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1. 发明申请

US20180257240A1 REMOTE-CONTROL MANIPULATOR SYSTEM AND METHOD OF OPERATING THE SAME 审中-公开
公开(公告)号：US20180257240A1
公开(公告)日：2018-09-13
申请号：US15755179
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON
IPC分类号： B25J13/08 , G06T7/70 , G06T7/62 , B25J9/16 , B25J19/04
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked.

2. 发明申请

US20180243920A1 INDUSTRIAL REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：US20180243920A1
公开(公告)日：2018-08-30
申请号：US15755121
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON
IPC分类号： B25J13/06 , B25J3/00 , B25J9/16 , B25J19/02
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Remote control robot system includes a master device, slave arm having plurality of control modes including automatic and manual mode, control device configured to operate slave arm, an entering-person sensing device configured to detect entering person into operational area of slave arm, entering-person identifying information acquisition device configured to acquire entering-person identifying information for identifying whether entering person is operator who carries master device, and operation regulating device configured to regulate operation of slave arm based on information acquired from entering-person sensing device and information acquisition device. In automatic mode, operation regulating device regulates operation of slave arm when entering person is detected. In manual mode, operation regulating device allows operation of slave arm to continue when entering person is detected and entering person is operator, and regulates operation of the slave arm when entering person is other than operator.

3. 发明授权

US09757861B2 User interface device of remote control system for robot device and method using the same 有权
公开(公告)号：US09757861B2
公开(公告)日：2017-09-12
申请号：US14679127
申请日：2015-04-06
申请人： Samsung Electronics Co., Ltd.
发明人： Soon Hyuk Hong , Gi Oh Kim , Jong Ho Park , Ji Hyun Park , Seung Hyun Baek
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40161 , G05B2219/40165
摘要： A user interface device of a remote control system for a robot and a method using the same are provided. The user interface device includes: a radio frequency (RF) unit for receiving, from a remote control robot, camera data and at least one sensor data detecting a distance; a display unit having a main screen and at least one auxiliary screen; and a controller having an environment evaluation module for determining whether the received camera data are in a normal condition, and having a screen display mode change module for displaying, if the received camera data are in a normal condition, the camera data on the main screen and displaying, if the received camera data are in an abnormal condition, the sensor data on the main screen.

4. 发明申请

US20160288318A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20160288318A1
公开(公告)日：2016-10-06
申请号：US15087592
申请日：2016-03-31
申请人： CANON KABUSHIKI KAISHA
发明人： Yusuke Nakazato
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40161 , G05B2219/40205
摘要： To reduce the possibility that a robot will collide with an obstacle during an interference check work and improve the efficiency of the check work at a portion where the interference may occur, an information processing apparatus includes a control unit that controls an operation of a first robot, an acquisition unit that acquires position and orientation of a display apparatus which is attached with a body of an observer, a generation unit that identifies a visual field of the observer including the first robot based on the position and orientation of the display apparatus and an internal parameter of the display apparatus and generate an operation image of a second robot to be displayed in the identified visual field, as an object that may interfere with the first robot, based on operation data of the second robot, and an output unit that outputs the operation image to the display apparatus.
摘要翻译：为了减少在干扰检查工作期间机器人与障碍物碰撞的可能性，并且提高可能发生干扰的部分的检查工作的效率，信息处理装置包括控制单元，其控制第一机器人的操作获取单元，其获取安装有观察者主体的显示装置的位置和方向;识别包括第一机器人的观察者的视场的生成单元，基于显示装置的位置和取向，以及显示装置的内部参数，并且基于第二机器人的操作数据，生成要在所识别的视野中显示的作为可能与第一机器人发生干扰的对象的第二机器人的操作图像，以及输出单元操作图像到显示装置。

5. 发明申请

US20150209962A1 USER INTERFACE DEVICE OF REMOTE CONTROL SYSTEM FOR ROBOT DEVICE AND METHOD USING THE SAME 审中-公开
公开(公告)号：US20150209962A1
公开(公告)日：2015-07-30
申请号：US14679127
申请日：2015-04-06
申请人： Samsung Electronics Co., Ltd.
发明人： Soon Hyuk HONG , Gi Oh KIM , Jong Ho PARK , Ji Hyun PARK , Seung Hyun BAEK
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40161 , G05B2219/40165
摘要： A user interface device of a remote control system for a robot and a method using the same are provided. The user interface device includes: a radio frequency (RF) unit for receiving, from a remote control robot, camera data and at least one sensor data detecting a distance; a display unit having a main screen and at least one auxiliary screen; and a controller having an environment evaluation module for determining whether the received camera data are in a normal condition, and having a screen display mode change module for displaying, if the received camera data are in a normal condition, the camera data on the main screen and displaying, if the received camera data are in an abnormal condition, the sensor data on the main screen.

6. 发明授权

US08473101B2 Coordinated action robotic system and related methods 有权
标题翻译：协调动作机器人系统及相关方法
公开(公告)号：US08473101B2
公开(公告)日：2013-06-25
申请号：US12545367
申请日：2009-08-21
申请人： Matthew D. Summer
发明人： Matthew D. Summer
IPC分类号： G05B19/04 , G05B19/418
CPC分类号： B25J9/1689 , B25J9/162 , B25J9/1682 , G05B2219/39146 , G05B2219/39172 , G05B2219/39259 , G05B2219/39439 , G05B2219/40161 , G05B2219/40171
摘要： A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.
摘要翻译：协调动作机器人系统可以包括多个机器人车辆，每个机器人车辆包括平台和可相对于其移动的至少一个操纵器。机器人系统还可以包括远程操作员控制站，其可以包括用于每个操纵器的相应的控制器。远程操作员控制站还可以包括映射模块，以映射每个操纵器相对于其平台的移动。用于在给定方向上的操纵器运动的控制器的操作在给定方向上产生相应的操纵器的相应运动，使得机器人车辆可以被控制为如同它们是一个机器人车辆。协调运动可能会提高运营效率，增加运营灵活性，并增加控制机器人车辆的便利性。

7. 发明申请

US20100241289A1 Method and apparatus for path planning, selection, and visualization 审中-公开
标题翻译：路径规划，选择和可视化的方法和设备
公开(公告)号：US20100241289A1
公开(公告)日：2010-09-23
申请号：US12308611
申请日：2007-07-21
申请人： Roy Sandberg
发明人： Roy Sandberg
IPC分类号： G06F7/00 , G01C21/00
CPC分类号： B25J9/1689 , G05B2219/35506 , G05B2219/40161 , G05B2219/40169 , G05D1/0038 , G05D2201/0211 , G06T1/0014
摘要： New and Improved methods and apparatus for robotic path planning, selection, and visualization are described A path spline visually represents the current trajectory of the robot through a three dimensional space such as a room By altering a graphical representation of the trajectory—the path spline—an operator can visualize the path the robot will take, and is freed from real-time control of the robot Control of the robot is accomplished by periodically updating the path spline such that the newly updated spline represents the new desired path for the robot Also a sensor that may be located on the robot senses the presence of boundaries (obstacles) in the current environment and generates a path that circumnavigates the boundaries while still maintaining motion in the general direction selected by the operator The mathematical form of the path that circumnavigates the boundaries may be a spline
摘要翻译：描述了用于机器人路径规划，选择和可视化的新的和改进的方法和装置。路径样条可视地表示通过诸如房间的三维空间的机器人的当前轨迹通过改变轨迹的图形表示 - 路径样条 - 操作者可以可视化机器人将采取的路径，并且从机器人的实时控制中免除机器人的控制通过周期性地更新路径样条来实现，使得新更新的样条表示机器人的新的期望路径。另外可能位于机器人上的传感器感测当前环境中边界（障碍物）的存在，并产生循环边界的路径，同时仍保持由操作者选择的一般方向的运动。循环边界的路径的数学形式可能是样条

8. 发明申请

US20090082905A1 METHOD AND APPARATUS FOR TRANSFORMING COORDINATE SYSTEMS IN A TELEMANIPULATION SYSTEM 有权
标题翻译：用于在电视系统中变换坐标系的方法和装置
公开(公告)号：US20090082905A1
公开(公告)日：2009-03-26
申请号：US11971984
申请日：2008-01-10
申请人： PHILIP S. GREEN
发明人： PHILIP S. GREEN
IPC分类号： B25J13/06 , A61B1/045 , G06K9/00 , B25J19/04
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。根据本发明的图像变换包括平移，旋转和透视校正。

9. 发明授权

US07391177B2 Master-slave manipulator system and this operation input devices 有权
标题翻译：主从机械手系统和此操作输入装置
公开(公告)号：US07391177B2
公开(公告)日：2008-06-24
申请号：US11434900
申请日：2006-05-17
申请人： Kosuke Kishi , Kazuhiro Umekita
发明人： Kosuke Kishi , Kazuhiro Umekita
IPC分类号： G05B19/10
CPC分类号： B25J3/04 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J9/1676 , B25J9/1689 , B25J13/02 , B25J19/0004 , G05B2219/39088 , G05B2219/39114 , G05B2219/40161 , G05B2219/40181 , G05B2219/40212 , G05B2219/40478 , G05B2219/45118
摘要： In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.
摘要翻译：在能够在操作输入装置中不使用电动机的情况下作为力反馈呈现障碍物和操作范围的限制的主从操纵器系统，具有高可靠性，小尺寸和良好的可操作性的系统包括具有臂的操纵器，用于移动操纵器的臂的操作输入装置和用于控制操纵器和操作输入装置的控制器，并且操作输入装置设置在具有三个模式转换机构的关节上模式：其中，在第一模式中，不发送电力; 在第二模式中，功率在一个方向上传输并且不沿其反向传输; 并且在第三模式中，功率在相反方向上发送，并且不沿一个方向发送，选择上述模式之一并且从一种模式切换到所选择的模式。

10. 发明授权

US06879878B2 Method and system for controlling a robot 有权
标题翻译：用于控制机器人的方法和系统
公开(公告)号：US06879878B2
公开(公告)日：2005-04-12
申请号：US10826440
申请日：2004-04-17
申请人： Susan J. Glenn , Gregory A. Shreve
发明人： Susan J. Glenn , Gregory A. Shreve
IPC分类号： B25J9/16 , B25J9/18 , G05D1/02 , G06F19/00
CPC分类号： G05D1/0282 , B25J9/1689 , G05B2219/33192 , G05B2219/40161 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , G05D2201/0209
摘要： A system and method are described that use impulse radio technology to enhance the capabilities of a robot. In one embodiment, a system, a robot and a method are provided that use the communication capabilities of impulse radio technology to help a control station better control the actions of the robot. In another embodiment, a system, a robot and a method are provided that use the communication, position and/or radar capabilities of impulse radio technology to help a control station better control the actions of a robot in order to, for example, monitor and control the environment within a building.
摘要翻译：描述了使用脉冲无线电技术增强机器人能力的系统和方法。在一个实施例中，提供了使用脉冲无线电技术的通信能力来帮助控制站更好地控制机器人的动作的系统，机器人和方法。在另一个实施例中，提供了使用脉冲无线电技术的通信，位置和/或雷达能力的系统，机器人和方法来帮助控制站更好地控制机器人的动作，以便例如监视和控制建筑物内的环境。

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