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1. 发明公开

EP3835001A1 CONVEYANCE ROBOT SYSTEM, METHOD FOR CONTROLLING CONVEYANCE ROBOT AND A ROBOT CONTROL PROGRAM 无效
公开(公告)号：EP3835001A1
公开(公告)日：2021-06-16
申请号：EP20212446.7
申请日：2020-12-08
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SAITO, Fuminori , KOBAYASHI, Atsunori , KIMURA, Akihiro , YABUSHITA, Hidenori , ANDOH, Fukashi , OKUMATSU, Yoshihiro , NISHIDA, Takeshi , GOTO, Akihito , UETAKE, Reoto
IPC分类号： B25J9/16 , B25J19/00 , B25J5/00 , B25J11/00
摘要： A conveyance robot system according to the present disclosure includes a conveyance robot (1), and a robot control unit (60) configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover (10) where a robot arm (21) is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover (10) and allow the robot arm (21) to perform a work while projecting toward the shelf (S5, S7, and S8).

2. 发明授权

EP2422938B1 ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT WITH LEGS 失效转让
标题翻译：机器人控制机器人控制方法和机器人的腿
公开(公告)号：EP2422938B1
公开(公告)日：2015-12-16
申请号：EP10766768.5
申请日：2010-02-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ANDOH, Fukashi
IPC分类号： B62D57/032
CPC分类号： B62D57/032

3. 发明公开

EP2422938A1 ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT WITH LEGS 失效转让
标题翻译： ROBOTERSTEUERUNGSVORRICHTUNG，ROBOTERSTEUERUNGSVERFAHREN UND ROBOTER MIT BEINEN
公开(公告)号：EP2422938A1
公开(公告)日：2012-02-29
申请号：EP10766768.5
申请日：2010-02-26
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： ANDOH, Fukashi
IPC分类号： B25J13/00 , B25J5/00
CPC分类号： B62D57/032
摘要： A robot controller in accordance with the present invention is a robot controller that makes a robot (101) including a plurality of legs walk by driving joints of the robot, the robot controller being configured to determine a permissible range for a trunk vertical position of the robot based on measured environmental parameters, the measured environmental parameters being information of an environment around the robot (101), and to make the robot walk based on measured posture parameters representing a posture of the robot so that the trunk vertical position remains within the permissible range. In this way, a legged robot with high robustness as well as its controller and control method can be provided.
摘要翻译：根据本发明的机器人控制器是机器人控制器，其使包括多个腿的机器人（101）通过驱动机器人的关节而行走，所述机器人控制器被配置为确定所述机器人的躯干垂直位置的容许范围基于测量的环境参数的机器人，所测量的环境参数是围绕机器人（101）的环境的信息，并且基于表示机器人的姿势的测量姿态参数使机器人行走，使得躯干垂直位置保持在允许范围。以这种方式，可以提供具有高鲁棒性的腿式机器人以及其控制器和控制方法。

4. 发明公开

EP3835000A1 CONVEYANCE ROBOT SYSTEM, METHOD FOR CONTROLLING CONVEYANCE ROBOT AND ROBOT CONTROL PROGRAM 无效
公开(公告)号：EP3835000A1
公开(公告)日：2021-06-16
申请号：EP20212356.8
申请日：2020-12-08
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SAITO, Fuminori , KOBAYASHI, Atsunori , KIMURA, Akihiro , YABUSHITA, Hidenori , ANDOH, Fukashi , OKUMATSU, Yoshihiro , NISHIDA, Takeshi , GOTO, Akihito , UETAKE, Reoto
IPC分类号： B25J9/16 , B25J19/00 , B25J5/00 , B25J11/00
摘要： A conveyance robot system according to the present disclosure includes an intrusion detection sensor (40) that detects an intrusion of an object into an arm opening (11), and a distance sensor (41) that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf storing an object, the arm entry/exit surface being a surface of a conveyance robot (1) in which the arm opening (11) is provided from among surfaces of the conveyance robot (1) constituting a safety cover (10). The robot control unit (60) disables the intrusion detection sensor (40) to allow a robot arm (21) to perform a work by protruding from the safety cover (10) when the clearance distance becomes less than or equal to a high-speed work allowance threshold (S5, S7, and S8).

5. 发明授权

EP2426566B1 CONTROL PORTION FOR INVERTED VEHICLE 失效转让
标题翻译：控制装置倒立型移动
公开(公告)号：EP2426566B1
公开(公告)日：2016-08-31
申请号：EP10769429.1
申请日：2010-02-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ANDOH, Fukashi
IPC分类号： G05D1/08 , B62J25/00 , B62K3/00 , B62K17/00
CPC分类号： G05D1/0891 , B62K11/007

6. 发明授权

EP2406041B1 ROBOT APPARATUS AND CONTROL METHOD THEREFOR 有权
标题翻译：机械手设备及其控制方法
公开(公告)号：EP2406041B1
公开(公告)日：2013-05-01
申请号：EP10710438.2
申请日：2010-03-10
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ANDOH, Fukashi
IPC分类号： B25J9/16
CPC分类号： B25J9/06 , B25J9/1607 , B25J9/1615 , B25J9/1633 , B25J9/1643 , B25J9/1666 , G05B2219/39217 , G05B2219/40343 , G05B2219/40359

7. 发明授权

EP2557027B1 MOVABLE BODY CONTROL DEVICE, METHOD OF CONTROLLING SAME, AND CONTROL PROGRAM 有权
标题翻译：一种用于控制运动体，控制方法和控制方案THEREFOR
公开(公告)号：EP2557027B1
公开(公告)日：2016-08-17
申请号：EP10849367.7
申请日：2010-04-06
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ANDOH, Fukashi
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： B62K3/007 , B60L11/00 , B60L11/002 , B60W10/08 , B62K11/007

8. 发明公开

EP2735500A1 INVERTED MOBILE BODY CONTROL DEVICE, AND METHOD AND PROGRAM THEREFOR 失效
标题翻译：控制装置反向移动物体和方法及其程序
公开(公告)号：EP2735500A1
公开(公告)日：2014-05-28
申请号：EP11869837.2
申请日：2011-07-22
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： ANDOH, Fukashi
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： B60L15/20 , B60L15/08 , B60L2200/14 , B60L2200/16 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/7258
摘要： An inverted vehicle control apparatus includes a plurality of driving wheels, a plurality of drive means each of which drives a respective one of the plurality of driving wheels, skid detection means for detecting a skid state between the driving wheels and a road surface, operation information acquisition means for acquiring operation information of a rider, and control means for controlling the drive means to control the driving wheels. The control means controls, based on the operation information acquired by the operation information acquisition means, the driving wheel for which no skid is detected by the skid detection means, and the control means controls the driving wheel for which a skid is detected by the skid detection means so that a friction reaction force exerted from the road surface to the driving wheel is exerted in such a direction that the inverted vehicle is raised by the friction reaction force.

9. 发明授权

EP2735500B1 INVERTED MOBILE BODY CONTROL DEVICE, AND METHOD AND PROGRAM THEREFOR 失效
标题翻译：控制装置反向移动物体和方法及其程序
公开(公告)号：EP2735500B1
公开(公告)日：2016-08-17
申请号：EP11869837.2
申请日：2011-07-22
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： ANDOH, Fukashi
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： B60L15/20 , B60L15/08 , B60L2200/14 , B60L2200/16 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/7258

10. 发明公开

EP2557027A1 MOVABLE BODY CONTROL DEVICE, METHOD OF CONTROLLING SAME, AND CONTROL PROGRAM 有权
标题翻译：一种用于控制运动体，控制方法和控制方案THEREFOR
公开(公告)号：EP2557027A1
公开(公告)日：2013-02-13
申请号：EP10849367.7
申请日：2010-04-06
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： ANDOH, Fukashi
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： B62K3/007 , B60L11/00 , B60L11/002 , B60W10/08 , B62K11/007
摘要： A vehicle control apparatus includes state measurement means for measuring states of the vehicle; required power estimation means for calculating an estimated required power indicating a motor power required to operate the vehicle based on the states of the vehicle measured by the state measurement means; critical power estimation means for calculating a critical power when the motor power saturates based on the states of the vehicle measured by the state measurement means; modified reference input means for modifying a reference input so that the estimated required power falls within the estimated critical power when it is determined that the estimated required power estimated by the required power estimation means exceeds the estimated critical power estimated by the critical power estimation means; and control means for controlling a motor of the vehicle based on the reference input modified by the modified reference input means.
摘要翻译：一种车辆控制装置，包括状态测量装置，用于测量所述车辆的状态; 必要电力推定单元，其计算估计在所需功率指示来操作基于由状态测量装置测出的车辆的状态的车辆所需的电动机功率; 临界功率估计装置，用于计算一个临界功率当基于由状态测量装置测出的车辆的状态的电机功率饱和; 修改的参考输入装置，用于修改参考输入，这样做了估计的要求电力，如果估计的临界功率当确定性开采内没有由所述必要电力推定估计所估计的要求电力平均值超过由临界功率估计装置估计的估计的临界功率; 装置和用于控制所述车辆的基于由所述经修改的参考输入装置修改的参考输入的马达控制。

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