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1.WO/2020/138954MOBILE ROBOT AND METHOD FOR CONTROLLING MOBILE ROBOT
WO 02.07.2020
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Appl.No PCT/KR2019/018469 Applicant LG ELECTRONICS INC. Inventor BYUN, Jaejung
The present invention comprises: a driving unit for moving a main body; an image acquisition unit for acquiring surrounding images; and a control unit for analyzing the images acquired by the image acquisition unit so as to determine whether a reflector located around the main body exists, wherein the control unit determines whether the reflector exists around the main body on the basis of the degree of similarity between the images acquired by the image acquisition unit and previously stored images of the main body.
2.WO/2020/132756SYSTEM AND METHOD FOR CHANGING LINERS, THE CONFIGURATION OF WHICH ALLOWS THE AUTOMATED REMOVAL AND INSERTION OF LINERS OF A MILL USED FOR ORE GRINDING
WO 02.07.2020
Int.Class B02C 17/18
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
18Details
Appl.No PCT/CL2018/050150 Applicant MI ROBOTIC SOLUTIONS S.A. Inventor SALAMANCA POBLETE, Hugo
The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.
3.WO/2020/132924METHOD AND DEVICE FOR CALIBRATING EXTERNAL PARAMETERS OF ROBOT SENSOR, ROBOT AND STORAGE MEDIUM
WO 02.07.2020
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/CN2018/123793 Applicant UBTECH ROBOTICS CORP Inventor XIONG, Youjun
A method for calibrating an external parameter of a robot sensor, the method comprising: acquiring first sensor data and second sensor data obtained by a first sensor and a second sensor in a robot (110) collecting position information of a calibration reference object (120); converting said data into a same coordinate system, and correspondingly obtaining first converted sensor data and second converted sensor data; determining a first coordinate position (x0, y0) and a second coordinate position (x'0, y'0) of a reference point in the calibration reference object (120), and using the first coordinate position (x0, y0) and the second coordinate position (x'0, y'0) as a set of coordinate data; and when the relative positional relationship between the robot (110) and the calibration reference object (120) changes, repeating the steps above to obtain N sets of coordinate data, and then calculating external parameters between the first sensor and the second sensor. The present method improves the performance of the robot (110). In addition, also provided are a device for calibrating the external parameters of the robot sensor, the robot (110) and a storage medium.
4.WO/2020/133270DYNAMIC PARAMETER IDENTIFICATION METHOD FOR ROBOT, ROBOT AND STORAGE DEVICE
WO 02.07.2020
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/CN2018/125045 Applicant SHENZHEN A&E INTELLIGENT TECHNOLOGY INSTITUTE CO., LTD. Inventor WU, Feng
A dynamic parameter identification method for a robot, a robot and a storage device, the method comprising: at a plurality of different rotational speeds, enabling a driving motor to rotate at constant speeds, and acquiring corresponding armature current at each rotational speed; according to the corresponding armature current at each rotational speed, calculating corresponding friction torque at each rotational speed to form a plurality of data pairs of the rotational speeds and the friction torques; and establishing a friction polynomial model according to the data pairs, wherein the friction polynomial model is used to describe the relationship between the rotational speeds of the driving motor and the friction torques. The friction polynomial model may not only be used as a linear model, but also has the ability to express nonlinear characteristics, has better adaptability, and may simplify dynamic parameter identification and calculation for the robot.
5.WO/2020/136563STRUCTURAL ASSEMBLER
WO 02.07.2020
Int.Class B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
Appl.No PCT/IB2019/061303 Applicant SEMBLR TECHNOLOGIES LIMITED Inventor TEDBURY, Ivo
The present invention relates to a robot for use in an assembly system in which a structure is assembled out of a plurality of structural units, wherein the robot is configured to manoeuvre around the structure.
6.WO/2020/136867WORK ROBOT
WO 02.07.2020
Int.Class B25J 13/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
Appl.No PCT/JP2018/048452 Applicant FUJI CORPORATION Inventor NISHIMOTO Takeshi
A work robot comprising: an end effector which can hold a workpiece positioned on a work target object; a movement device which moves the end effector; a camera which image captures the work target object from above and acquires image data; an image processing unit which searches for an occupied region on the image data corresponding to the workpiece; and, an image determination unit which, on the basis of a search result from the image processing unit, determines the presence or absence of the workpiece on the work target object.
7.WO/2020/137176CONTROL DEVICE
WO 02.07.2020
Int.Class B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
Appl.No PCT/JP2019/043408 Applicant KYOCERA DOCUMENT SOLUTIONS INC. Inventor MORIGUCHI Kohei
This control device (20) comprises, in a control unit (21): a detection part (214) that detects a trespasser (P) to a movement-possible range (E1) of an arm (11); and a control part (215) that, when the detection part (214) detects a trespasser (P) to the movement-possible range (E1), sets an action prohibition range (E2) of the arm (11) to a range such that the arm (11) does not come into contact with the trespasser P, and controls the action of the arm accordingly.
8.WO/2020/137799ROBOT POSITION CORRECTION METHOD AND ROBOT
WO 02.07.2020
Int.Class B25J 9/10
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
Appl.No PCT/JP2019/049822 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor YOSHIDA, Masaya
This robot position correction method comprises: a correction step for rotating an arm around a first axis, detecting a rotation angle around the first axis when a target blocks detection light, and rotating the arm and/or a hand around the first axis, a second axis and/or a third axis, on the basis of a detection result to position the first axis, the third axis, and the target on the same straight line; and a correction amount calculation step for obtaining rotation angle correction amounts of the second axis and the third axis, on the basis of the rotation angles of the respective rotation axes acquired after the correction step in a first attitude.
9.WO/2020/137985WALL SURFACE TRAVELING DEVICE
WO 02.07.2020
Int.Class A47L 11/38
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
Appl.No PCT/JP2019/050389 Applicant SATOPEN, INC. Inventor SATO Junichi
The present invention is directed toward improving the stability of a wall surface traveling device when traveling on a wall surface. A wall surface traveling device 10 according to one embodiment of the present invention is configured to be capable of traveling on a wall surface 12W of a building by being pressed against the wall surface by means of a tension member 20 stretched along the wall surface. The wall surface traveling device is provided with: a travel unit 30 configured to travel along the wall surface; a contact unit 32 configured to come into contact with the tension member; a run-out detecting device 56 configured to detect run-out of the contact unit with respect to the tension member, in a second direction orthogonal to a first direction in which the tension member is stretched; a steering device 40 configured to change the orientation of a wheel of the travel unit; and a steering control unit 80 for controlling the operation of the steering device in such a way as to suppress the run-out detected by the run-out detecting device.
10.WO/2020/137402ELASTIC SUPPORT DEVICE
WO 02.07.2020
Int.Class A22B 5/20
AHUMAN NECESSITIES
22BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
BSLAUGHTERING
5Accessories for use during or after slaughtering
20Splitting instruments
Appl.No PCT/JP2019/047451 Applicant MAYEKAWA MFG. CO., LTD. Inventor UMINO, Tatsuya
An elastic support device according to one embodiment of the present invention comprises: a first member that includes a first magnet; and a second member that includes a second magnet, that is disposed to face the first member, and that can move relatively with respect to the first member when receiving an external force. The elastic support member is configured so that the magnetic force acting between the first magnet and the second magnet acts to hold the second member at an in-situ position when the second member does not receive an external force, and to return the second member to the in-situ position when the second member does move by receiving an external force.