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1. 发明申请

US20060055358A1 Abnormality detector of moving robot 失效
标题翻译：移动机器人异常检测器
公开(公告)号：US20060055358A1
公开(公告)日：2006-03-16
申请号：US10540488
申请日：2003-02-14
申请人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J19/00 , G05B23/02
CPC分类号： B25J9/1674 , G05B2219/39413 , G05B2219/40204
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information is outputted, then the degree of abnormality is discriminated based on the outputted abnormality information and the robot is driven into a stable state in response to the discriminated degree of abnormality. With this, it becomes possible to effectively utilize the abnormality detection result. In addition, since the robot is driven into a stable state in response to the discriminated degree of abnormality, it becomes possible to render the driving appropriate.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出异常信息，然后基于输出的异常信息判别异常度，并且响应于所识别的异常程度将机器人驱动到稳定状态。由此，能够有效地利用异常检测结果。此外，由于机器人响应于所识别的异常程度而被驱动到稳定状态，所以可以使驾驶适当。

2. 发明授权

US07348746B2 Abnormality detection system of mobile robot 有权
标题翻译：移动机器人异常检测系统
公开(公告)号：US07348746B2
公开(公告)日：2008-03-25
申请号：US10540470
申请日：2003-02-14
申请人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B25J9/1674 , G05B2219/34454 , G05B2219/34455 , G05B2219/42268
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出自身诊断的，发生了异常的时间的异常信息被存储在内部存储器和外部存储器中。由此，能够提高移动机器人的异常检测的可靠性，通过存储发生异常的时间附加的信息，能够准确地确定导致异常的事件的过程。进一步配置为，除了发生异常的时间之外，还将该信息与指示状态量的参数一起存储在外部存储器中。

3. 发明授权

US07446496B2 Abnormality detection system of mobile robot 失效
标题翻译：移动机器人异常检测系统
公开(公告)号：US07446496B2
公开(公告)日：2008-11-04
申请号：US10540488
申请日：2003-02-14
申请人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J19/00 , G05B23/02
CPC分类号： B25J9/1674 , G05B2219/39413 , G05B2219/40204
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information is outputted, then the degree of abnormality is discriminated based on the outputted abnormality information and the robot is driven into a stable state in response to the discriminated degree of abnormality. With this, it becomes possible to effectively utilize the abnormality detection result. In addition, since the robot is driven into a stable state in response to the discriminated degree of abnormality, it becomes possible to render the driving appropriate.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出异常信息，然后基于输出的异常信息判别异常度，并且响应于所识别的异常程度将机器人驱动到稳定状态。由此，能够有效地利用异常检测结果。此外，由于机器人响应于所识别的异常程度而被驱动到稳定状态，所以可以使驾驶适当。

4. 发明授权

US07383717B2 Force sensor abnormality detection system for legged mobile robot 有权
标题翻译：用于腿式移动机器人的力传感器异常检测系统
公开(公告)号：US07383717B2
公开(公告)日：2008-06-10
申请号：US11226367
申请日：2005-09-15
申请人： Yuichiro Kawaguchi , Takashi Matsumoto
发明人： Yuichiro Kawaguchi , Takashi Matsumoto
IPC分类号： G01L25/00 , B25J19/00
CPC分类号： G01L25/00
摘要： In a force sensor abnormality detection system for a legged mobile robot having a force sensor installed between a foot and each leg and producing an output indicative of floor reaction force acting from a floor on which the foot contacts, the robot is controlled to to perform a walking-in-place motion when the robot is powered on, it is discriminated whether the output of the force sensor during the walk-in-place motion are within a predetermined range, and abnormality of the sensor is detected based on a result of the discrimination, thereby enabling detection of force sensor abnormality with high accuracy in a legged mobile robot whose feet are equipped with force sensors for detecting floor reaction forces.
摘要翻译：在具有安装在脚和每个腿之间的力传感器的有腿的移动机器人的力传感器异常检测系统中，产生表示从脚接触的地板作用的地面反作用力的输出，机器人被控制为执行当机器人通电时的就地运动，判断在步行运动期间力传感器的输出是否处于预定范围内，并且基于该运动的结果来检测传感器的异常因此能够在脚部配备有用于检测楼板反作用力的力传感器的有腿移动机器人中以高精度检测力传感器异常。

5. 发明申请

US20060059975A1 Force sensor abnormality detection system for legged mobile robot 有权
标题翻译：用于腿式移动机器人的力传感器异常检测系统
公开(公告)号：US20060059975A1
公开(公告)日：2006-03-23
申请号：US11226367
申请日：2005-09-15
申请人： Yuichiro Kawaguchi , Takashi Matsumoto
发明人： Yuichiro Kawaguchi , Takashi Matsumoto
IPC分类号： G01L25/00
CPC分类号： G01L25/00
摘要： In a force sensor abnormality detection system for a legged mobile robot having a force sensor installed between a foot and each leg and producing an output indicative of floor reaction force acting from a floor on which the foot contacts, the robot is controlled to to perform a walking-in-place motion when the robot is powered on, it is discriminated whether the output of the force sensor during the walk-in-place motion are within a predetermined range, and abnormality of the sensor is detected based on a result of the discrimination, thereby enabling detection of force sensor abnormality with high accuracy in a legged mobile robot whose feet are equipped with force sensors for detecting floor reaction forces.
摘要翻译：在具有安装在脚和每个腿之间的力传感器的有腿的移动机器人的力传感器异常检测系统中，产生表示从脚接触的地板作用的地面反作用力的输出，机器人被控制为执行当机器人通电时的就地运动，判断在步行运动期间力传感器的输出是否处于预定范围内，并且基于该运动的结果来检测传感器的异常因此能够在脚部配备有用于检测楼板反作用力的力传感器的有腿移动机器人中以高精度检测力传感器异常。

6. 发明申请

US20110077776A1 MOBILE ROBOT CONTROL SYSTEM 有权
标题翻译：移动机器人控制系统
公开(公告)号：US20110077776A1
公开(公告)日：2011-03-31
申请号：US11989629
申请日：2006-07-10
申请人： Kuniaki Matsushima , Tadaaki Hasegawa , Yuichiro Kawaguchi
发明人： Kuniaki Matsushima , Tadaaki Hasegawa , Yuichiro Kawaguchi
IPC分类号： B25J13/00
CPC分类号： B62D57/032 , G05B2219/40195
摘要： In a mobile robot control system, it is configured such that the robot generates time-series data sequentially at a predetermined time interval and transmits them to the external terminal, and the external terminal receives the transmitted time-series data and adds them to the motion command, such that the motion of the robot is determined based on the generated time-series data and the time-series data added to the motion command. With this, it becomes possible to prevent the robot from suddenly starting to move at the time when the communication between the external terminal which is a transmitting source of the motion command and the robot has recovered from disconnection, thereby enabling to avoid making the operator feel unnatural.
摘要翻译：在移动机器人控制系统中，其被配置为使得机器人以预定时间间隔顺序地生成时间序列数据并将其发送到外部终端，并且外部终端接收所发送的时间序列数据并将其相加到运动使得基于生成的时间序列数据和添加到运动命令的时间序列数据来确定机器人的运动。由此，能够防止机器人在作为运动指令的发送源的外部端子与机器人之间的通信从断开恢复时突然开始移动，从而能够避免使操作者感觉到不自然

7. 发明申请

US20070135966A1 LEGGED MOBILE ROBOT 有权
标题翻译： LEGGED移动机器人
公开(公告)号：US20070135966A1
公开(公告)日：2007-06-14
申请号：US11608021
申请日：2006-12-07
申请人： Yuichiro Kawaguchi , Taro Yokoyama , Tomoki Watabe , Minami Asatani
发明人： Yuichiro Kawaguchi , Taro Yokoyama , Tomoki Watabe , Minami Asatani
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D2201/0217
摘要： When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.
摘要翻译：当存在能够以期望的路径与机器人1接触的对象时，机器人1根据从机器人1到期望路径的预测接触位置的距离L而逐步减速。例如，机器人1的腿部13等被控制为当距离L小于第一阈值L 1时，移动速度被降低到第一速度V 1 并且当距离L小于低于第一阈值的第二阈值时，移动速度从第一速度降低到第二速度。

8. 发明授权

US08014901B2 Mobile robot control system 有权
标题翻译：移动机器人控制系统
公开(公告)号：US08014901B2
公开(公告)日：2011-09-06
申请号：US11989629
申请日：2006-07-10
申请人： Kuniaki Matsushima , Tadaaki Hasegawa , Yuichiro Kawaguchi
发明人： Kuniaki Matsushima , Tadaaki Hasegawa , Yuichiro Kawaguchi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B62D57/032 , G05B2219/40195
摘要： In a mobile robot control system, it is configured such that the robot generates time-series data sequentially at a predetermined time interval and transmits them to the external terminal, and the external terminal receives the transmitted time-series data and adds them to the motion command, such that the motion of the robot is determined based on the generated time-series data and the time-series data added to the motion command. With this, it becomes possible to prevent the robot from suddenly starting to move at the time when the communication between the external terminal which is a transmitting source of the motion command and the robot has recovered from disconnection, thereby enabling to avoid making the operator feel unnatural.
摘要翻译：在移动机器人控制系统中，其被配置为使得机器人以预定时间间隔顺序地生成时间序列数据并将其发送到外部终端，并且外部终端接收所发送的时间序列数据并将其相加到运动使得基于生成的时间序列数据和添加到运动命令的时间序列数据来确定机器人的运动。由此，能够防止机器人在作为运动指令的发送源的外部端子与机器人之间的通信从断开恢复时突然开始移动，从而能够避免使操作者感觉到不自然

9. 发明授权

US07826927B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07826927B2
公开(公告)日：2010-11-02
申请号：US11608021
申请日：2006-12-07
申请人： Yuichiro Kawaguchi , Taro Yokoyama , Tomoki Watabe , Minami Asatani
发明人： Yuichiro Kawaguchi , Taro Yokoyama , Tomoki Watabe , Minami Asatani
IPC分类号： G05B19/048
CPC分类号： G06N3/008 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D2201/0217
摘要： When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.
摘要翻译：当存在能够以期望的路径与机器人1接触的对象时，机器人1根据从机器人1到期望路径的预测接触位置的距离L而逐步减速。例如，机器人1的腿13等被控制为当距离L小于第一阈值L1时，移动速度被降低到第一速度V1，并且当距离L小于第二阈值低于第一阈值，移动速度从第一速度降低到第二速度。

10. 发明申请

US20100217438A1 ROBOT AND TASK EXECUTION SYSTEM 有权
标题翻译：机器人和任务执行系统
公开(公告)号：US20100217438A1
公开(公告)日：2010-08-26
申请号：US12681818
申请日：2008-10-07
申请人： Yuichiro Kawaguchi , Katsuyoshi Watari , Taro Yokoyama
发明人： Yuichiro Kawaguchi , Katsuyoshi Watari , Taro Yokoyama
IPC分类号： G05B19/418 , G06F19/00
CPC分类号： B25J9/1661 , G05B2219/39117 , G05B2219/40451 , G05B2219/40465 , G05D1/0217 , G05D2201/0217
摘要： A robot and the like capable of executing a task in an appropriate condition from the viewpoint of execution economy even when a state of the task is altered. A cost is evaluated that represents a load or labor required for a robot (1) to execute a new task, and the cost information indicating the cost is transmitted to a support server (200) (bid procedure). The support server (200) designates the robot (1) having the lowest cost as a designated robot (1) and transmits an execution instruction for executing the new task to the designated robot (1). The robot (1) executes the task according to the execution instruction (contract procedure). By employing the task bid and contract system, a designated task is executed by an adequate robot (R) among a plurality of robots (R) in consideration of the execution economy of the designated task.
摘要翻译：即使在任务的状态发生变化的情况下，也能够从执行经济的观点来执行任意的机器人等。评估代表机器人（1）执行新任务所需的负荷或人力的成本，并且将指示成本的成本信息发送到支持服务器（200）（出价程序）。支持服务器（200）将具有最低成本的机器人（1）指定为指定机器人（1），并将用于执行新任务的执行指令发送到指定的机器人（1）。机器人（1）根据执行指令（合同程序）执行任务。通过采用任务投标和合同系统，考虑到指定任务的执行经济性，在多个机器人（R）中由适当的机器人（R）执行指定的任务。

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