公开(公告)号：US20150105906A1

公开(公告)日：2015-04-16

申请号：US14396887

申请日：2012-04-26

申请人： Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

发明人： Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

IPC分类号： B25J9/16

CPC分类号： B25J9/1676 ,  G05D1/024 ,  Y10S901/01 ,  Y10S901/40 ,  Y10S901/46

摘要： An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.

摘要翻译： 提供了具有障碍物回避能力的自主移动装置，自主运动系统和自主运动方法。 自主移动装置包括回避模式确定单元，用于根据相对于自主移动装置的自主运动装置以外的移动障碍物的运动状态来确定本地装置的行驶模式; 以及行驶控制器，用于使自动移动装置根据由避免模式确定单元确定的行驶模式行进。 根据与移动障碍物的相对速度来选择回避模式之一。

公开(公告)号：US20140379198A1

公开(公告)日：2014-12-25

申请号：US14364495

申请日：2011-12-12

申请人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

发明人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

IPC分类号： B62D57/032 ,  G05D1/02

CPC分类号： B62D57/032 ,  B62K11/007 ,  B62K17/00 ,  G05D1/0231 ,  Y10S901/01 ,  Y10S901/47

摘要： The present invention provides a mobile object capable of stable movement and jumping. The mobile object includes two moving means attached to left and right sides under a body; a sensor to detect attitude of the body; a controller to receive information from the sensor and perform calculation; two telescopic actuators attached between the body and the two moving means and configured to generate vertical forces; a rotary actuator provided at the center of the two telescopic actuators and configured to rotate around a moving direction of the body; a roll link connected with an output part of the rotary actuator; two suspensions connecting left and right ends of the roll link and the moving means; and foot frames attached between the suspensions and the moving means, wherein the controller controls the rotary actuator so that the sensor detects a target tilt angle and a target angular velocity of the body.

摘要翻译： 本发明提供能够稳定地移动和跳跃的移动体。 移动物体包括附接到身体下方的左侧和右侧的两个移动装置; 用于检测身体姿态的传感器; 控制器，用于从传感器接收信息并执行计算; 两个伸缩式致动器附接在主体和两个移动装置之间，并被构造成产生垂直力; 旋转致动器，设置在所述两个伸缩式致动器的中心并且构造成绕所述主体的移动方向旋转; 与所述旋转致动器的输出部连接的滚动连杆; 连接辊连杆的左右端的两个悬架和移动装置; 以及安装在所述悬架和所述移动装置之间的脚架，其中所述控制器控制所述旋转致动器，使得所述传感器检测到所述身体的目标倾斜角度和目标角速度。

公开(公告)号：US09235895B2

公开(公告)日：2016-01-12

申请号：US14364927

申请日：2011-12-13

申请人： Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

发明人： Taishi Ueda ,  Ryosuke Nakamura ,  Azusa Amino

IPC分类号： G06T7/00 ,  G06K9/00 ,  G01B11/14 ,  G01P13/02

CPC分类号： G06T7/0042 ,  G01B11/14 ,  G01P13/02 ,  G06K9/00362 ,  G06T7/73 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/30196 ,  G06T2207/30248

摘要： The invention is directed to detecting a boundary position between a foot and a lower leg of a person in an image acquired by an imaging unit, the boundary position being a substantial boundary part, in a lower limb, between the foot, which is a part from a malleolus to a tip part, and the lower leg; detecting a feature quantity that makes it possible to classify a ground and a part other than the ground in the image; setting, in a peripheral region around the boundary position, a plurality of local regions having positional information and/or direction information relative to the boundary position, and determining whether each of the local regions is the ground or the part other than the ground by using the feature quantity unique to the ground; determining a foot region from the local region determined as the part other than the ground; and estimating a direction of the foot of the person from the local region classified as the foot region and from the information.

摘要翻译： 本发明旨在检测由成像单元获取的图像中的人的脚和小腿之间的边界位置，边界位置是下肢中的实质边界部分，脚之间是部分 从踝部到尖部，以及小腿; 检测能够对图像中的地面和地面以外的部分进行分类的特征量; 在边界位置周围的周边区域中设置多个具有相对于边界位置的位置信息和/或方向信息的局部区域，并且通过使用以下方式来确定每个局部区域是地面还是地面以外的部分 地面独特的特征量; 确定从所述局部区域确定为所述地面以外的部分的足部区域; 以及从所述信息中估计从所述局部区域分类为所述足部区域的所述人的脚的方向。

公开(公告)号：US09162355B2

公开(公告)日：2015-10-20

申请号：US12958575

申请日：2010-12-02

申请人： Ryosuke Nakamura ,  Azusa Amino

发明人： Ryosuke Nakamura ,  Azusa Amino

IPC分类号： B25J5/00 ,  G05D1/02

CPC分类号： B25J5/007 ,  G05D1/024 ,  G05D1/0274 ,  Y02T10/7258

摘要： This mobile unit suppresses lateral vibration produced when the mobile unit passes over a step. A stabilizer according to the present invention predicts contact timing at which the mobile unit makes contact with a step, which may be a bump or pit, using sensor information or map information, shifts the center of gravity of the mobile unit laterally by controlling actuators, and shifts the center of gravity laterally for the next step after detecting that the mobile unit has passed over the previous step.

摘要翻译： 该移动单元抑制当移动单元经过台阶时产生的横向振动。 根据本发明的稳定器使用传感器信息或地图信息预测移动单元与步骤接触的接触定时（可以是凸块或凹坑），通过控制致动器横向移动移动单元的重心， 并且在检测到移动单元已经经过上一步骤之后，横向移动重心移动下一步骤。

公开(公告)号：US09108665B2

公开(公告)日：2015-08-18

申请号：US14378664

申请日：2012-03-05

申请人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

发明人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

IPC分类号： B62D7/02 ,  B62D6/00 ,  B62D5/04 ,  B60G11/04 ,  B60G11/14

CPC分类号： B62D7/02 ,  B60B33/0052 ,  B60B33/026 ,  B60B33/045 ,  B60G3/01 ,  B60G11/14 ,  B60G2200/44 ,  B60G2200/46 ,  B60G2204/4232 ,  B62D5/0418 ,  B62D6/002 ,  B62D7/08 ,  B62D7/1509 ,  Y02T10/86

摘要： The moving mechanism is capable of separating an orientation of a vehicle body from a traveling direction. In addition, the moving mechanism has a low center of gravity and is capable of reducing its weight. A moving body includes a vehicle body, steering actuators, right and left steering hubs, vehicle wheel actuators, and vehicle wheels. The steering actuators are disposed on the right and left sides of the vehicle body and drivable around a vertical axis. The right and left steering hubs are driven by the steering actuators. The vehicle wheel actuators are fixed to the steering hubs. The vehicle wheels are driven by the vehicle wheel actuators and are disposed in an inclined manner with respect to a vertical direction.

摘要翻译： 移动机构能够将车体的行进方向与行驶方向分离。 此外，移动机构具有低的重心，并且能够减轻其重量。 移动体包括车身，转向致动器，左右转向轮毂，车轮致动器和车轮。 转向致动器设置在车身的左侧和左侧，并可绕垂直轴驱动。 左右转向轮毂由转向执行器驱动。 车轮执行机构固定在转向轮毂上。 车轮由车轮致动器驱动，并相对于垂直方向以倾斜的方式设置。

公开(公告)号：US20140114559A1

公开(公告)日：2014-04-24

申请号：US14125192

申请日：2011-07-13

申请人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

发明人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

IPC分类号： B62K3/00

CPC分类号： B62K3/007 ,  B60L3/0007 ,  B60L3/0015 ,  B60L15/20 ,  B60L2200/16 ,  B60L2240/12 ,  B60L2240/20 ,  B62B1/10 ,  B62B5/0069 ,  B62B2301/00 ,  B62K11/007 ,  G05D1/024 ,  G05D1/0891 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

摘要： The present invention provides an inverted pendulum-type moving body having a pair of wheels suspended from the moving body, using a floor as a traveling plane, and is provided on the same plane vertical to its travelling direction, a driving mechanism for rotating these wheels, posture measurement means for measuring an inclination angular velocity of its upper body that a straight line connecting a center-of-gravity position of a body of the moving body and an axle of the one pair of wheels makes with a vertical direction, and a mechanism control part for maintaining an inverted state of the moving body by controlling the driving mechanism, by having a velocity planning device for performing a movement plan so that the upper body angular velocity and the upper body angle may be in a relationship of quadratic function when a velocity change is needed.

摘要翻译： 本发明提供一种倒立摆式移动体，其具有从移动体悬挂的一对轮，使用地板作为行进平面，并且设置在与行进方向垂直的同一平面上，用于使这些轮旋转的驱动机构 姿势测量装置，用于测量其上身的倾斜角速度，连接所述移动体的身体的重心位置和所述一对车轮的轴线的直线与垂直方向相连;以及 机构控制部，其通过控制驱动机构来维持移动体的反转状态，具有用于执行移动计划的速度计算装置，使得上身角速度和上身角度可以是二次函数的关系，当 需要一个速度变化。

公开(公告)号：US20140060224A1

公开(公告)日：2014-03-06

申请号：US14114817

申请日：2011-05-25

申请人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

发明人： Azusa Amino ,  Ryosuke Nakamura ,  Taishi Ueda

IPC分类号： F16H19/08

CPC分类号： F16H19/08 ,  A63H3/20 ,  A63H11/00 ,  A63H13/00 ,  B25J17/00 ,  Y10S901/23 ,  Y10S901/26 ,  Y10T74/18568 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20341

摘要： A head structure of a robot according to the invention includes a first motor and a second motor so supported side by side within a head of the robot that output shafts are positioned coaxially with each other; a left elastic frame that is so driven by the first motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending in a perpendicular direction from the output shaft is supported by a trunk of the robot; and a right elastic frame that is so driven by the second motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending side by side with the left elastic frame from the output shaft is supported by the trunk.

摘要翻译： 根据本发明的机器人的头部结构包括第一电动机和第二电动机，其并联地支撑在机器人的头部内，输出轴彼此同轴地定位; 由第一电动机驱动的左侧弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端从输出轴沿垂直方向延伸，由该主体支撑 机器人; 以及由第二电动机驱动的一个右弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端与来自输出轴的左弹性框架并排地延伸 由树干。

公开(公告)号：US20130282237A1

公开(公告)日：2013-10-24

申请号：US13992044

申请日：2011-01-12

申请人： Ryosuke Nakamura ,  Azusa Amino

发明人： Ryosuke Nakamura ,  Azusa Amino

IPC分类号： B60G17/015

CPC分类号： B60G17/015 ,  B62K11/007 ,  B62K2204/00 ,  G05D1/0891

摘要： An inverted pendulum type moving body has a pair of wheels suspended by a main body of the moving body and arranged in the same plane perpendicular to a direction in which the moving body moves on a floor surface as a traveling surface; a driving mechanism that rotates the wheels; and a driving controller that controls the driving mechanism and thereby maintains an inverted state of a moving robot body. The inverted pendulum type moving body includes a wheel rotational speed measurer that measures rotational speeds of the wheels; a main body front-back direction angular velocity measurer that measures an inclination angular velocity of the main body of the moving body in a front-back direction; suspension actuators that move the wheels in a vertical direction; and a suspension actuator driving unit that drives the suspension actuators.

摘要翻译： 倒立摆式移动体具有由移动体的主体悬挂的一对车轮，并且布置在垂直于移动体在作为行进面的地板表面上移动的方向的同一平面中; 旋转车轮的驱动机构; 以及驱动控制器，其控制驱动机构，从而维持移动的机器人主体的倒置状态。 倒立摆式移动体包括测量车轮转速的车轮转速测量器; 主体前后方向角速度测量器，其测量所述移动体的主体在前后方向上的倾斜角速度; 在垂直方向上移动车轮的悬架致动器; 以及驱动悬架致动器的悬架致动器驱动单元。

公开(公告)号：US20090118865A1

公开(公告)日：2009-05-07

申请号：US12264958

申请日：2008-11-05

申请人： Saku EGAWA ,  Ryosuke NAKAMURA ,  Azusa AMINO ,  Junichi TAMAMOTO ,  Manabu YANAGIMOTO

发明人： Saku EGAWA ,  Ryosuke NAKAMURA ,  Azusa AMINO ,  Junichi TAMAMOTO ,  Manabu YANAGIMOTO

IPC分类号： B25J19/04

CPC分类号： B25J19/023

摘要： Described herein is a robot having a camera mount that is movable along a curved surface of an upper part of the head, on a front side thereof, and two units of cameras that are mounted in the camera mount. The cameras are disposed such that the cameras are laterally separated from each other at an interval substantially equivalent to a lateral width of the head, respective extremities of the cameras are substantially flush with the front end of the head, and the cameras are positioned in close proximity of the upper end of the robot.

摘要翻译： 这里描述了一种机器人，其具有可沿着头部的上部的弯曲表面在其前侧上移动的摄像机安装座和安装在摄像机座中的两个摄像机单元。 相机被布置成使得照相机以基本上等于头部的横向宽度的间隔彼此横向分离，相机的各个端部基本上与头部的前端齐平，并且相机被定位成紧密 靠近机器人的上端。