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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. 发明申请

US20160361815A1 ROBOT AND ROBOT CONTROLLING METHOD 审中-公开
标题翻译：机器人和机器人控制方法
公开(公告)号：US20160361815A1
公开(公告)日：2016-12-15
申请号：US15117573
申请日：2015-02-27
申请人： MITSUBISHI HEAVY INDUSTRIES, LTD.
发明人： Natsuki MATSUNAMI , Tomohiro TAMI , Masato IEHARA
IPC分类号： B25J9/16 , G06N3/00
CPC分类号： B25J9/163 , B25J9/1689 , G05B2219/39289 , G05B2219/40163 , G06N3/008
摘要： A robot (10) has a command predicting section (11) and a command determining section (12). The command predicting section (11) predicts the next second command based on the content of the first command issued from the remote control terminal (101). The command determining section (12) determines whether or not an operation result according to the second command should be transmitted to the remote control terminal (101), based on a comparison result between the second command and a third command issued from the remote control terminal (101) after the first command.
摘要翻译：机器人（10）具有命令预测部（11）和命令判定部（12）。命令预测部（11）基于从遥控终端（101）发出的第一命令的内容来预测下一个第二命令。命令确定部分（12）基于第二命令和从遥控终端发出的第三命令之间的比较结果来确定是否应当向远程控制终端（101）发送根据第二命令的操作结果（101）。

4. 发明授权

US08718822B1 Overlaying sensor data in a user interface 有权
标题翻译：在用户界面中叠加传感器数据
公开(公告)号：US08718822B1
公开(公告)日：2014-05-06
申请号：US13440656
申请日：2012-04-05
申请人： Ryan Hickman , Thor Lewis
发明人： Ryan Hickman , Thor Lewis
IPC分类号： G05B15/00 , G06F7/00
CPC分类号： B25J9/1697 , B25J9/1674 , G05B2219/40163 , G05B2219/40165 , Y10S901/47
摘要： Methods and systems for robot functions and user interfaces are described. A server may receive a set of robot parameters, and may predict new parameters based on a robot command. In this manner, a user may receive parameters corresponding to the predicted values and mitigate network and processing latency. In other examples, a robot may provide a forward looking image and a robot speed. When a command to move forward is issued, the server may provide a predicted image and predicted speed. The server may be able to calculate a predicted image and a predicted speed (or other parameter) more quickly than the robot could provide the same information. The predicted information may be displayed on a user interface with a corresponding indication that the values are predicted. The robot may provide the server and the user interface with the actual data when it is available.
摘要翻译：描述了机器人功能和用户界面的方法和系统。服务器可以接收一组机器人参数，并且可以基于机器人命令来预测新参数。以这种方式，用户可以接收对应于预测值的参数并且减轻网络和处理等待时间。在其他示例中，机器人可以提供前视图像和机器人速度。当发出向前移动的命令时，服务器可以提供预测图像和预测速度。服务器可以比机器人可以提供相同的信息更快地计算预测图像和预测速度（或其他参数）。预测信息可以在具有预测值的相应指示的用户界面上显示。机器人可以在可用时向服务器和用户界面提供实际数据。

5. 发明授权

US10835333B2 Remote control robot system 有权
公开(公告)号：US10835333B2
公开(公告)日：2020-11-17
申请号：US15755102
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Masayuki Kamon
IPC分类号： A61B34/30 , A61B34/37 , G05B19/418 , B25J9/00 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , 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 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot main body having robotic arm, remote control device including robotic arm operational instruction input part for operator to control by touching, to input operational instruction for robotic arm, and contactless action detecting part configured to detect contactless action including at least one given operation instructing action of operator, and control device communicably connected to remote control device and configured to control operation of robot main body, are provided. Control device includes memory part configured to store operational instruction content data defining an operation mode of robot main body corresponding to at least one operation instructing action, operational instruction content identifying module to identify operation mode of robot main body of the operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of robot main body based on operation mode identified by operational instruction content identifying module.

6. 发明授权

US10631941B2 Robot system 有权
公开(公告)号：US10631941B2
公开(公告)日：2020-04-28
申请号：US15755384
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Tsuyoshi Maehara , Masayuki Kamon , Yasushi Kurosawa , Shigetsugu Tanaka
IPC分类号： G05B19/04 , G05B19/18 , A61B34/37 , G05B19/418 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/00 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , 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 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.

7. 发明申请

US20180250829A1 REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：US20180250829A1
公开(公告)日：2018-09-06
申请号：US15755449
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 , B25J19/04 , B25J13/00 , B25J9/16
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 robot main body having a robotic arm, a remote control device which includes a robotic arm operational instruction input part installed outside of a working area and by which an operational instruction for the robotic arm is inputted, and a contactless action detecting part configured to detect a contactless action including at least one given operating condition parameter change instructing action by an operator, a control device communicably connected to the remote control device and configured to control operation of the robot main body.

8. 发明申请

US20180250825A1 ROBOT SYSTEM 审中-公开
公开(公告)号：US20180250825A1
公开(公告)日：2018-09-06
申请号：US15755246
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON , Shigetsugu TANAKA
IPC分类号： B25J9/16 , B25J3/00
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 robot system including a master device configured to receive a manipulating instruction from an operator and transmit the received manipulating instruction as a manipulating input signal, a plurality of slave robots configured to operate according to the manipulating input signal transmitted from the master device, a management control device configured to manage operations of the plurality of slave robots, respectively, and an output device configured to output information transmitted from the management control device. The management control device determines a priority of transmitting the manipulating input signal from the master device to the slave robot among the plurality of slave robots that are in a standby state of the manipulating input signal, and transmits information related to the determined priority to the output device. Thus, the operator is able to efficiently transmit the manipulating input signal to the plurality of slave robots through the master device.

9. 发明申请

US20180243918A1 ROBOT SYSTEM AND METHOD OF OPERATING THE SAME 审中-公开
公开(公告)号：US20180243918A1
公开(公告)日：2018-08-30
申请号：US15755111
申请日：2016-07-15
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Kenji NOGUCHI , Masayuki KAMON , Shigetsugu TANAKA
IPC分类号： B25J13/02 , B25J9/16 , B23Q15/12
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 robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.

10. 发明申请

US20180243921A1 REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：US20180243921A1
公开(公告)日：2018-08-30
申请号：US15755102
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 , B25J13/00 , G06F3/01 , B25J13/06
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： Robot main body having robotic arm, remote control device including robotic arm operational instruction input part for operator to control by touching, to input operational instruction for robotic arm, and contactless action detecting part configured to detect contactless action including at least one given operation instructing action of operator, and control device communicably connected to remote control device and configured to control operation of robot main body, are provided. Control device includes memory part configured to store operational instruction content data defining an operation mode of robot main body corresponding to at least one operation instructing action, operational instruction content identifying module to identify operation mode of robot main body of the operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of robot main body based on operation mode identified by operational instruction content identifying module.

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