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1. 发明授权

US583882A Excelsior-cutting machine 失效
公开(公告)号：US583882A
公开(公告)日：1897-06-08
申请号：US583882D
CPC分类号： B27L11/04 , G05B2219/39391 , G05B2219/40087 , G05B2219/40555 , G05B2219/40571 , G05B2219/40573 , G05B2219/40623

2. 发明申请

US20080027580A1 Robot programming method and apparatus with both vision and force 审中-公开
标题翻译：机器人编程方法和仪器具有视觉和力量
公开(公告)号：US20080027580A1
公开(公告)日：2008-01-31
申请号：US11495016
申请日：2006-07-28
申请人： Hui Zhang , Jianjun Wang , Heping Chen
发明人： Hui Zhang , Jianjun Wang , Heping Chen
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , B25J9/1633 , B25J9/1694 , G05B2219/39391 , G05B2219/40571
摘要： Both vision and force control are used to program a robot so that a tool having a tip can follow a desired path visibly marked on a workpiece when the tool is to perform work on the workpiece. There is a force sensor, a camera positioned to view the visibly marked path and a computing device. When the tool tip is in controlled contact with an area of the workpiece that includes the desired path, the camera and the force sensor each provide information to the computing device. The information is used to develop a program to move the robot to cause the tool tip to follow the desired path when the tool is to perform work on the workpiece. The tool can move in relation to the workpiece and the camera is mounted on the robot or the workpiece moves in relation to the stationary camera and tool.
摘要翻译：视觉和力控制都用于对机器人进行编程，使得具有尖端的工具可以在工具对工件进行加工时遵循在工件上可视地标记的期望路径。有一个力传感器，一个照相机定位，以查看明显标记的路径和一个计算设备。当工具尖端与包括所需路径的工件的区域受控接触时，照相机和力传感器各自向计算设备提供信息。该信息用于开发一个程序来移动机器人，以使工具在工件上对工件执行工作时使刀尖遵循所需的路径。该工具可以相对于工件移动，并且相机安装在机器人上，或者工件相对于固定式照相机和工具移动。

3. 发明授权

US09050719B2 Method for the selection of physical objects in a robot system 有权
标题翻译：在机器人系统中选择物理对象的方法
公开(公告)号：US09050719B2
公开(公告)日：2015-06-09
申请号：US13806426
申请日：2011-05-05
申请人： Harri Valpola , Tuomas Lukka
发明人： Harri Valpola , Tuomas Lukka
IPC分类号： B25J9/00 , B25J9/16 , B25J13/08
CPC分类号： B25J9/00 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/085 , G05B2219/39528 , G05B2219/40053 , G05B2219/40571 , Y10S901/09
摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined. Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.
摘要翻译：一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或夹持器以将夹具移动到目标位置。力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。确定执行第一指令失败。从至少一个第一传感器接收第二传感器数据。从第二传感器数据确定对象的成功夹持。

4. 发明申请

US20130151007A1 METHOD FOR THE SELECTION OF PHYSICAL OBJECTS IN A ROBOT SYSTEM 有权
标题翻译：在机器人系统中选择物理对象的方法
公开(公告)号：US20130151007A1
公开(公告)日：2013-06-13
申请号：US13806426
申请日：2011-05-05
申请人： Harri Valpola , Tuomas Lukka
发明人： Harri Valpola , Tuomas Lukka
IPC分类号： B25J9/00 , B25J13/08
CPC分类号： B25J9/00 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/085 , G05B2219/39528 , G05B2219/40053 , G05B2219/40571 , Y10S901/09
摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.
摘要翻译：一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或夹持器以将夹具移动到目标位置。力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。确定执行第一指令的失败确定从至少一个第一传感器接收第二传感器数据。从第二传感器数据确定对象的成功夹持。

5. 发明授权

US07822508B2 Autonomous mobile robot and goods carrying method of using the same 有权
标题翻译：自主移动机器人和货物携带方法使用相同
公开(公告)号：US07822508B2
公开(公告)日：2010-10-26
申请号：US11636597
申请日：2006-12-11
申请人： Kenichiro Sugiyama , Taro Yokoyama , Takeshi Koshiishi , Hiroyuki Makino
发明人： Kenichiro Sugiyama , Taro Yokoyama , Takeshi Koshiishi , Hiroyuki Makino
IPC分类号： G06F19/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译：自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。

6. 发明申请

US20070152619A1 Autonomous mobile robot and goods carrying method of using the same 有权
标题翻译：自主移动机器人和货物携带方法使用相同
公开(公告)号：US20070152619A1
公开(公告)日：2007-07-05
申请号：US11636597
申请日：2006-12-11
申请人： Kenichiro Sugiyama , Taro Yokohama , Takeshi Koshiishi , Hiroyuki Makino
发明人： Kenichiro Sugiyama , Taro Yokohama , Takeshi Koshiishi , Hiroyuki Makino
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译：自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。

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