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1. 发明授权

US08577498B2 Automatic transfer method, transfer robot, and automatic transfer system 有权
标题翻译：自动传送方式，传送机器人和自动传送系统
公开(公告)号：US08577498B2
公开(公告)日：2013-11-05
申请号：US12123752
申请日：2008-05-20
申请人： Hajime Kawano , Takanori Goto , Toru Nakagawa , Tamao Okamoto
发明人： Hajime Kawano , Takanori Goto , Toru Nakagawa , Tamao Okamoto
IPC分类号： G06F19/00
CPC分类号： G05B19/4189 , B25J9/1664 , G05B2219/40425 , G05B2219/40472 , G05B2219/40506 , Y02P90/28
摘要： A transfer robot for accommodating and transferring a transferred object has a transfer route storage section, a movement mechanism section, and a security level setting section. The transfer route storage section stores a transfer route having been set up at least on the basis of transfer destination information for the transferred object. The movement mechanism section causes the transfer robot to move toward a transfer destination on the basis of the transfer route. The security level setting section switches a security level of the transfer robot under movement on the basis of a zone level defined beforehand by each region in the transfer route, present position information of the transfer robot, and type information of the transferred object.
摘要翻译：用于容纳和传送转移对象的传送机器人具有传送路径存储部分，移动机构部分和安全级别设置部分。传送路径存储部存储至少基于被传送对象的传送目的地信息而设定的传送路径。运动机构部分使得传送机器人基于传送路线朝向传送目的地移动。安全级别设定部基于传送路径中的各区域预先定义的区域级别，传送机器人的当前位置信息和被传送对象的类型信息，来移动传送机器人的安全级别。

2. 发明申请

US20080294287A1 AUTOMATIC TRANSFER METHOD, TRANSFER ROBOT, AND AUTOMATIC TRANSFER SYSTEM 有权
标题翻译：自动传送方式，传送机器人和自动传送系统
公开(公告)号：US20080294287A1
公开(公告)日：2008-11-27
申请号：US12123752
申请日：2008-05-20
申请人： Hajime KAWANO , Takanori Goto , Toru Nakagawa , Tamao Okamoto
发明人： Hajime KAWANO , Takanori Goto , Toru Nakagawa , Tamao Okamoto
IPC分类号： B25J9/16 , G06F19/00
CPC分类号： G05B19/4189 , B25J9/1664 , G05B2219/40425 , G05B2219/40472 , G05B2219/40506 , Y02P90/28
摘要： A transfer robot 1 for accommodating and transferring a transferred object has a transfer route storage section 23, a movement mechanism section 24, and a security level setting section 29. The transfer route storage section 23 stores a transfer route having been set up at least on the basis of transfer destination information for the transferred object. The movement mechanism section 24 causes the transfer robot to move toward a transfer destination on the basis of the transfer route. The security level setting section 29 switches a security level of the transfer robot 1 under movement on the basis of a zone level defined beforehand by each region in the transfer route, present position information of the transfer robot, and type information of the transferred object.
摘要翻译：用于容纳和传送被转移对象的传送机器人1具有传送路线存储部23，移动机构部24和安全级别设定部29.传送路径存储部23存储至少设置了的传送路径传输对象的传输目的地信息的基础。移动机构部分24使传送机器人基于传送路线朝向传送目的地移动。安全级别设定部分29根据传送路径中的每个区域预先定义的区域级别，传送机器人的当前位置信息和传送对象的类型信息，来移动传送机器人1的安全级别。

3. 发明申请

US20060064203A1 Method for making mobile unit accompany objective person 有权
标题翻译：移动单元陪同客户的方法
公开(公告)号：US20060064203A1
公开(公告)日：2006-03-23
申请号：US11174667
申请日：2005-07-06
申请人： Takanori Goto , Tamao Okamoto
发明人： Takanori Goto , Tamao Okamoto
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D1/12 , G05D2201/0217
摘要： A method for making a mobile unit accompany an objective person moves the mobile unit in correspondence with movement of the objective person and executes control so that the mobile unit moves along the walking direction of the objective person by detecting the foot landing of the objective person, detecting the walking speed and the walking direction of the objective person, and predicting the predictive walking range of the objective person on the basis of the detected information of the walking direction and the foot landing.
摘要翻译：伴随客观人员的移动单元的制作方法根据客观人物的移动移动移动单元并执行控制，以便移动单元通过检测客观人员的脚踏板沿着客观人物的行走方向移动，检测目标人的步行速度和步行方向，并根据检测到的步行方向和脚踏着落的信息，预测目标人的预测步行范围。

4. 发明授权

US07702420B2 Method for making mobile unit accompany objective person 有权
标题翻译：移动单元陪同客户的方法
公开(公告)号：US07702420B2
公开(公告)日：2010-04-20
申请号：US11174667
申请日：2005-07-06
申请人： Takanori Goto , Tamao Okamoto
发明人： Takanori Goto , Tamao Okamoto
IPC分类号： G05B19/04
CPC分类号： G05D1/0246 , G05D1/12 , G05D2201/0217
摘要： A method for making a mobile unit accompany an objective person moves the mobile unit in correspondence with movement of the objective person and executes control so that the mobile unit moves along the walking direction of the objective person by detecting the foot landing of the objective person, detecting the walking speed and the walking direction of the objective person, and predicting the predictive walking range of the objective person on the basis of the detected information of the walking direction and the foot landing.
摘要翻译：伴随客观人员的移动单元的制作方法根据客观人物的移动移动移动单元并执行控制，以便移动单元通过检测客观人员的脚踏板沿着客观人物的行走方向移动，检测目标人的步行速度和步行方向，并根据检测到的步行方向和脚踏着落的信息来预测目标人的预测步行范围。

5. 发明申请

US20090018700A1 APPARATUS AND METHOD FOR ROBOT HANDLING CONTROL 有权
标题翻译：机器人处理控制的装置和方法
公开(公告)号：US20090018700A1
公开(公告)日：2009-01-15
申请号：US12233079
申请日：2008-09-18
申请人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
发明人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
IPC分类号： B25J13/02
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译：机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出用于释放抓住物体的末端执行器的力的信号。终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。

6. 发明申请

US20060106496A1 Method of controlling movement of mobile robot 有权
标题翻译：控制移动机器人运动的方法
公开(公告)号：US20060106496A1
公开(公告)日：2006-05-18
申请号：US11274207
申请日：2005-11-16
申请人： Tamao Okamoto
发明人： Tamao Okamoto
IPC分类号： G05B19/04 , G05D1/00
CPC分类号： G05D1/0278 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D2201/0204
摘要： A method of controlling a movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.
摘要翻译：控制移动机器人的移动以实现遵循伴随目标的安全和适当的伴随行为的方法包括基于检测到的伴随的位置来检测伴随的目标的至少一个位置以及控制移动机器人的移动目标，使得移动机器人沿着与伴随目标的移动方向平行的路径移动。

7. 发明授权

US07888900B2 Apparatus and method for robot handling control 有权
标题翻译：机器人处理控制的装置和方法
公开(公告)号：US07888900B2
公开(公告)日：2011-02-15
申请号：US12233079
申请日：2008-09-18
申请人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
发明人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
IPC分类号： G05B19/04
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译：机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出用于释放抓住物体的末端执行器的力的信号。终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。

8. 发明申请

US20100168919A1 CONTROL METHOD AND CONTROL SYSTEM FOR MANIPULATOR 审中-公开
标题翻译：操纵器控制方法与控制系统
公开(公告)号：US20100168919A1
公开(公告)日：2010-07-01
申请号：US11993664
申请日：2007-03-23
申请人： Tamao Okamoto
发明人： Tamao Okamoto
IPC分类号： B25J9/10
CPC分类号： B25J9/1643 , B25J9/06
摘要： In a control method of a multi-jointed manipulator, the manipulator is controlled through a process to transmit a difference between an end position of the manipulator and a target position to the joint axes, and a process to adjust joint displacements and joint velocities of the joint axes independently of one another of the joint axes based on the difference, these processes being repeated until the end position coincides with the target position. By such a manipulator control method, there can be realized position control which is robust against ambient environments and which is easy to achieve even with redundancy or nonlinear drive elements involved.
摘要翻译：在多关节操纵器的控制方法中，通过将操纵器的终端位置与目标位置之间的差异传递到关节轴的过程来控制操纵器，以及调整关节位移和关节速度的过程基于该差异，关节轴彼此独立于关节轴，这些过程被重复，直到结束位置与目标位置一致。通过这样的机械手控制方法，可以实现对环境环境的鲁棒性的位置控制，即使涉及冗余或非线性驱动元件也容易实现。

9. 发明申请

US20060058921A1 Mobile robot 审中-公开
标题翻译：移动机器人
公开(公告)号：US20060058921A1
公开(公告)日：2006-03-16
申请号：US11222963
申请日：2005-09-12
申请人： Tamao Okamoto
发明人： Tamao Okamoto
IPC分类号： G06F19/00
CPC分类号： G05D1/0214 , G05D1/0223 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0216
摘要： A mobile robot having a movable main unit section, a self location measurement unit for measuring a self location of the main unit section, a map database for storing map information on a travel range of the main unit section to a travel destination, a virtual sensor information calculation unit for extracting information on obstacles to movement of the main unit section in an arbitrary detection region on the map information based on self location information measured by the self location measurement unit and the map information stored in the map database, and for calculating virtual sensor calculation information, and a route calculation unit for calculating a travel route for the main unit section to travel based on the virtual sensor calculation information calculated by the virtual sensor information calculation unit.
摘要翻译：一种具有可移动主体部分的移动机器人，用于测量主单元部分的自身位置的自定位测量单元，用于将关于主单元部分的行进范围的地图信息存储到行进目的地的地图数据库，虚拟传感器信息计算单元，用于基于由所述自身位置测量单元测量的自身位置信息和存储在所述地图数据库中的地图信息，在所述地图信息上的任意检测区域中提取关于所述主单元区域的移动障碍物的信息，以及用于计算虚拟传感器计算信息，以及路线计算单元，用于基于由虚拟传感器信息计算单元计算的虚拟传感器计算信息计算用于主单元部分行驶的行驶路线。

10. 发明授权

US07818090B2 Method of controlling movement of mobile robot 有权
标题翻译：控制移动机器人运动的方法
公开(公告)号：US07818090B2
公开(公告)日：2010-10-19
申请号：US11274207
申请日：2005-11-16
申请人： Tamao Okamoto
发明人： Tamao Okamoto
IPC分类号： G05B19/04 , G05D1/00
CPC分类号： G05D1/0278 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D2201/0204
摘要： A method of controlling movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.
摘要翻译：控制移动机器人的移动以实现遵循伴随目标的安全和适当的伴随行为的方法包括基于检测到的伴随目标的位置来检测伴随的目标的至少一个位置以及控制移动机器人的移动，使得移动机器人沿着与所伴随的目标的移动方向平行的路径移动。

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