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61. 发明公开

EP1737031A4 VERTICAL HEAT TREATING APPARATUS AND AUTOMATIC TEACHING METHOD FOR TRANSFER MECHANISM 审中-公开
标题翻译：立式热处理装置及自动教学方法转移机构
公开(公告)号：EP1737031A4
公开(公告)日：2008-11-19
申请号：EP05727144
申请日：2005-03-25
申请人： TOKYO ELECTRON LTD
发明人： ASARI SATOSHI , MIHARA KATSUHIKO , KIKUCHI HIROSHI
IPC分类号： B25J9/22 , H01L21/68 , B25J9/16 , B65G49/07 , G05B19/19 , G05B19/42 , H01L21/00 , H01L21/22 , H01L21/324 , H01L21/677 , H01L21/687
CPC分类号： H01L21/68707 , B25J9/163 , G05B2219/36039 , G05B2219/37555 , G05B2219/40519 , G05B2219/45031 , G05B2219/45063 , H01L21/67259 , H01L21/67265 , H01L21/67757 , H01L21/67781 , H01L21/681
摘要： A vertical heat treating apparatus and an automatic teaching method for a transfer mechanism. The transfer mechanism (21) of the vertical heat treating apparatus (1) comprises a liftable and swingable base (25) and a plurality of substrate supporters (20) installed on the base so as to be advanced and retreated and supporting a wafer (W). A first sensor (45) emitting light beam in the advancing/retreating direction of the substrate supporters (20) and detecting a target member by its reflected beam is fitted to the base (25), and second sensors (40) detecting the target member by shielding the light beam advancing between two tip parts of the substrate supporters (20) is fitted to both tip parts of the substrate supporters. When the target member (44) having, at specified positions, projections (49) and (50) for detecting its position is installed on a wafer boat (8) at a specified position, the base (25) is lifted and swung and the substrate supporters (20) are advanced or retreated. Based on the detection signals of the first sensor (45) and the second sensors obtained in these operations and the encoder values of each drive system related to the operations of the base (25) and the substrate supporters (20), the position of the target member, i.e., the target transfer position of the wafer can be automatically detected.

62. 发明授权

EP1752263B1 Increasing robustness of online calibration through motion detection 有权
标题翻译：通过运动检测增加在线校准的鲁棒性
公开(公告)号：EP1752263B1
公开(公告)日：2008-07-16
申请号：EP05017386.3
申请日：2005-08-10
申请人： Honda Research Institute Europe GmbH
发明人： Joublin, Frank C/o Honda Research Inst. Eur. GmbH , Rodemann, Tobias C/o Honda Research Inst. Eur.
IPC分类号： B25J9/16 , G05B19/401
CPC分类号： B25J9/163 , B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39387 , G05B2219/40617

63. 发明授权

EP1425636B1 SINGLE-INPUT MULTI-OUTPUT CONTROL SYSTEM 有权
标题翻译：带有输入和多路输出控制系统
公开(公告)号：EP1425636B1
公开(公告)日：2006-08-23
申请号：EP02798802.1
申请日：2002-09-13
申请人： Università degli Studi di Roma " Tor Vergata"
发明人： PETTERNELLA, Massimiliano , TIBERTI, Marco
IPC分类号： G05B11/32 , B25J9/16
CPC分类号： B25J9/163 , G05B11/32 , G05B2219/39366
摘要： A single-input multi-output control system particularly useful to equally distributing the noise effects and/or the parametric variations among the multiple outputs, comprising two or more control sub-systems, each of said two or more control sub-systems having a corresponding error node (Nei) and an output Yi) coincident with one of said multiple outputs, and an auxiliary node (Nc) adapted to connect said error nodes (Nei) with one another.

64. 发明公开

EP1587162A1 Self-calibrating sensor orienting system 有权
标题翻译：传感器系统
公开(公告)号：EP1587162A1
公开(公告)日：2005-10-19
申请号：EP04012356.4
申请日：2004-05-25
申请人： Honda Research Institute Europe GmbH
发明人： Rodemann, Tobias, c/oHonda Research , Joublin, Frank, c/oHonda Research
IPC分类号： H01Q11/08
CPC分类号： B25J9/1697 , B25J9/163 , G05B19/401 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617
摘要： The invention relates to the control of an orienting/positioning system comprising sensor means (1) and actuator means (41, 42, 43) for controlling an orienting and/or positioning action of the sensor means. Thereby the following steps are carried out:

(S1) Evaluating pre-action output information of said sensor means (1) in order to detect the position of a pattern in the input space of the sensor means (1);
(S2) Deciding on a targeted post-action position of said pattern (2) in the input space of said sensor means (1);
(S3) Defining a command for the actuator means (41, 42, 43) by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor means (1) to actuator control coordinates using a predefined mapping function;
(S4) Controlling the actuator means (41, 42, 43) according to the defined command in order to carry out an orienting/positioning action;
(S5) Detecting the real post-action position of the pattern (2) in the input space of said sensor means (1); and
(S6) adapting the mapping function used in step S3 based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor means (1) in order to carry out an incremental adaptive learning of the mapping function, wherein steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping.
摘要翻译：本发明涉及一种定向/定位系统的控制，包括传感器装置（1）和用于控制传感器装置的取向和/或定位动作的致动器装置（41,42,43）。因此，执行以下步骤：（S1）评估所述传感器装置（1）的预动作输出信息，以便检测传感器装置（1）的输入空间中的图案的位置; （S2）在所述传感器装置（1）的输入空间中确定所述图案（2）的目标后动作位置; （S3）通过将传感器装置（1）的输入空间中的预动作位置和目标后动作位置的任何偏差映射到致动器控制坐标，来定义致动器装置（41,42,43）的命令，使用预定义的映射函数; （S4）根据所定义的命令控制致动器装置（41,42,43），以执行定向/定位动作; （S5）检测图案（2）在所述传感器装置（1）的输入空间中的真实的动作后位置; 以及（S6）基于在传感器装置（1）的输入空间中的图案的实际后期位置和目标后期位置的任何差异来适应步骤S3中使用的映射函数，以便执行映射函数的增量自适应学习，其中步骤S1至S6使用分别适应的映射至少一次循环重复。

65. 发明公开

EP0567557A1 VECTOR ASSOCIATIVE MAP SYSTEM 失效
标题翻译：矢量关联卡系统。
公开(公告)号：EP0567557A1
公开(公告)日：1993-11-03
申请号：EP92904146.0
申请日：1991-12-30
申请人： TRUSTEES OF BOSTON UNIVERSITY
发明人： GROSSBERG, Stephen , GAUDIANO, Paolo
IPC分类号： B25J9 , G06N3
CPC分类号： G06N3/0409 , B25J9/163
摘要： Un système de carte à association vectorielle (10) pour une évaluation des performances et de l'apprentissage non supervisé, en temps réel et basé sur l'erreur, comprend une carte à association vectorielle qui est mise en oeuvre en tant que système adpatatif d'intégration vectorielle en noeud d'extrémité pour un fonctionnement intramodal. Ce système (AVITE) (10) comprend une commande de position de cible (12) représentant la position de la cible et une commande de position actuelle (14) pour coder la configuration main-bras actuelle. Le vecteur de différence (16) calcule la différence entre la commande (14) et la commande (12). Un signal de commande de vitesse (18) multiplie le résultat obtenu du vecteur de différence (DV) (16). La commande de position actuelle (PPC) (14) génère le produit de (16) et (18) et une commande de flux de sortie sur la ligne (20) vers l'objet à actionner. L'intégration en (14) se poursuit à une vitesse dépendant du signal provenant de Go (18) jusqu'à ce que DV (16) atteigne zéro, moment auquel PPC (14) est égal à PC (12) et l'objet s'est déplacé vers la position cible.

66. 发明授权

EP4143649B1 SERVICE ROBOT SYSTEM, ROBOT AND METHOD FOR OPERATING THE SERVICE ROBOT 有权
公开(公告)号：EP4143649B1
公开(公告)日：2024-08-21
申请号：EP21721563.1
申请日：2021-04-29
IPC分类号： G05D1/00
CPC分类号： G05D1/0221 , G05D1/0038 , B25J5/007 , B25J11/008 , B25J9/163 , B25J19/023 , B25J13/00

67. 发明公开

EP4401930A1 LEARNING FROM DEMONSTRATION FOR DETERMINING ROBOT PERCEPTION MOTION 审中-实审转让
公开(公告)号：EP4401930A1
公开(公告)日：2024-07-24
申请号：EP22786702.5
申请日：2022-09-14
申请人： X Development LLC
发明人： HUSAIN, Ammar , PERSSON, Mikael
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/162 , B25J9/1697 , B25J9/163 , G05B2219/3514520130101 , G05B2219/4039120130101 , G05B2219/4045220130101

68. 发明公开

EP4356295A1 ROBOTIC SYTEMS AND METHODS USED TO UPDATE TRAINING OF A NEURAL NETWORK BASED UPON NEURAL NETWORK OUTPUTS 审中-实审
公开(公告)号：EP4356295A1
公开(公告)日：2024-04-24
申请号：EP21946221.5
申请日：2021-06-17
申请人： ABB SCHWEIZ AG
发明人： ZHANG, Qilin , ZHANG, Biao , VIDAL-RIBAS, Jorge , ZHANG, Yinwei
IPC分类号： G06N3/04 , G06N3/06 , G06N3/08 , G06T7/73
CPC分类号： G06T7/74 , G06T2207/2008120130101 , G06T2207/2008420130101 , G06N3/09 , G05B2219/4506420130101 , B25J9/163 , B25J9/1697

69. 发明公开

EP3357650A3 CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：EP3357650A3
公开(公告)日：2018-10-03
申请号：EP18155078.1
申请日：2018-02-05
申请人： Seiko Epson Corporation
发明人： MIZOBE, Kimitake , HASEGAWA, Hiroshi , TANAKA, Taro , FU, Guoyi , LAPPA, Iouri , LI, Alan stephen
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/161 , B25J9/163 , G05B2219/33056 , G05B2219/37009 , G05B2219/39311 , G05B2219/39322 , G05B2219/39332 , G05B2219/39342 , G05B2219/39376 , G05B2219/40532 , G05B2219/42018 , G05B2219/42128 , Y10S901/47
摘要： A control device includes a calculation unit that calculates an optical parameter related to an optical system imaging a target object, by using machine learning, a detection unit that detects the target object on the basis of an imaging result in the optical system by using the calculated optical parameter, and a control unit that controls a robot on the basis of a detection result of the target object.

70. 发明授权

EP3032369B1 METHODS FOR CLEARING GARBAGE AND DEVICES FOR THE SAME 有权
公开(公告)号：EP3032369B1
公开(公告)日：2018-09-19
申请号：EP15198274.1
申请日：2015-12-07
申请人： Xiaomi Inc.
发明人： ZHANG, Pengfei , XIA, Yongfeng , WANG, Yidong , LIU, Tiejun
IPC分类号： G05D1/02
CPC分类号： B25J11/0085 , B25J9/163 , B25J9/1697 , G05D1/0246 , G05D2201/0203 , G06K9/00664 , H04W4/025 , Y10S901/01
摘要： The present disclosure, pertaining to the smart home field, relates to a method for clearing garbage and a device for clearing garbage. The method includes: acquiring (201) monitored data of a monitored region; detecting (202), according to the monitored data, whether garbage is present in the monitored region; if garbage is present in the monitored region, acquiring (203) location information of the garbage in the monitored region; and sending (204) the location information of the garbage to a garbage robot, the garbage robot being configured to clear the garbage according to the location information. The present disclosure solves the problem that the clearing efficiency of the garbage robot is low, and achieves the effects of timely clearing the garbage and precisely clearing the garbage according to the location information.

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