公开(公告)号：US12085915B2

公开(公告)日：2024-09-10

申请号：US17750588

申请日：2022-05-23

申请人： KONINKLIJKE PHILIPS N.V.

发明人： Ivo Willem Josef Hamersma ,  Johan Juliana Dries ,  Markus Johannes Harmen Den Hartog ,  Yannick Morvan ,  Marinus Jacobus Gerardus Van De Molengraft

IPC分类号： G05B19/4061 ,  A61B6/00 ,  A61B6/10 ,  B25J9/16 ,  G05B19/406 ,  G06T19/00 ,  H04N7/18

CPC分类号： G05B19/4061 ,  A61B6/102 ,  A61B6/547 ,  B25J9/1666 ,  G05B19/406 ,  G06T19/00 ,  H04N7/183 ,  G05B2219/37567 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05B2219/40607 ,  G05B2219/45117 ,  G06T2210/21 ,  G06T2210/41

摘要： The present invention relates to safety in a dynamic 3D healthcare environment. The invention in particular relates to a medical safety-system for dynamic 3D healthcare environments, a medical examination system with motorized equipment, an image acquisition arrangement, and a method for providing safe movements in dynamic 3D healthcare environments. In order to provide improved safety in dynamic 3D healthcare environments with a facilitated adaptability, a medical safety-system (10) for dynamic 3D healthcare environments is provided, comprising a detection system (12), a processing unit (14), and an interface unit (16). The detection system comprises at least one sensor arrangement (18) adapted to provide depth information of at least a part of an observed scene (22). The processing unit comprises a correlation unit (24) adapted to correlate the depth information. The processing unit comprises a generation unit (26) adapted to generate a 3D free space model (32). The interface unit is adapted to provide the 3D free space model.

公开(公告)号：US11911916B2

公开(公告)日：2024-02-27

申请号：US17814776

申请日：2022-07-25

申请人： Boston Dynamics, Inc.

发明人： Alex Khripin ,  Alfred Anthony Rizzi

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

摘要： A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

公开(公告)号：US20180043536A1

公开(公告)日：2018-02-15

申请号：US15253723

申请日：2016-08-31

申请人： HON HAI PRECISION INDUSTRY CO., LTD.

发明人： YOU-YUN LEE ,  KUANG-YU LIU ,  YA-KUAN CHUANG ,  PO-HSIANG CHEN ,  PO-CHENG CHEN

IPC分类号： B25J9/16 ,  G05D1/02

CPC分类号： B25J9/1682 ,  B25J9/163 ,  B25J9/1651 ,  B25J9/1666 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05B2219/40475 ,  G05B2219/40476 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0274 ,  Y10S901/01 ,  Y10S901/08

摘要： An intelligent motion control system for devices moving in a locality includes a number of intelligent motion bodies and a server. The server includes a storage module, a task assigning module, a path planning module, and a communication module. The storage module stores a map and a path planning rule. The task assigning module assigns a motion task to each intelligent motion body. The path planning module plans a moving path for each intelligent motion body according to the map, the motion task, and the path planning rule. The communication module transmits the moving path to the intelligent motion body. The intelligent motion body moves according to the moving path and can provide feedback to the server as to any obstacles in the moving path. An intelligent motion control method is also disclosed.

公开(公告)号：US09827675B2

公开(公告)日：2017-11-28

申请号：US14953223

申请日：2015-11-27

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Tomohisa Moridaira

IPC分类号： B25J9/16

CPC分类号： B25J9/1666 ,  B25J9/1623 ,  G05B2219/39082 ,  Y10S901/02

摘要： A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.

公开(公告)号：US20170144300A1

公开(公告)日：2017-05-25

申请号：US15293414

申请日：2016-10-14

申请人： FANUC CORPORATION

发明人： Tatsuya OUMI

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  B25J9/161 ,  B25J9/1666 ,  B25J9/1674 ,  B25J9/1676 ,  B25J19/06 ,  G05B2219/36161 ,  G05B2219/36468 ,  G05B2219/39082 ,  G05B2219/40476

摘要： A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.

公开(公告)号：US09626868B2

公开(公告)日：2017-04-18

申请号：US12831473

申请日：2010-07-07

申请人： Masahiro Harada ,  Katsuhiro Sakai ,  Toshiki Kindo

发明人： Masahiro Harada ,  Katsuhiro Sakai ,  Toshiki Kindo

IPC分类号： G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G08G1/16 ,  B60L3/00 ,  B60Q1/52 ,  B60Q5/00 ,  B60Q9/00 ,  B60R21/013 ,  B60R21/0134 ,  B60W30/08 ,  B60T8/1755 ,  B60W30/095 ,  B62D15/02 ,  G01S13/93 ,  G01S13/94 ,  G01S15/93 ,  G08G3/02 ,  G08G5/04 ,  G08G7/02 ,  B60K31/00 ,  B60W30/16 ,  G06K9/00 ,  B60R21/01

CPC分类号： G08G1/166 ,  B60K31/0008 ,  B60L3/0007 ,  B60L3/0015 ,  B60Q1/525 ,  B60Q5/006 ,  B60Q9/004 ,  B60Q9/006 ,  B60Q9/008 ,  B60R21/013 ,  B60R21/0134 ,  B60R2021/01013 ,  B60R2300/8093 ,  B60T8/17558 ,  B60T2201/022 ,  B60W30/08 ,  B60W30/095 ,  B60W30/16 ,  B62D15/0265 ,  G01S13/93 ,  G01S13/94 ,  G01S15/93 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05D1/0289 ,  G06K9/00805 ,  G08G1/16 ,  G08G3/02 ,  G08G5/04 ,  G08G5/045 ,  G08G7/02

摘要： An object detection device can acquire information of an object in the vicinity of a host-vehicle for appropriate traveling assistance. An object detection device 1 includes a vehicle state detection section 2, an environmental situation acquisition section 3, a road information acquisition section 4, a detection control section 6, and a detection section 7. A host-vehicle state prediction section 61 acquires a target state of a host-vehicle 81. The detection section 7 detects an object. A parameter setting section 63 switches the detection characteristic of the object in the detection section 7 in accordance with the target state.

公开(公告)号：US20160224012A1

公开(公告)日：2016-08-04

申请号：US14432732

申请日：2014-08-08

申请人： ROBOTIC VISION TECHNOLOGIES, LLC

发明人： Shawn Hunt

IPC分类号： G05B19/4061 ,  B25J9/16

CPC分类号： G05B19/4061 ,  B25J9/1676 ,  G05B2219/39001 ,  G05B2219/39082 ,  G05B2219/39094 ,  G05B2219/40339

摘要： Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.

摘要翻译： 技术通常描述用于机器人设备的基于传感器的安全特征及其实现。 可以相对于机器人设备定位一个或多个传感器，使得传感器可以从围绕机器人设备的环境的至少一部分捕获光。 在一些示例中，传感器可以与机器人设备集成和/或可以被配置为旋转。 耦合到传感器的分析模块可以基于由传感器捕获的光来构建环境的模型图像。 分析模块可以响应于检测到模型图像的变化而检测到非预期对象正在接近机器人设备，并且基于对象到机器人设备的接近度和/或速度接近，分析模块可以指示 机器人设备降低机器人设备的运行速度和/或停止运动。

公开(公告)号：US09308654B2

公开(公告)日：2016-04-12

申请号：US14068927

申请日：2013-10-31

申请人： HONDA MOTOR CO., LTD.

发明人： Atsuo Orita

IPC分类号： G05B13/00 ,  B25J19/06 ,  B25J9/16

CPC分类号： B25J19/068 ,  B25J9/1635 ,  G05B2219/39082 ,  G05B2219/39186 ,  G05B2219/39342 ,  G05B2219/39345

摘要： Provided is a control device for a link mechanism capable of preventing a damage of joint mechanisms even in the case of a collision of a movable part against an external object. The control device 30 includes: a characteristic determination unit 34 which determines desired stiffness k_cmd_i of an elastic element 5 of each joint mechanism Ji so as to be within a range of first stiffness k1_i wherein the joint maximum elastic energy is equal to or more than joint collision kinetic energy to second stiffness k2_i wherein a first time is equal to or longer than a second time; and a characteristic control unit 35 which controls stiffness k_i of the elastic element 5 of each joint mechanism Ji to be the desired stiffness k_cmd_i.

摘要翻译： 提供一种用于连杆机构的控制装置，即使在可移动部件与外部物体碰撞的情况下也能够防止关节机构的损坏。 控制装置30包括：特性确定单元34，其确定每个关节机构Ji的弹性元件5的期望刚度k_cmd_i，以便在第一刚度k1_i的范围内，其中联合最大弹性能量等于或大于关节 碰撞动能到第二刚度k2_i，其中第一次等于或长于第二次; 以及将每个关节机构Ji的弹性元件5的刚度k_i控制为期望刚度k_cmd_i的特性控制单元35。

公开(公告)号：US09069347B2

公开(公告)日：2015-06-30

申请号：US13358150

申请日：2012-01-25

申请人： Rolf Kettemer

发明人： Rolf Kettemer

IPC分类号： G06F19/00 ,  G05B19/4061

CPC分类号： G05B19/4061 ,  G05B2219/37237 ,  G05B2219/37432 ,  G05B2219/39082 ,  G05B2219/49141 ,  G05B2219/49143

摘要： A numerically controlled machine tool for machining a workpiece is provided. The machine tool includes a work spindle, at least one feed axis, and a device for collision monitoring on said machine tool, wherein the device for collision monitoring includes a collision sensor mounted on a machine part of the machine tool, collision detection means for detecting a collision of machine parts of the machine tool when a measuring value detected by the collision sensor exceeds a collision limit value, and signal output means for outputting a stop signal for stopping the at least one work spindle and the at least one feed axis, of the machine tool when the collision detection means detects a collision. The machine tool includes a unit for determining the collision limit value on the machine tool.

摘要翻译： 提供了一种用于加工工件的数控机床。 机床包括工作主轴，至少一个进给轴线和用于在所述机床上进行碰撞监测的装置，其中用于碰撞监测的装置包括安装在机床的机器部分上的碰撞传感器，用于检测的碰撞检测装置 当由碰撞传感器检测到的测量值超过碰撞极限值时，机床的机器部件的碰撞;以及信号输出装置，用于输出用于停止至少一个工作主轴和至少一个进给轴的停止信号， 当碰撞检测装置检测到碰撞时机床。 机床包括用于确定机床上的碰撞极限值的单元。

公开(公告)号：US20140350725A1

公开(公告)日：2014-11-27

申请号：US14370372

申请日：2013-01-25

申请人： Adept Technology, Inc.

发明人： Matthew LaFary ,  Matthew Vestal ,  George V. Paul

IPC分类号： B25J9/16 ,  G05B19/4061

CPC分类号： B25J9/1676 ,  G05B19/4061 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05D1/024 ,  G05D1/0274 ,  G06N3/008 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/50

摘要： An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.

摘要翻译： 一种具有机器人基本控制器和机载导航系统的智能移动机器人，其响应于接收到指定与一个或多个作业操作相关联的作业位置的作业分配，激活所述车载导航系统以自动确定所述移动机器人 应该用于驾驶到作业位置，自动确定使用初始选择的路径可能导致移动机器人在物理环境中运行到静止或非静止障碍物（例如人或其他移动机器人）中，自动确定新的 避免静止和非固定障碍物的路径，并使用新路径自动将移动机器人驱动到作业位置，从而避免与这些障碍物的接触或碰撞。 在移动机器人到达作业位置之后，其自动执行与该作业位置相关联的所述一个或多个作业操作。