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1.WO/2020/183877INFORMATION PROCESSING DEVICE AND INFORMATION PROCESSING METHOD
WO 17.09.2020
Int.Class B25J 13/00
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
Appl.No PCT/JP2020/000142 Applicant SONY CORPORATION Inventor ARIKI, Yuka
The present invention provides an information processing device comprising a learning unit that uses a convolutional network to learn a heuristic function pertaining to a path search, the information processing device being such that: the learning unit has a first convolutional network that outputs a first feature amount based on an environment map, and a second convolutional network that outputs a second feature amount pertaining to the internal state of a search subject; the learning unit performs learning in which there is used a loss pertaining to a connection value of the first feature amount and the second feature amount, and outputs a heuristic map in which the heuristic function is represented as a two-dimensional or higher image; and the internal state of the search subject includes at least one element having a degree of freedom different from a position in the environment.
2.WO/2020/183977COUNTER UNIT, COUNTER UNIT CONTROL METHOD, CONTROL DEVICE, AND CONTROL SYSTEM
WO 17.09.2020
Int.Class G05B 19/05
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
Appl.No PCT/JP2020/003898 Applicant OMRON CORPORATION Inventor NIWA, Yoshimi
The present invention regulates the timing of an output to an actuator without relying on a pulse signal cycle. A counter unit (10) executes an output to an actuator (40) at a time point when a waiting time indicated by a timing adjustment value (Ta) received from PLC (20) has elapsed since it was determined that an actual measurement value obtained by using a pulse signal has matched with a target value.
WO 17.09.2020
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/KR2019/002905 Applicant LG ELECTRONICS INC. Inventor KIM, Moonchan
A robot comprises: a base; at least one rolling bearing including an inner race and an outer race rotating along the circumference of the inner race; a spacer coming in contact with the outer race; a spin body to which the spacer is attached; and a spin mechanism connected to the spin body so as to rotate the spin body, wherein the spacer is disposed between the spin body and the rolling bearing to space the spin body apart from the rolling bearing, and the surface hardness of the spacer is greater than the surface hardness of the spin body.
4.WO/2020/185007DISTANCE MEASUREMENT SENSOR WHICH DETECTS ERROR STATE IN ACCORDANCE WITH FOREIGN SUBSTANCE AND MOBILE ROBOT
WO 17.09.2020
Int.Class G01S 7/497
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
48of systems according to group G01S17/58
497Means for monitoring or calibrating
Appl.No PCT/KR2020/003452 Applicant YUJIN ROBOT CO., LTD. Inventor SHIN, Kyung Chul
The exemplary embodiments of the present disclosure provides a distance measurement sensor and a mobile robot which detect an abnormal state which is a foreign substance jamming or blocking state generated in a non-sensing area and a sensing area of the sensor by analyzing a degree of dispersion or a representative value of data varying during a detection time, to recognize an abnormal state of the sensor caused by the foreign substance in the outside or inside of the distance measurement sensor.
5.WO/2020/185097APPARATUS FOR PERFORMING MACHINING OPERATIONS ON A VEHICLE CHASSIS
WO 17.09.2020
Int.Class B23Q 9/00
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL, CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
9Arrangements for supporting or guiding portable metal-working machines or apparatus
Appl.No PCT/NZ2020/050021 Applicant PMT NEW ZEALAND LIMITED Inventor MCCRAE, Corin Bruce
A mobile machining apparatus for machining a heavy transport vehicle chassis in situ comprises a programmable machining tool (PMT) with one or more implements to work on the chassis, at least one rail along which the PMT can travel, a drive mechanism to move the PMT along said rail, and at least one releasable attachment assembly adapted to secure the rail onto the chassis and/or a locating arrangement which locates the rail onto the chassis, to enable the PMT to traverse along member(s) of the chassis to be machined and to perform one or more machining tasks on the chassis member(s) whilst the apparatus is directly secured or located on the chassis.
6.WO/2020/185357MOTION TRANSFER OF HIGHLY DIMENSIONAL MOVEMENTS TO LOWER DIMENSIONAL ROBOT MOVEMENTS
WO 17.09.2020
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/US2020/018590 Applicant SONY INTERACTIVE ENTERTAINMENT INC. Inventor TAYLOR, Michael G.
Techniques for transferring highly dimensional movements to lower dimensional robot movements are described. In an example, a reference motion of a target is used to train a non-linear approximator of a robot to learn how to perform the motion. The robot and the target are associated with a robot model and a target model, respectively. Features related to the positions of the robot joints are input to the non-linear approximator. During the training, a robot joint is simulated, which results in movement of this joint and different directions of a robot link connected thereto. The robot link is mapped to a link of the target model. The directions of the robot link are compared to the direction of the target link to learn the best movement of the robot joint. The training is repeated for the different links and for different phases of the reference motion.
7.WO/2020/185797INSTRUMENT DRIVE UNIT TORQUE COMPENSATION USING INERTIAL MEASUREMENT UNIT
WO 17.09.2020
Int.Class A61B 34/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
Appl.No PCT/US2020/021917 Applicant COVIDIEN LP Inventor KAPADIA, Jaimeen
An instrument drive unit includes a housing defining a central longitudinal axis; an inertial measurement unit disposed within the housing and configured to determine a pose of the instrument drive unit; and a controller disposed within the housing, the controller configured to receive the pose of the instrument drive unit from the inertial measurement unit and to generate a corrected output signal which compensates for the pose of the instrument drive unit.
8.WO/2020/181566OBSTACLE-SURMOUNTING WALKING APPARATUS FOR POWER TRANSMISSION LINE INSPECTION ROBOT
WO 17.09.2020
Int.Class B25J 5/02
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
02travelling along a guideway
Appl.No PCT/CN2019/078446 Applicant JIANGNAN UNIVERSITY Inventor YAN, Wenxu
An obstacle-surmounting walking apparatus for a power transmission line inspection robot, comprising: a walking apparatus undercarriage (100); a first arm assembly (200), the first arm assembly (200) being mounted on one end of the walking apparatus undercarriage (100); a first linear drive means (210), the first linear drive means (210) driving the first arm assembly (200) to move linearly on one end of the walking apparatus undercarriage (100); a second arm assembly (300), the second arm assembly (300) being mounted on the end of the walking apparatus undercarriage (100) away from the first arm assembly (200); a second linear drive means (310), the second linear drive means (310) driving the second arm assembly (300) to move linearly on the end of the walking apparatus undercarriage (100) away from the first arm assembly (200); and a third arm assembly (400). The beneficial effects are a large turning range and good balance.
9.WO/2020/183026METHOD FOR DETERMINING THE POSITION OF A WORKPIECE, IN PARTICULAR FOR CONTROL OF AN INDUSTRIAL ROBOT
WO 17.09.2020
Int.Class G05B 19/402
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
402characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
Appl.No PCT/EP2020/057010 Applicant ESE-ROBOTICS GMBH Inventor ECKARDT, Steffen
The invention relates to methods for determining a position of a workpiece (1), in particular for control of an industrial robot, and, according to one aspect, comprises the following steps: capturing image data of at least one image of a workpiece (1) by means of a first camera (2), the optical axis of which runs parallel to a direction of impact of a tool (3). The captured image data is used to search for a reference structure (4) of the workpiece (1), and a current, actual position of at least one reference point (+) of the reference structure (4) in the x-/y-direction relative to the optical axis (oa) of the first camera (2) is determined. According to the invention, the current, actual position of the reference structure (4) is compared with a target position of the reference structure (4), and comparison data are generated. The position of the workpiece (1) in relation to a basic coordinate system is concluded by means of the comparison data. According to a further aspect, following a comparison of the current, actual position of the reference structure (4) with a target position of the reference structure (4), control commands are generated which are used to move the tool (3) to at least one region or location of the workpiece (1) to be machined. According to the invention, a current, actual position of the reference structure (4) in the z-direction of the optical axis (oa) is additionally determined in that a current x/y-image variable of the reference structure (4) in the captured image is determined and, by comparison with the known actual x/y variable of the reference structure (4), a distance of the reference structure (4) from the first camera (2) is determined and is taken into consideration when generating the control command.
10.WO/2020/184736ARTIFICIAL INTELLIGENCE CLEANER AND OPERATION METHOD THEREFOR
WO 17.09.2020
Int.Class A47L 9/28
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Appl.No PCT/KR2019/002718 Applicant LG ELECTRONICS INC. Inventor CHAE, Seungah
An artificial intelligence cleaner according to one embodiment of the present invention may comprise: a memory; a microphone for receiving a voice command; an image sensor for acquiring image data; a driving operation unit for driving the artificial intelligence cleaner; and a processor which determines whether a cleaning indication image is recognized, by using the image data, if the voice command inputted to the microphone is a command indicating a priority cleaning area, and which acquires the location of a user by using the image data, if the cleaning indication image is recognized, and which controls the driving operation unit to move the artificial intelligence cleaner to the acquired location of the user.