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    • 15. 发明申请
    • Robot apparatus, turning method for robot apparatus, and program
    • 机器人装置,机器人装置的转动方法和程序
    • US20080009975A1
    • 2008-01-10
    • US11387823
    • 2006-03-24
    • Hideichi NakamotoKaoru Suzuki
    • Hideichi NakamotoKaoru Suzuki
    • G05B15/00G06K9/00
    • G05D1/0246G05D1/0242G05D1/0251
    • A robot apparatus includes a moving unit configured to move in a moving plane on flooring, and turn in horizontal direction of the flooring about a rotation axis vertical to the flooring; an imaging unit configured to take images in a direction horizontal to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis; a storage unit configured to store the image taken by the image processor when the moving unit receives a turning request of a command angle; a detector configured to detect a rotation angle of the imaging unit relative to the moving unit; a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in an opposite direction, and based on a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate a gap determined by comparing the taken image with the stored image; and a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector.
    • 一种机器人装置,包括移动单元,被配置为在地板上移动的平面中移动,并且围绕垂直于地板的旋转轴在地板的水平方向上转动; 成像单元,被配置为在与所述移动平面水平的方向上拍摄图像,并且围绕所述旋转轴线在所述地板的水平方向上旋转; 存储单元,被配置为当所述移动单元接收到指令角度的转动请求时,存储由所述图像处理器拍摄的图像; 检测器,被配置为检测所述摄像单元相对于所述移动单元的旋转角度; 控制器,其被配置为基于使所述移动单元沿所述指令角度的方向转动并使所述成像单元沿相反方向旋转的公共值来控制所述移动单元的转动和所述摄像单元的旋转,并且基于 改变移动单元的转动或成像单元的旋转的速率值,以补偿通过将拍摄的图像与存储的图像进行比较而确定的间隙; 以及停止单元,其被配置为当所述指令角度对应于由所述检测器检测到的旋转角度时,停止所述移动单元的转动和所述成像单元的旋转。