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    Machine for performing machining operations on a workpiece and method of controlling same
    73.
    发明申请
    Machine for performing machining operations on a workpiece and method of controlling same 有权
    用于对工件进行加工操作的机器及其控制方法

    公开(公告)号：US20030120377A1

    公开(公告)日：2003-06-26

    申请号：US10025578

    申请日：2001-12-26

    Applicant: Lockheed Martin Corporation

    Inventor： David Hooke ,  Matt Swain

    IPC: G06F019/00

    CPC classification number: B25J5/007 ,  B23Q9/00 ,  B23Q17/2233 ,  B23Q17/24 ,  B25J9/162 ,  B25J9/1694 ,  B25J13/089 ,  B25J19/022 ,  G05B2219/40623

    Abstract: A machine for performing machining operations on a work-piece is disclosed that includes a carriage with a robotic arm mounted thereon. The arm includes a movable head containing a tool for performing the machining operations on the work-piece. A laser position determination system is included for determining the actual spatial relationship position the carriage and the work-piece and providing a first signal representative thereof and further determining the spatial relationship of the head to the work-piece during actual machining operations on the work-piece and providing a second signal representative thereof. A computer having a computer program provides a third signal to the robotic arm for machining the work-piece based on a predetermined spatial relationship between the carriage and the work-piece and for receiving the first and second signals and adjusting the third signal based on the actual spatial relationship between the carriage and the work-piece and the head and the work-piece.

    Abstract translation: 公开了一种用于在工件上执行加工操作的机器，其包括安装有机器臂的滑架。 臂包括一个可移动的头部，其包含用于在工件上进行加工操作的工具。 包括激光位置确定系统，用于确定滑架和工件的实际空间关系位置，并提供代表它的第一信号，并且进一步在实际加工操作期间确定头部与工件在工件上的空间关系， 并提供其代表的第二信号。 具有计算机程序的计算机向机器人臂提供第三信号，用于基于滑架和工件之间的预定空间关系来加工工件，并且用于接收第一和第二信号并且基于 滑架与工件与头部和工件之间的实际空间关系。

    Method for mobile robot motion control
    74.
    发明授权
    Method for mobile robot motion control 失效
    移动机器人运动控制方法

    公开(公告)号：US06453212B1

    公开(公告)日：2002-09-17

    申请号：US09657084

    申请日：2000-09-07

    Applicant: Hajime Asama ,  Hayoto Kaetsu ,  Kuniaki Kawabata ,  Kazuhiro Kosuge ,  Yasuhisa Hirata

    Inventor： Hajime Asama ,  Hayoto Kaetsu ,  Kuniaki Kawabata ,  Kazuhiro Kosuge ,  Yasuhisa Hirata

    IPC: B06F1900

    CPC classification number: B25J9/162 ,  B25J5/007 ,  G05B2219/36429

    Abstract: In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.

    Abstract translation: 在为了控制移动机器人的运动特性的移动机器人运动控制的方法中，将移动机器人的这种动作特性设为实际上等效于施法者的运动特性，从而实现适应于外力的运动性能。 因此，提供了一种用于移动机器人运动控制的方法，通过该方法可以通过人和移动机器人协同操作对象。

    Tool-supporting self-propelled robot platform
    75.
    发明授权
    Tool-supporting self-propelled robot platform 失效
    工具支撑自走式机器人平台

    公开(公告)号：US4536690A

    公开(公告)日：1985-08-20

    申请号：US435212

    申请日：1982-10-19

    Applicant: Charles A. Belsterling ,  Robert K. Soberman

    Inventor： Charles A. Belsterling ,  Robert K. Soberman

    IPC: B23Q1/54 ,  B25J5/00 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J15/02 ,  B25J17/02 ,  B25J19/00 ,  B62D57/02 ,  G05B19/408 ,  G05B19/40

    CPC classification number: G05B19/4086 ,  B23Q1/5462 ,  B25J15/0206 ,  B25J17/0216 ,  B25J19/005 ,  B25J5/007 ,  B25J9/041 ,  B25J9/162 ,  B25J9/1623 ,  B62D57/02 ,  G05B2219/40277 ,  G05B2219/40298 ,  G05B2219/41309 ,  G05B2219/45071 ,  G05B2219/49257 ,  G05B2219/49271 ,  G05B2219/50162 ,  G05B2219/50215

    Abstract: A self-propelled robot platform consists of a frame with a plurality of casters to support the frame on and space the frame from a supporting surface, as well as permitting any selected direction of movement over the support surface. At least two linear motors are arranged on the frame transversely to one another and generally parallel to the support surface and so that their flux links the support surface. The support surface is preferably a conductor such that by a combination of signals to the respective motor means, the motor fluxes linking the supporting surface will drive the platform. The platform is provided with tool support means and that tool support means includes articulation structure with associated drive means which permits tool positioning. As a consequence, the robot platform may be moved over the surface in a predetermined pattern doing work with a supported tool or it may be moved from point to point where work is to be done where the tool is actuated either manually or by programmed information. If the support surface is magnetic, the surface need not be horizontal to hold the platform.A system for driving the platform includes input means for selecting platform movement and tool operation, which may include both manual and computer control. The input means, in turn, drives control means to select the appropriate linear motor means at a given time and sequence to achieve desired movement. Control means selects the motors to be energized by a power source. A means is also provided to drive the respective drive means of the articulation structure to produce desired tool movement. Both platform and tool position sensing signals are preferably fed back to the drive means to correct their drive signals.

    Abstract translation: 自走式机器人平台由具有多个脚轮的框架组成，以支撑框架并将框架从支撑表面放置，并允许在支撑表面上移动任何选定的方向。 至少两个线性电动机布置在框架上彼此横向并且大致平行于支撑表面并且使得它们的磁通链接支撑表面。 支撑表面优选地是导体，使得通过将信号组合到相应的电动机装置，连接支撑表面的电动机通量将驱动平台。 平台设置有工具支撑装置，并且工具支撑装置包括具有允许工具定位的相关联的驱动装置的关节运动结构。 因此，机器人平台可以以预定的图案移动到表面上，使用支撑的工具进行工作，或者可以在工作被手动地或通过编程的信息来启动工作的点之间移动。 如果支撑表面是磁性的，则表面不需要是水平的来保持平台。 用于驱动平台的系统包括用于选择平台移动和工具操作的输入装置，其可以包括手动和计算机控制。 输入装置又驱动控制装置以在给定的时间和顺序选择适当的线性电动机装置以实现期望的运动。 控制装置选择要由电源通电的电机。 还提供一种装置来驱动关节运动结构的相应驱动装置以产生所需的工具运动。 平台和工具位置感测信号都优选地反馈到驱动装置以校正其驱动信号。

    SERVICE ROBOT AND METHOD FOR PROVIDING DELIVERY SERVICE THEREOF
    76.
    发明公开
    SERVICE ROBOT AND METHOD FOR PROVIDING DELIVERY SERVICE THEREOF 审中-公开

    公开(公告)号：US20240353841A1

    公开(公告)日：2024-10-24

    申请号：US18509992

    申请日：2023-11-15

    Applicant: HYUNDAI MOTOR COMPANY ,  KIA CORPORATION

    Inventor： Ga Hee Kim ,  Yun Sub Kim ,  Hwan Hee Lee ,  Seung Yong Lee

    IPC: G05D1/02 ,  B25J9/16

    CPC classification number: G05D1/0238 ,  B25J9/162 ,  B25J9/1679 ,  B25J9/1697

    Abstract: A service robot and a method for providing a delivery service thereof are provided. The service robot includes a camera, a light detection and ranging (LiDAR) sensor, a driving device including a robotic arm, a processor, and storage. The processor: obtains an image by capturing the outside of the service robot; detects a target vehicle from the image; compares an image of the detected target vehicle with the reference vehicle image; recognizes a type of the target vehicle; recognizes vehicle information; recognizes a distance from the target vehicle; compares the LiDAR data with the vehicle information; recognizes at least one relative direction of the target vehicle; determines a target position and a path; controls the service robot to move to the target position along the path; and controls the service robot to deliver the delivery product to the target vehicle.

    CONTROL SYSTEM AND CONTROL METHOD
    77.
    发明公开
    CONTROL SYSTEM AND CONTROL METHOD 审中-公开

    公开(公告)号：US20240351189A1

    公开(公告)日：2024-10-24

    申请号：US18627604

    申请日：2024-04-05

    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Takumi SAKAMOTO ,  Shiro ODA ,  Takeshi MATSUI

    IPC: B25J5/00 ,  B25J9/16 ,  B25J19/00

    CPC classification number: B25J5/007 ,  B25J9/161 ,  B25J9/162 ,  B25J9/1661 ,  B25J19/0037

    Abstract: A control system includes one or more processors configured to perform system control for controlling a system including a mobile robot configured to move autonomously and transport a transport object. The mobile robot includes a contact portion which comes into contact with a transport box configured to store the transport object when loading and transporting the transport box, and a first light-emitting unit provided around the contact portion and configured to emit light in a predetermined light emission pattern associated with a state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit provided on the transport box. The system control includes control on the box-side light-emitting unit to emit light in a light emission pattern corresponding to the predetermined light emission pattern of the first light-emitting unit when the transport box is loaded on the contact portion.

    Fast and robust initialization method for feature-based monocular visual SLAM using inertial odometry assistance
    78.
    发明授权
    Fast and robust initialization method for feature-based monocular visual SLAM using inertial odometry assistance 有权

    公开(公告)号：US12115685B2

    公开(公告)日：2024-10-15

    申请号：US17305655

    申请日：2021-07-12

    Applicant: Midea Group Co., Ltd.

    Inventor： Thanh Huy Ha ,  Yi Chen ,  Zhicai Ou

    IPC: B25J9/16 ,  B25J13/08 ,  G06T7/579

    CPC classification number: B25J9/1697 ,  B25J9/162 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1679 ,  B25J13/088 ,  G06T7/579

    Abstract: A method and system for capturing, by a camera a sequence of frames at respective locations within a portion of an environment; capturing, by an inertial measurement unit, a sequence of inertial odometry data corresponding to the sequence of frames at the respective locations; storing in a queue a data record includes information extracted from processing the respective frame and information from the inertial measurement unit; in accordance with a determination that the sequence of inertial odometry data satisfies a first criterion: calculating a first relative pose between the first frame and the second frame; and in accordance with a determination that a difference between the first relative pose and the information extracted from processing the respective frame satisfy a first threshold: generating an initial map of the portion of the environment based on the first data record and the second data record.

    Method for handling spacer frames
    79.
    发明授权
    Method for handling spacer frames 有权

    公开(公告)号：US12104433B2

    公开(公告)日：2024-10-01

    申请号：US17628499

    申请日：2020-07-22

    Applicant: LISEC AUSTRIA GMBH

    Inventor： Clemens Macarei ,  Walter Heiden

    IPC: B32B41/00 ,  B25J9/00 ,  B25J9/16 ,  E06B3/663 ,  E06B3/673 ,  B25J9/04 ,  B25J15/00

    CPC classification number: E06B3/67373 ,  B25J9/0084 ,  B25J9/162 ,  E06B3/66342 ,  E06B3/67317 ,  E06B3/67321 ,  B25J9/04 ,  B25J15/00

    Abstract: A system that can travel and rotate and is designed in the manner of an at least one-armed robot is used for handling spacer frames in the course of the production of insulating glass. The system grasps a spacer frame with a gripper system provided to rotate at the free end of the robot arm. A spacer frame is moved by the system to stations of a line for producing insulating glass. For example, a spacer frame is held in a station for producing spacer frames, moved to a station for filling the spacer frame, when the spacer frame is to be filled with hygroscopic material, then further moved to a station, in which the lateral surfaces of the spacer frame are coated with sealing and adhesive agents, and finally moved to a station for assembling insulating glass, in which the spacer frame is mounted on a glass panel.

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