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1. 发明申请

US20150273684A1 Auto-Reach Method and System for a Remote Vehicle 有权
标题翻译：远程车辆的自动覆盖方法和系统
公开(公告)号：US20150273684A1
公开(公告)日：2015-10-01
申请号：US14682428
申请日：2015-04-09
申请人： iRobot Corporation
发明人： Wesley Hanan Huang , Emilie A. Phillips
IPC分类号： B25J5/00 , B25J11/00 , G05D1/00 , B25J9/16 , B25J19/02
CPC分类号： B25J5/005 , B25J9/162 , B25J9/1697 , B25J11/002 , B25J19/023 , G05B2219/39391 , G05B2219/40003 , G05B2219/40062 , G05D1/0038 , G05D2201/0207 , G05D2201/0209 , Y10S901/09 , Y10S901/47
摘要： The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
摘要翻译：本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及沿着确定的射线移动末端执行器以接近对象。

2. 发明授权

US5682023A Time-optimal control of an AC line-driven linear motor elevator door operator 失效
标题翻译： AC线驱动线性电梯电梯门操作员的时间优化控制
公开(公告)号：US5682023A
公开(公告)日：1997-10-28
申请号：US533594
申请日：1995-09-25
申请人： Thomas M. McHugh , Richard E. Peruggi , Edward E. Ahigian , Jerome F. Jaminet , Thomas He , Thomas M. Kowalczyk , Richard E. Kulak , David W. Barrett
发明人： Thomas M. McHugh , Richard E. Peruggi , Edward E. Ahigian , Jerome F. Jaminet , Thomas He , Thomas M. Kowalczyk , Richard E. Kulak , David W. Barrett
IPC分类号： G05D3/12 , B66B13/14
CPC分类号： G05D3/12 , G05B2219/40062 , G05B2219/41086 , G05B2219/41327
摘要： A linear motor for operating an elevator door is energized using a bang-bang control strategy (10) wherein three-phase AC utility mains (16) are connected (29) directly to the linear motor primary (14) by means of a motor control (12) in response to control signals (26) provided under the direction of a control strategy (10), which may be microprocessor-based. Commands (24) from an elevator controller to open/close the elevator door cause the system to operate the doors and a sensor (22) provides feedback (28) by means of which the control (10) is able to determine switch points for switching the AC mains.
摘要翻译：用于操作电梯门的线性电动机通过使用爆炸控制策略（10）来激励，其中三相交流市电（16）通过电动机控制（29）直接连接到线性电动机初级（14）（12），响应于在控制策略（10）的方向下提供的控制信号（26），其可以是基于微处理器的。来自电梯控制器的用于打开/关闭电梯门的命令（24）导致系统操作门，并且传感器（22）提供反馈（28），借助于此，控制器（10）能够确定用于切换的切换点交流电源。

3. 发明申请

US20130054029A1 AUTO-REACH METHOD FOR A REMOTE VEHICLE 有权
标题翻译：用于远程车辆的自动对准方法
公开(公告)号：US20130054029A1
公开(公告)日：2013-02-28
申请号：US13448043
申请日：2012-04-16
申请人： Wesley Hanan Huang , Emilie A. Phillips
发明人： Wesley Hanan Huang , Emilie A. Phillips
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J5/005 , B25J9/162 , B25J9/1697 , B25J11/002 , B25J19/023 , G05B2219/39391 , G05B2219/40003 , G05B2219/40062 , G05D1/0038 , G05D2201/0207 , G05D2201/0209 , Y10S901/09 , Y10S901/47
摘要： The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
摘要翻译：本教导提供了一种控制具有末端执行器和图像感测装置的远程车辆的方法。该方法包括利用图像感测装置获取对象的图像，基于所获得的图像确定从图像的焦点到对象的射线，定位远程车辆的末端执行器以与所确定的射线对准，以及沿着确定的射线移动末端执行器以接近对象。

4. 发明申请

US20090069937A1 Method and Device for The Fully Authomatic Final Inspection of Components and/or Their Functional Units 审中-公开
标题翻译：组件和/或其功能单元的完全自动化最终检查的方法和装置
公开(公告)号：US20090069937A1
公开(公告)日：2009-03-12
申请号：US12223714
申请日：2007-02-09
申请人： Gunter Battenberg
发明人： Gunter Battenberg
IPC分类号： G05B19/418
CPC分类号： G05B19/41875 , B25J9/1694 , G01L5/162 , G01L5/223 , G05B2219/31295 , G05B2219/37216 , G05B2219/40039 , G05B2219/40041 , G05B2219/40062 , G05B2219/40627 , G05B2219/45018 , Y02P80/40
摘要： The object of the present invention is equipment (1) and a method for the fully automated final inspection of components (2), in particular of their driven modules, further comprising a robot (3) fitted with a testing system (8) to carry out the final inspection comprising the stages: Self-driven alignment of the robot (3) and/or the testing system (8) relative to the component (2) being checked and/or its module by means of orientation data, reproducible implementation of individual checks by the testing system (8), the stages of self-driven alignment and reproducible implementation being repeated until a termination criterion has been met and/or the final inspection has been completed.
摘要翻译：本发明的目的是设备（1）和用于对组件（2），特别是其被驱动模块进行全自动最终检查的方法，还包括装备有测试系统（8）以携带的机器人（3）包括以下阶段的最终检查：通过定向数据检查机器人（3）和/或测试系统（8）相对于组件（2）的自动对准和/或其模块，可再现的实现由测试系统（8）进行单独检查，重复执行自驱动对准和可重复执行的阶段，直到满足终止标准和/或最终检查完成为止。

5. 发明授权

US09770823B2 Auto-reach method and system for a remote vehicle 有权
公开(公告)号：US09770823B2
公开(公告)日：2017-09-26
申请号：US14682428
申请日：2015-04-09
申请人： iRobot Corporation
发明人： Wesley Hanan Huang , Emilie A. Phillips
IPC分类号： B25J5/00 , B25J9/16 , B25J11/00 , B25J19/02 , G05D1/00
CPC分类号： B25J5/005 , B25J9/162 , B25J9/1697 , B25J11/002 , B25J19/023 , G05B2219/39391 , G05B2219/40003 , G05B2219/40062 , G05D1/0038 , G05D2201/0207 , G05D2201/0209 , Y10S901/09 , Y10S901/47
摘要： The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

6. 发明申请

US20160370789A1 METHOD AND APPARATUS FOR INCREASING THE RANGE OF DIGITAL INPUTS AND OUTPUTS ON A DOOR OPERATOR OR CLOSER 审中-公开
标题翻译：用于增加门控操作员或关闭器上数字输入和输出范围的方法和装置
公开(公告)号：US20160370789A1
公开(公告)日：2016-12-22
申请号：US14902245
申请日：2014-09-09
申请人： YALE SECURITY, INC.
发明人： Peter Zasowski , Dustin Lawhon
IPC分类号： G05B19/409 , G05B19/042 , E05F15/72 , E05F15/70 , E05F15/73
CPC分类号： G05B19/409 , E05F15/70 , E05F15/72 , E05F15/73 , E05Y2400/10 , E05Y2400/81 , E05Y2400/85 , G05B19/042 , G05B2219/40062
摘要： A door operator includes a door driver for opening and closing a door, and a control system including a microprocessor having multiple microprocessor inputs. The microprocessor is connected to and controls the door driver. The microprocessor has multiple program modules corresponding to input functions to be performed by the door operator. The door operator includes a plurality of door operator inputs connected to corresponding ones of the microprocessor inputs, and a user interface connected to the microprocessor. The user interface allows a user to associate a selected door operator input and corresponding microprocessor input to a selected program module corresponding to a selected function to be performed by the door operator.
摘要翻译：门操作器包括用于打开和关闭门的门驱动器，以及包括具有多个微处理器输入的微处理器的控制系统。微处理器与门驱动器连接并控制。微处理器具有与由门操作者执行的输入功能对应的多个程序模块。门操作器包括连接到对应的微处理器输入的多个门操作者输入和连接到微处理器的用户界面。用户界面允许用户将所选择的门操作员输入和对应的微处理器输入与对应于由门操作者执行的所选择的功能的所选程序模块相关联。

7. 发明授权

US07248011B2 Drive for automatic operating of a vehicle door 有权
标题翻译：驱动车门自动操作
公开(公告)号：US07248011B2
公开(公告)日：2007-07-24
申请号：US10561599
申请日：2004-07-05
申请人： Stephan Schachtl , Ralf Reczko , Matthias Martin , Dietmar Bellenbaum , Thomas Vögerl
发明人： Stephan Schachtl , Ralf Reczko , Matthias Martin , Dietmar Bellenbaum , Thomas Vögerl
IPC分类号： H02H7/08
CPC分类号： E05F15/611 , E05F15/603 , E05Y2201/618 , E05Y2201/716 , E05Y2201/72 , E05Y2201/726 , E05Y2400/326 , E05Y2400/337 , E05Y2400/34 , E05Y2400/342 , E05Y2600/458 , E05Y2600/46 , E05Y2800/11 , E05Y2800/25 , E05Y2800/74 , E05Y2900/546 , G05B2219/37138 , G05B2219/37155 , G05B2219/37263 , G05B2219/40062
摘要： The invention relates to a drive unit for automatically actuating a tailgate of a motor vehicle. Connecting the drive unit (4) to the vehicle door (1) or to a transmission device (6) by means of an output shaft (5), said transmission device executing a pivoting movement which corresponds to the pivoting movement of the vehicle door (1), and the drive unit (4) comprising at least one first sensor device (7), which can be connected to an electronic evaluation device (21) and serves to detect the respective angular position of the vehicle door (1). In order to make use of the advantages of an incrementally operating position measurement system of the vehicle door (1), in which, recalibration is necessary not only after the end positions of the vehicle door (1) are reached following a power cut. The invention proposes dividing the entire pivot angle (à) of the vehicle door (1) into at least three successive zones (pivot angle ranges) (à1-à4), it being possible to determine the individual pivot angle ranges (à1-à4) by means of a first sensor device (7), which is suitable for detecting absolute values. The pivot angle of the vehicle door within the individual zones (à1-à4) is then detected with the aid of a second sensor device (8), which comprises at least one incrementally operating measured value detector.
摘要翻译：本发明涉及一种用于自动启动机动车辆后挡板的驱动单元。通过输出轴（5）将驱动单元（4）连接到车门（1）或传动装置（6），所述传动装置执行对应于车门的枢转运动的枢转运动（ 1），并且所述驱动单元（4）包括至少一个第一传感器装置（7），其可以连接到电子评估装置（21）并且用于检测车门（1）的各个角位置。为了利用车门（1）的增量操作位置测量系统的优点，其中不仅在断电之后到达车门（1）的结束位置之后，重新校准是必要的。本发明提出将车门（1）的整个枢转角（à）分成至少三个连续的区域（枢轴角度范围）（à-1-à4），可以确定各个枢转角度范围 -a 4）通过适合于检测绝对值的第一传感器装置（7）。然后借助于包括至少一个递增操作的测量值检测器的第二传感器装置（8）检测车厢门在各个区域（à-à-4）内的转动角度。

8. 发明授权

US5499320A Extended task space control for robotic manipulators 失效
标题翻译：机器人操纵器的扩展任务空间控制
公开(公告)号：US5499320A
公开(公告)日：1996-03-12
申请号：US34607
申请日：1993-03-24
申请人： Paul G. Backes , Mark K. Long
发明人： Paul G. Backes , Mark K. Long
IPC分类号： B25J9/16 , B25J9/18 , G05B19/00
CPC分类号： B25J9/1661 , B25J9/1602 , B25J9/1689 , G05B2219/39082 , G05B2219/39218 , G05B2219/39219 , G05B2219/39361 , G05B2219/39381 , G05B2219/39387 , G05B2219/40009 , G05B2219/40061 , G05B2219/40062 , G05B2219/40075 , G05B2219/40195 , G05B2219/40333 , G05B2219/40349 , G05B2219/40381 , G05B2219/40555 , G05B2219/45091
摘要： The invention is a method of operating a robot in successive sampling intervals to perform a task, the robot having joints and joint actuators with actuator control loops, by decomposing the task into behavior forces, accelerations, velocities and positions of plural behaviors to be exhibited by the robot simultaneously, computing actuator accelerations of the joint actuators for the current sampling interval from both behavior forces, accelerations velocities and positions of the current sampling interval and actuator velocities and positions of the previous sampling interval, computing actuator velocities and positions of the joint actuators for the current sampling interval from the actuator velocities and positions of the previous sampling interval, and, finally, controlling the actuators in accordance with the actuator accelerations, velocities and positions of the current sampling interval. The actuator accelerations, velocities and positions of the current sampling interval are stored for use during the next sampling interval.
摘要翻译：本发明是一种以连续采样间隔操作机器人以执行任务的方法，机器人具有关节和具有致动器控制回路的关节致动器，通过将任务分解为行为力，加速度，速度和多个行为的位置，以由机器人同时，从行为力，加速度速度和当前采样间隔的位置以及执行器速度和先前采样间隔的位置，计算致动器速度和关节致动器的位置，计算当前采样间隔的关节致动器的致动器加速度对于从先前采样间隔的致动器速度和位置的当前采样间隔，以及最后根据致动器加速度，速度和当前采样间隔的位置来控制致动器。执行器加速度，速度和当前采样间隔的位置被存储以在下一采样间隔期间使用。

9. 发明申请

US20190243342A1 TOILET SYSTEM, TOILET MANAGEMENT METHOD, AND RECORDING MEDIUM 审中-公开
公开(公告)号：US20190243342A1
公开(公告)日：2019-08-08
申请号：US16339870
申请日：2017-10-06
申请人： KIMURA CORPORATION
发明人： Tomoei KIMURA
IPC分类号： G05B19/4155 , E03D11/00 , G07C9/00
CPC分类号： G05B19/4155 , A47K17/00 , E03D11/00 , G05B2219/40062 , G07C9/00896 , G08B21/02 , G08B25/00 , G08B25/04
摘要： Provided is a technique for controlling a door of a toilet cubicle according to a situation in the toilet cubicle at the time of an abnormality occurrence. A toilet system according to the present invention is provided with a detection unit that detects a state of the inside of a toilet cubicle, an abnormality determination unit that determines the occurrence of an abnormality and the type thereof on the basis of a detection result obtained by the detection unit, and a door control unit that controls opening and closing of a door according to the type of the abnormality when it is determined that the abnormality has occurred.

10. 发明申请

US20180178301A1 MACHINE TOOL 审中-公开
公开(公告)号：US20180178301A1
公开(公告)日：2018-06-28
申请号：US15852077
申请日：2017-12-22
申请人： Jtekt Corporation
发明人： Koji TOYAMA , Yoshio Ootsuka , Yuki Konno
IPC分类号： B23F1/06
CPC分类号： B23Q11/08 , B23F1/06 , B23Q3/15713 , B23Q3/15722 , B23Q3/15766 , B23Q3/15773 , B23Q11/0841 , B23Q2003/155407 , B23Q2003/155428 , B23Q2003/155446 , G05B2219/40062 , G05B2219/45242 , Y10T483/115
摘要： A machine tool includes a bed, a column, a rotary main spindle, a tool magazine, a tool changer, and a controller. The tool changer includes a body provided on the bed so as to be movable in a direction orthogonal to a movement direction of the column, a changing arm rotatably provided on the body, and a door provided on the body to open or close an opening formed in the body, and configured to partition an area on the column side from an area on the tool magazine side by closing the opening. The controller is configured to move the body in parallel with at least one of an operation of opening the door and an operation of closing the door.

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