JP7462891B2 - エスカレータを検出するためのシステム、装置、及び方法 - Google Patents

エスカレータを検出するためのシステム、装置、及び方法 Download PDF

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Publication number
JP7462891B2
JP7462891B2 JP2021533466A JP2021533466A JP7462891B2 JP 7462891 B2 JP7462891 B2 JP 7462891B2 JP 2021533466 A JP2021533466 A JP 2021533466A JP 2021533466 A JP2021533466 A JP 2021533466A JP 7462891 B2 JP7462891 B2 JP 7462891B2
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Prior art keywords
distance measurement
drop
escalator
sensor
region
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Japanese (ja)
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JP2022511978A (ja
JP2022511978A5 (https=
Inventor
アブドルハミド バディオザマニ
クリスティアン エドゥアルド トロンコソ パレデス
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Brain Corp
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Brain Corp
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical 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 program data in numerical form
    • G05B19/19—Numerical 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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/27—Numerical 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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
    • G05B19/31—Numerical 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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for continuous-path control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B29/00—Safety devices of escalators or moving walkways
    • B66B29/005—Applications of security monitors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical 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 program data in numerical form
    • G05B19/406—Numerical 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 program data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34351—Knowledge acquisition of environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40548—Compare measured distances to obstacle with model of environment

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
JP2021533466A 2018-12-11 2019-12-11 エスカレータを検出するためのシステム、装置、及び方法 Active JP7462891B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862778030P 2018-12-11 2018-12-11
US62/778,030 2018-12-11
PCT/US2019/065643 WO2020123605A1 (en) 2018-12-11 2019-12-11 Systems, apparatuses, and methods for detecting escalators

Publications (3)

Publication Number Publication Date
JP2022511978A JP2022511978A (ja) 2022-02-01
JP2022511978A5 JP2022511978A5 (https=) 2022-12-20
JP7462891B2 true JP7462891B2 (ja) 2024-04-08

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JP2021533466A Active JP7462891B2 (ja) 2018-12-11 2019-12-11 エスカレータを検出するためのシステム、装置、及び方法

Country Status (6)

Country Link
US (1) US11529736B2 (https=)
EP (1) EP3894969A4 (https=)
JP (1) JP7462891B2 (https=)
KR (1) KR20210110610A (https=)
TW (1) TW202030141A (https=)
WO (1) WO2020123605A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022221242A1 (en) * 2021-04-14 2022-10-20 Brain Corporation Systems and methods for robotic detection of escalators and moving walkways
CN116964599B (zh) * 2022-02-25 2026-03-10 厦门大学 基于激光雷达的三维人体动作捕捉方法、训练方法及系统
EP4241928A1 (en) * 2022-03-07 2023-09-13 Körber Suppy Chain DK A/S Method for operating a material handling apparatus
JP7205003B1 (ja) * 2022-03-17 2023-01-16 三菱電機株式会社 検知装置、センサ、検知システム、および、検知方法
KR20240028125A (ko) * 2022-08-24 2024-03-05 삼성전자주식회사 에스컬레이터에서 하차하는 로봇 및 그 제어 방법
EP4501552A4 (en) * 2022-08-24 2025-12-03 Samsung Electronics Co Ltd ROBOT DESCENDING A MECHANICAL STAIRCASE AND ASSOCIATED CONTROL METHOD
KR20240029678A (ko) 2022-08-26 2024-03-06 삼성전자주식회사 무빙 워크를 이용하는 로봇 및 그 제어 방법
KR20240029454A (ko) 2022-08-26 2024-03-05 삼성전자주식회사 로봇 및 로봇의 제어 방법
CN116449842B (zh) * 2023-04-21 2026-03-27 潍柴雷沃智慧农业科技股份有限公司 农机直线行走控制方法、装置及农机
JP7749759B1 (ja) 2024-06-20 2025-10-06 東芝エレベータ株式会社 自律移動体制御システムおよび自律移動体制御方法

Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2011059071A (ja) 2009-09-14 2011-03-24 Univ Of Electro-Communications 移動環境認識装置及び方法
JP2012128616A (ja) 2010-12-15 2012-07-05 Panasonic Corp 移動車両の制御システム
JP2018102496A (ja) 2016-12-26 2018-07-05 国立大学法人 東京大学 走行車両及び走行車両の制御方法

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US7248725B2 (en) * 2004-01-07 2007-07-24 Ramot At Tel Avia University Ltd. Methods and apparatus for analyzing ultrasound images
US7047132B2 (en) * 2004-01-12 2006-05-16 Steven Jacobs Mobile vehicle sensor array
JP2012115312A (ja) * 2010-11-29 2012-06-21 Equos Research Co Ltd 歩行支援装置、及び歩行支援プログラム
EP2834048B1 (en) * 2012-09-21 2017-11-01 iRobot Corporation Proximity sensing on mobile robots
CN108603935A (zh) * 2016-03-15 2018-09-28 伊莱克斯公司 机器人清洁设备以及机器人清洁设备进行陡壁检测的方法
TWI652034B (zh) * 2016-05-17 2019-03-01 Ｌｇ電子股份有限公司 清掃機器人
CN206282141U (zh) * 2016-12-23 2017-06-27 上海木爷机器人技术有限公司 避障系统
KR102012548B1 (ko) * 2017-01-25 2019-08-20 엘지전자 주식회사 로봇의 진입 가능 영역을 식별하는 방법 및 이를 구현하는 로봇

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011059071A (ja) 2009-09-14 2011-03-24 Univ Of Electro-Communications 移動環境認識装置及び方法
JP2012128616A (ja) 2010-12-15 2012-07-05 Panasonic Corp 移動車両の制御システム
JP2018102496A (ja) 2016-12-26 2018-07-05 国立大学法人 東京大学 走行車両及び走行車両の制御方法

Also Published As

Publication number Publication date
TW202030141A (zh) 2020-08-16
WO2020123605A1 (en) 2020-06-18
JP2022511978A (ja) 2022-02-01
US20210299873A1 (en) 2021-09-30
EP3894969A1 (en) 2021-10-20
KR20210110610A (ko) 2021-09-08
EP3894969A4 (en) 2022-08-24
US11529736B2 (en) 2022-12-20

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