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1. 发明授权

US09193070B2 Robot, control system for controlling motion of a controlled object, and recording medium for control program for controlling motion of a controlled object 有权
标题翻译：用于控制受控对象的运动的机器人控制系统，以及用于控制受控对象运动的控制程序的记录介质
公开(公告)号：US09193070B2
公开(公告)日：2015-11-24
申请号：US13086850
申请日：2011-04-14
申请人： Yoshiki Kanemoto
发明人： Yoshiki Kanemoto
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/34141 , G05B2219/34175 , G05B2219/40428 , G05B2219/40449 , G05B2219/40476 , G05B2219/40512 , G05B2219/40519
摘要： A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.
摘要翻译：能够维持受控对象的运动的连续性或平滑性的系统等。根据本发明的控制系统1和作为其控制对象的机器人R，通过进行内插处理来生成期望的位置轨迹，该内插处理生成由以下的点序列的线性组合表示的线段模型空间具有空间插值作为耦合系数的基函数。因此，通过多个点（控制点）的线性组合来表示连续平滑地连接起始点和终点的线段，而不是通过设置在模型空间中的多个点的虚线。

2. 发明申请

US20150100194A1 TRAJECTORY GENERATION DEVICE, MOVING OBJECT, TRAJECTORY GENERATION METHOD 有权
标题翻译： TRAJECTORY GENERATION DEVICE，MOVING OBJECT，TRAJECTORY GENERATION METHOD
公开(公告)号：US20150100194A1
公开(公告)日：2015-04-09
申请号：US14384763
申请日：2013-03-14
申请人： Koji Terada
发明人： Koji Terada
IPC分类号： B25J9/16 , B25J9/00
CPC分类号： B25J9/1666 , B25J9/0003 , G05B2219/40428 , G05B2219/40431 , G05B2219/40512 , G05B2219/40516 , G05B2219/40519 , G05D1/0214 , Y10S901/01 , Y10S901/02
摘要： A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.
摘要翻译：轨迹生成装置包括存储多个轨迹的存储单元; 轨迹获取单元，从存储在存储单元中的多个轨迹中获取与当前环境类似的环境的轨迹; 以及轨迹生成单元，其计算存在于由所述轨迹获取单元获取的轨迹中的移动物体移动区域中的最长轨迹部，并且通过将计算出的最长轨迹部的两端连接到规定的起点，生成轨迹和预定的终点。

3. 发明申请

US20110264265A1 ROBOT, CONTROL SYSTEM, AND RECORDING MEDIUM FOR CONTROL PROGRAM 有权
标题翻译：机器人，控制系统和控制程序记录介质
公开(公告)号：US20110264265A1
公开(公告)日：2011-10-27
申请号：US13086850
申请日：2011-04-14
申请人： Yoshiki Kanemoto
发明人： Yoshiki Kanemoto
IPC分类号： B25J9/16 , G05B19/25
CPC分类号： B25J9/1666 , G05B2219/34141 , G05B2219/34175 , G05B2219/40428 , G05B2219/40449 , G05B2219/40476 , G05B2219/40512 , G05B2219/40519
摘要： A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.
摘要翻译：能够维持受控对象的运动的连续性或平滑性的系统等。根据本发明的控制系统1和作为其控制对象的机器人R，通过进行内插处理来生成期望的位置轨迹，该内插处理生成由以下的点序列的线性组合表示的线段模型空间具有空间插值作为耦合系数的基函数。因此，通过多个点（控制点）的线性组合来表示连续平滑地连接起始点和终点的线段，而不是通过设置在模型空间中的多个点的虚线。

4. 发明授权

US09993923B2 Trajectory generation device, moving object, trajectory generation method 有权
公开(公告)号：US09993923B2
公开(公告)日：2018-06-12
申请号：US14384763
申请日：2013-03-14
申请人： Koji Terada
发明人： Koji Terada
IPC分类号： B25J9/16 , G05D1/02 , B25J9/00
CPC分类号： B25J9/1666 , B25J9/0003 , G05B2219/40428 , G05B2219/40431 , G05B2219/40512 , G05B2219/40516 , G05B2219/40519 , G05D1/0214 , Y10S901/01 , Y10S901/02
摘要： A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

5. 发明授权

US08942847B2 Mobile apparatus and robot, and control system thereof 有权
标题翻译：移动装置和机器人及其控制系统
公开(公告)号：US08942847B2
公开(公告)日：2015-01-27
申请号：US13313318
申请日：2011-12-07
申请人： Nobuyuki Ohno , Makoto Sekiya
发明人： Nobuyuki Ohno , Makoto Sekiya
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/35148 , G05B2219/40428 , G05B2219/40475
摘要： Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2(k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2(k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2(k) is longer than a previous time interval or the like.
摘要翻译：考虑到受控对象的状态，提供了能够在时空坐标系中适当地搜索受控对象的期望轨迹的系统等。时空坐标系中的第一参考点q1（k）和第二参考点q2（k）之间的初始位置关系（k = 1）被设置为满足根据致动器的运动性能定义的第一条件当先前的轨迹候选tr（k-1）被确定为与对象轨迹tro接触时，第一参考点q1（k）和第二参考点q2（k）之间的当前位置关系（k> 1）时间空间坐标系中的k）设定为满足第一基准点q1（k）和第二基准点q2（k）之间的当前时间间隔比前一时间间隔等长的第二条件。

6. 发明申请

US20120150350A1 MOBILE APPARATUS AND ROBOT, AND CONTROL SYSTEM THEREOF 有权
标题翻译：移动设备和机器人及其控制系统
公开(公告)号：US20120150350A1
公开(公告)日：2012-06-14
申请号：US13313318
申请日：2011-12-07
申请人： Nobuyuki Ohno , Makoto Sekiya
发明人： Nobuyuki Ohno , Makoto Sekiya
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/35148 , G05B2219/40428 , G05B2219/40475
摘要： Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2 (k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2 (k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2 (k) is longer than a previous time interval or the like.
摘要翻译：考虑到受控对象的状态，提供了能够在时空坐标系中适当地搜索受控对象的期望轨迹的系统等。时空坐标系中的第一参考点q1（k）和第二参考点q2（k）之间的初始位置关系（k = 1）被设置为满足根据致动器的运动性能定义的第一条件当先前的轨迹候选tr（k-1）被确定为与对象轨迹tro接触时，第一参考点q1（k）和第二参考点q2（k）之间的当前位置关系（k> 1）时间空间坐标系中的k）设定为满足第一基准点q1（k）和第二基准点q2（k）之间的当前时间间隔比前一时间间隔等长的第二条件。

7. 发明授权

US12049012B2 Motion path generation device, motion path generation method, and non-transitory tangible computer readable storage medium 有权
公开(公告)号：US12049012B2
公开(公告)日：2024-07-30
申请号：US17363462
申请日：2021-06-30
申请人： DENSO CORPORATION
发明人： Shota Ishikawa
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1653 , B25J9/1664 , G05B2219/40428 , G05B2219/40429
摘要： A motion path generation device generates a motion path of a robot that has a plurality of joints and a plurality of shafts. Adjacent two of the plurality of shafts are connected by a corresponding one of the plurality of joints. The motion path generation device generates a via point candidate that is a candidate of a next via point to be connected to a parent via point. The motion path generation device adds the via point candidate as a new via point in response to determining that the via point candidate does not interfere with an obstacle.

8. 发明申请

US20170057087A1 DEVICE FOR PLANNING PATH OF MOBILE ROBOT AND METHOD FOR PLANNING PATH OF MOBILE ROBOT 审中-公开
标题翻译：移动机器人规划设备及移动机器人路线规划方法
公开(公告)号：US20170057087A1
公开(公告)日：2017-03-02
申请号：US15308404
申请日：2015-04-28
申请人： HANWHA TECHWIN CO., LTD.
发明人： Jin Han LEE
IPC分类号： B25J9/16 , G05D1/02 , G01C21/34
CPC分类号： B25J9/1666 , B25J9/1664 , G01C21/3446 , G01C21/3453 , G05B2219/40428 , G05D1/0214 , G05D1/0217 , G05D1/0274 , Y10S901/01
摘要： Disclosed are a device for planning a path of a mobile robot and a method for planning a path of a mobile robot. The device for planning a path of a mobile robot and the method for planning a path of a mobile robot, according to the present invention, extend a route planning tree by sampling grid-based nodes between a start point and a target point of the mobile robot. Therefore, the present invention can configure a path plan of the mobile robot to be a path optimized within a quick time.
摘要翻译：公开了一种用于规划移动机器人的路径的装置和用于规划移动机器人的路径的方法。根据本发明的用于规划移动机器人的路径的装置和用于规划移动机器人的路径的方法通过在移动台的起始点和目标点之间采样基于网格的节点来扩展路线规划树机器人。因此，本发明可以将移动机器人的路径规划配置为在快速时间内优化的路径。

9. 发明申请

US20160059408A1 TRAVELING ROBOT, NOTION PLANNING METHOD FOR TRAVELING ROBOT, AND STORAGE MEDIUM STORING PROGRAM FOR TRAVELING ROBOT 审中-公开
标题翻译：旅行机器人，旅行机器人的规划方法，以及旅行机器人的存储媒体存储方案
公开(公告)号：US20160059408A1
公开(公告)日：2016-03-03
申请号：US14843523
申请日：2015-09-02
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Toru ISOBE
IPC分类号： B25J9/02 , B25J5/00
CPC分类号： B25J5/007 , B25J9/162 , G05B2219/35124 , G05B2219/40428 , Y10S901/01 , Y10S901/02 , Y10S901/29 , Y10S901/46
摘要： A traveling robot includes a mobile unit, an arm and an electronic control unit. The electronic control unit is configured to set a target position to which the traveling robot intends to travel. The electronic control unit is configured to calculate a center of gravity of the traveling robot. The electronic control unit is configured to plan a motion of a movable part of the mobile unit and/or arm to the set target position. The electronic control unit is configured to, in the case where the traveling robot is close to the set target position, plan the motion of the movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.
摘要翻译：行走机器人包括移动单元，手臂和电子控制单元。电子控制单元被配置为设置旅行机器人要行进的目标位置。电子控制单元被配置为计算行进机器人的重心。电子控制单元被配置为将移动单元和/或臂的可移动部分的运动设计到设定的目标位置。电子控制单元构成为，在行走机器人靠近设定目标位置的情况下，规划移动单元和/或臂的可动部的动作，使得对重心的范围的限制与行进机器人远离设定目标位置的情况下的重心范围的限制相比，放松。

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