이션버퍼들각각의사이즈는항해되기위해(to be navigated) 남아있는상기환경의백분율에기초하여시간에따라감소된다. 상기로봇들은또한환경을항해할수 있는데, 상기환경에대해복수의개별영역들(discrete regions)로의개별화(a discretization)를획득하는단계; 및상기복수의로봇들중 하나가폭-우선탐색(a breadth-first search)을사용하여상기예시적환경에서탐색하기(explore) 위해방문안된다음개별영역(a next unvisited discrete region)을결정하는단계에의해서할 수있다. 상기복수의개별영역들은, 예를들어, 복수의실제또는가상의타일들이될 수있다.

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