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1. 发明公开

EP3120742A4 SELF-MOVING DEVICE AND LOCOMOTION CONTROL METHOD THEREOF 有权
公开(公告)号：EP3120742A4
公开(公告)日：2018-01-10
申请号：EP15764248
申请日：2015-03-17
申请人： ECOVACS ROBOTICS CO LTD
发明人： TANG JINJU
IPC分类号： A47L1/02 , G05D1/00 , G05D1/08
CPC分类号： B62D57/02 , A47L1/02 , A47L2201/02 , A47L2201/04 , G05D1/0088 , G05D1/0891 , Y10S901/01 , Y10S901/47
摘要： A self-moving device and a walking control method thereof are provided. The self-moving device comprises an outer frame (100), and a base body (200) rotatably connected on the outer frame (100). The base body (200) is provided with a control unit and a walking unit. A fixing pin (300) is connected to the base body (200). One end of the fixing pin (300) is movably fixed to the base body (200), and the other end is a pin head (320). A pin slot (110) is correspondingly provided in the outer frame (100). When the pin head (320) is engaged and fixed within the pin slot (110), the base body (200) is fixedly connected to and engaged with the outer frame (100). When the pin head (320) is separated from the pin slot (110), the base body (200) is able to rotate with respect to the outer frame (100). A detection mechanism is provided on the base body (200). When the detection mechanism detects that the pin head (320) is engaged and fixed within the pin slot (110), the control unit, according to a detection signal of the detection mechanism, controls the walking unit to execute a corresponding movement command. The present device and method thereof can accurately and effectively detect a connection state between the base body (200) and the outer frame (100), and can by means of detection and posture adjustment, ensure that the base body (200) and the outer frame (100) perform walking when in an engaged state. The structure is simple and sensitivity is high.

2. 发明授权

EP2298506B1 Mobile device and method for controlling a mobile device 有权
标题翻译：移动单元和控制方法
公开(公告)号：EP2298506B1
公开(公告)日：2013-09-11
申请号：EP10187792.6
申请日：2003-03-18
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Nagasaka, Kenichiro , Yamaguchi, Jinichi , Shimizu, Satoru , Kuroki, Yoshihiro
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032

3. 发明公开

EP2523844A1 VEHICLE TRACTION MODULE AND RESPECTIVE TERRESTRIAL VEHICLE 审中-公开
标题翻译：车辆牵引模块和如此装备的陆地车辆
公开(公告)号：EP2523844A1
公开(公告)日：2012-11-21
申请号：EP11708317.0
申请日：2011-01-13
申请人： Falesiedi, Osvaldo
发明人： Falesiedi, Osvaldo
IPC分类号： B62D57/00 , B62D57/02 , B62D57/024
CPC分类号： B62D57/00 , B62D57/02 , B62D57/024
摘要： Vehicle traction module (1) comprising - a pair of runners ((11,12), (21,22), (42, 43)), side by side according to a first direction (X) - first moving means ((14, 17, 19), (24, 31, 28), (45, 48, 49) ) suitable to generate an alternate and reciprocal approaching and departing of the runners along the first direction (X), - the pair of runners ((11,12), (21,22), (42, 43)), having a cylindrical symmetry shape wherein the respective axis of symmetry lie along the first direction (X), - second moving means ((15, 16, 18, 17), (30,26 31, 27), (40, 41) suitable to generate a rotation of the runners along the first direction (X).

4. 发明授权

EP1486299B1 OPERATION CONTROL DEVICE FOR LEG-TYPE MOBILE ROBOT AND OPERATION CONTROL METHOD, AND ROBOT DEVICE 有权
标题翻译：动作控制与设置腿和操作控制方法和机械手设备移动机器人
公开(公告)号：EP1486299B1
公开(公告)日：2012-03-14
申请号：EP03712714.9
申请日：2003-03-17
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： YAMAGUCHI, Jinichi , MIKAMI, Tatsuo, c/o Sony Corporation , MIYAMOTO, Atsushi, c/o Sony Corporation
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B62D57/02
摘要： When a leg-type mobile robot, on receiving excessive external force or external moment, become unable to perform a leg behavior, it gives up a normal walking operation to start an overturning operation; a change amount of the area S of a supporting polygon of the body per time t, ΔS/Δt is minimized and the supporting polygon is maximized at the time of falling onto the floor, thereby distributing an impact to be received from the floor at the falling to the whole body to minimize a potential damage. In addition, a standing attitude can be autonomously recovered from an on-floor attitude such as lying on the back or face down.

5. 发明公开

EP1547732A4 ROBOT DEVICE AND CONTROL METHOD OF ROBOT DEVICE 审中-公开
标题翻译：机器人装置及其控制程序
公开(公告)号：EP1547732A4
公开(公告)日：2012-01-04
申请号：EP03799175
申请日：2003-09-30
申请人： SONY CORP
发明人： NAGASAKA KENICHIRO
IPC分类号： B25J5/00 , B62D57/02 , B62D57/032
CPC分类号： B62D57/032 , B62D57/02

6. 发明公开

EP2384264A2 TWO-WHEELED ROBOT WITH ENHANCED CLIMBING FEATURES 审中-公开
标题翻译：具有扩展爬特点轮式机器人
公开(公告)号：EP2384264A2
公开(公告)日：2011-11-09
申请号：EP09832501.2
申请日：2009-12-09
申请人： Reconrobotics, Inc.
发明人： KOSSETT, Alex, J. , BURT, Ian, T. , CARLSON, Casey, R. , DRENNER, Andrew
IPC分类号： B25J19/00 , B25J5/00
CPC分类号： B25J19/023 , B25J5/007 , B60B9/10 , B62D57/02 , B62D61/00 , Y10S901/01
摘要： A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.

7. 发明公开

EP2298506A1 Mobile device and method for controlling a mobile device 有权
标题翻译：移动Einheit和Steuerverfahren
公开(公告)号：EP2298506A1
公开(公告)日：2011-03-23
申请号：EP10187792.6
申请日：2003-03-18
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Nagasaka, Kenichiro , Yamaguchi, Jinichi , Shimizu, Satoru , Kuroki, Yoshihiro
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： A mobile device with a controlled-object point and acceleration means used to set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture.
摘要翻译：具有受控对象点和加速度装置的移动装置用于设置为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量该位置处的姿态和加速度，以控制机器人采取稳定的姿势。

8. 发明授权

EP2106886B1 Self-position estimating device for leg type movable robots 有权
标题翻译： Selbstpositionsabschätzvorrichtung用于移动腿式机器人
公开(公告)号：EP2106886B1
公开(公告)日：2011-03-23
申请号：EP09009476.4
申请日：2003-04-28
申请人： Honda Giken Kogyo Kabushiki Kaisha
发明人： Takenaka, Toru , Matsumoto, Takashi
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.

9. 发明公开

EP2151374A3 Motion controlling apparatus and motion controlling method for legged mobile robot, and robot apparatus 有权
标题翻译：运动控制装置和运动控制方法，用于配有腿和机器人装置的移动机器人
公开(公告)号：EP2151374A3
公开(公告)日：2010-05-26
申请号：EP09009597.7
申请日：2003-03-17
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Mikami, Tatsuo , Yamaguchi, Jinichi , Miyamoto, Atsushi
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B62D57/02
摘要： A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behaviour plan of a foot part thereof is disabled.
The robot comprises external force detection means for detecting application of an external force to a body of said legged mobile robot; zero moment point trajectory planning means for disposing a zero moment point at which moments applied to said body balance each other on or on the inner side of a side of a support polygon formed from a sole landed point and a floor based on a result of the detection by said external force detection means; and tumbling motion execution means for executing a tumbling motion of said body in response to that the disposition of the zero moment point in the support polygon by said zero moment point trajectory planning means is rendered difficult or impossible by the external force applied to said body.

10. 发明公开

EP2170683A2 MODULAR ROBOTIC CRAWLER 审中-公开
标题翻译：模块化机器人履带
公开(公告)号：EP2170683A2
公开(公告)日：2010-04-07
申请号：EP08826223.3
申请日：2008-07-10
申请人： Raytheon Sarcos, LLC
发明人： JACOBSEN, Stephen, C. , OLIVIER, Marc
IPC分类号： B62D57/02 , B62D57/04
CPC分类号： B62D57/00 , B08B9/045 , B25J9/065 , B62D57/02 , B62D57/04 , B62D63/00
摘要： A modular robotic crawler (10) can be formed by intercoupling a selected plurality of segment modules (12) from a preexisting collection of differing compatible segment modules (12). The segment modules (12) can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.

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