The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 30, 2021
Filed:
May. 31, 2017
Tokyo Denki University, Tokyo, JP;
Koganei Corporation, Tokyo, JP;
Tsuyoshi Suzuki, Tokyo, JP;
Kouhei Yamagishi, Tokyo, JP;
TOKYO DENKI UNIVERSITY, Tokyo, JP;
KOGANEI CORPORATION, Tokyo, JP;
Abstract
A group robot and a method for controlling a collective movement of a group robot that realize a combination of autonomous distributed control and centralized control according to the environment are provided. A group robot is formed of at least two robots that have powers and autonomously move obtains mutual position information among the robots and with respect to an object that exists in a movable area of the robots, presets a virtual object temperature for the object and a virtual initial robot temperature that is lower than the virtual object temperature for the robot, calculates a virtual robot temperature, which changed by a virtual heat transfer, from the virtual object temperature, the virtual initial robot temperature, and a distance between the robot and the object, calculates virtual attractive-repulsive force from a distance between the robots to keep the distance between the robots and virtual repulsive force acting between the object and the robot from a virtual robot temperature by using a thermodynamics mathematical model, and controls a movement direction and velocity of the robot by using a sum of the virtual attractive-repulsive force and the virtual repulsive force.