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1. 发明授权

US08010232B2 Movable robot 有权
标题翻译：移动机器人
公开(公告)号：US08010232B2
公开(公告)日：2011-08-30
申请号：US12279561
申请日：2007-02-15
申请人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
发明人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
IPC分类号： G06T1/00 , B25J19/00 , B25J19/04 , B25J5/00 , G05B15/00
CPC分类号： G05D1/0251 , B25J5/007 , G01B11/03 , G05D1/0274 , G06T2200/32
摘要： A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations.The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.
摘要翻译：完全识别周围环境的技术可以通过排除由于在操作期间妨碍机器人的视觉的机器人的身体部分而引起的未知环境来提供。本发明的机器人设置有包括头部和躯干的躯干，至少一个连接构件，其通过其中设置有驱动机构的关节连接到身体躯干，身体躯干侧摄像机被布置在身体躯干和连接的构件侧照相机，其布置在连接的构件上。此外，机器人设置有合成图像创建单元，其创建由身体躯干侧照相机拍摄的体干侧图像和被连接的构件侧照相机拍摄的连接的构件侧图像的合成图像，使得身体的一部分躯干侧图像被连接的构件侧图像的一部分代替，以便将连接的构件从体干侧图像排除。

2. 发明申请

US20100234999A1 MULTI-JOINT ROBOT AND CONTROL PROGRAM THEREOF 有权
标题翻译：多机器人及其控制程序
公开(公告)号：US20100234999A1
公开(公告)日：2010-09-16
申请号：US12303649
申请日：2007-06-25
申请人： Yuichiro Nakajima
发明人： Yuichiro Nakajima
IPC分类号： B25J9/10 , B25J17/00 , B25J13/08
CPC分类号： B25J9/1628 , G05B2219/37342 , G05B2219/40461
摘要： The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit (32) estimates the load acting on each joint, and the overloaded joint specifying unit (34) specifies an overloaded joint of which the estimated load is greater than a threshold. The storage unit (40) stores a target state vector of an end link of the robot and stores a predetermined priority with respect to the components of the vector. The component extracting unit (42) extracts the same number of components as that of non-overloaded joints from the target state vector in order of a higher priority. The force control calculating unit (36) determines the target drive quantity for driving the overloaded joint in the same direction as that of the load. The inverse transformation unit determines the target drive quantities with respect to the non-overloaded joints so as to realize the extracted components. Thus, the non-overloaded joints can be controlled so as to follow the target state vector as far as possible, while the overloaded joints are controlled in a direction to reduce the load.
摘要翻译：本发明提供一种多关节机器人，当作用在某些关节上的负载过载时，控制接头，以便在减轻过载状态的同时尽可能地继续工作。负载估计单元（32）估计作用在每个关节上的负载，并且过载关节指定单元（34）指定估计负载大于阈值的过载接头。存储单元（40）存储机器人的端部链接的目标状态向量，并且相对于向量的分量存储预定的优先级。分量提取单元（42）从目标状态矢量中提取与非过载关节相同数量的分量，其次序优先。力控制计算单元（36）确定用于驱动与负载相同方向的过载接头的目标驱动量。逆变换单元确定相对于非过载接头的目标驱动量，以实现提取的分量。因此，可以尽可能地控制非过载接头，以尽可能地跟随目标状态向量，同时将负载关节控制在减小负载的方向上。

3. 发明申请

US20100185327A1 MOVABLE ROBOT 有权
标题翻译：可移动机器人
公开(公告)号：US20100185327A1
公开(公告)日：2010-07-22
申请号：US12279561
申请日：2007-02-15
申请人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
发明人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
IPC分类号： B25J19/04 , G05B15/00 , G06F19/00 , B25J5/00 , G06T1/00
CPC分类号： G05D1/0251 , B25J5/007 , G01B11/03 , G05D1/0274 , G06T2200/32
摘要： A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations.The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.
摘要翻译：完全识别周围环境的技术可以通过排除由于在操作期间妨碍机器人的视觉的机器人的身体部分而引起的未知环境来提供。本发明的机器人设置有包括头部和躯干的躯干，至少一个连接构件，其通过其中设置有驱动机构的关节连接到身体躯干，身体躯干侧摄像机被布置在身体躯干和连接的构件侧照相机，其布置在连接的构件上。此外，机器人设置有合成图像创建单元，其创建由身体躯干侧照相机拍摄的体干侧图像和被连接的构件侧照相机拍摄的连接的构件侧图像的合成图像，使得身体的一部分躯干侧图像被连接的构件侧图像的一部分代替，以便将连接的构件从体干侧图像排除。

4. 发明授权

US08234011B2 Movable robot 失效
公开(公告)号：US08234011B2
公开(公告)日：2012-07-31
申请号：US13137119
申请日：2011-07-21
申请人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
发明人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
IPC分类号： G06T1/00 , G01B11/00 , B25J19/04 , G05B15/00 , B25J5/00 , G05D1/00
CPC分类号： G05D1/0251 , B25J5/007 , G01B11/03 , G05D1/0274 , G06T2200/32
摘要： A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations.The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.

5. 发明申请

US20120053727A1 Movable robot 失效
标题翻译：移动机器人
公开(公告)号：US20120053727A1
公开(公告)日：2012-03-01
申请号：US13137119
申请日：2011-07-21
申请人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
发明人： Yuichiro Nakajima , Haeyeon Lee , Hideki Nomura
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： G05D1/0251 , B25J5/007 , G01B11/03 , G05D1/0274 , G06T2200/32
摘要： A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations.The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.
摘要翻译：完全识别周围环境的技术可以通过排除由于在操作期间妨碍机器人的视觉的机器人的身体部分而引起的未知环境来提供。本发明的机器人设置有包括头部和躯干的躯干，至少一个连接构件，其通过其中设置有驱动机构的关节连接到身体躯干，身体躯干侧摄像机被布置在身体躯干和连接的构件侧照相机，其布置在连接的构件上。此外，机器人设置有合成图像创建单元，其创建由身体躯干侧照相机拍摄的体干侧图像和被连接的构件侧照相机拍摄的连接的构件侧图像的合成图像，使得身体的一部分躯干侧图像被连接的构件侧图像的一部分代替，以便将连接的构件从体干侧图像排除。

6. 发明授权

US08112179B2 Multi-joint robot and control program thereof 有权
标题翻译：多关节机器人及其控制程序
公开(公告)号：US08112179B2
公开(公告)日：2012-02-07
申请号：US12303649
申请日：2007-06-25
申请人： Yuichiro Nakajima
发明人： Yuichiro Nakajima
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1628 , G05B2219/37342 , G05B2219/40461
摘要： The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit (32) estimates the load acting on each joint, and the overloaded joint specifying unit (34) specifies an overloaded joint of which the estimated load is greater than a threshold. The storage unit (40) stores a target state vector of an end link of the robot and stores a predetermined priority with respect to the components of the vector. The component extracting unit (42) extracts the same number of components as that of non-overloaded joints from the target state vector in order of a higher priority. The force control calculating unit (36) determines the target drive quantity for driving the overloaded joint in the same direction as that of the load. The inverse transformation unit determines the target drive quantities with respect to the non-overloaded joints so as to realize the extracted components. Thus, the non-overloaded joints can be controlled so as to follow the target state vector as far as possible, while the overloaded joints are controlled in a direction to reduce the load.
摘要翻译：本发明提供一种多关节机器人，当作用在某些关节上的负载过载时，控制接头，以便在减轻过载状态的同时尽可能地继续工作。负载估计单元（32）估计作用在每个接头上的负载，并且过载接头指定单元（34）指定估计负载大于阈值的过载接头。存储单元（40）存储机器人的端部链接的目标状态向量，并且相对于向量的分量存储预定的优先级。分量提取单元（42）从目标状态矢量中提取与非过载关节相同数量的分量，其次序优先。力控制计算单元（36）确定用于驱动与负载相同方向的过载接头的目标驱动量。逆变换单元确定相对于非过载接头的目标驱动量，以实现提取的分量。因此，可以尽可能地控制非过载接头，以尽可能地跟随目标状态向量，同时将负载关节控制在减小负载的方向上。

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