公开(公告)号：US09475194B2

公开(公告)日：2016-10-25

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 ,  G05D1/02

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：US20150337836A1

公开(公告)日：2015-11-26

申请号：US14410357

申请日：2012-06-28

申请人： Takahiro ITO ,  Isao HAYASE ,  Tadashi OSAKA ,  Azusa AMINO

发明人： Takahiro ITO ,  Isao HAYASE ,  Tadashi OSAKA ,  Azusa AMINO

IPC分类号： F04C15/00 ,  F04C27/00 ,  F04C29/00 ,  F04C2/14 ,  F04C18/14

CPC分类号： F04C15/0019 ,  F04C2/14 ,  F04C2/18 ,  F04C15/0026 ,  F04C15/0061 ,  F04C18/14 ,  F04C27/004 ,  F04C27/006 ,  F04C29/005

摘要： A gear pump (1) includes a pair of gears (4, 5) that meshes with each other, two shafts (2, 3) that are rotationally supported, inserted into the pair of respective gears, and rotate together with the pair of gears, a pair of side plates (7, 7′) that is arranged adjacent to both side surfaces of the pair of gears, and each have two through-holes forming bearings of the two shafts, a seal block (8) that abuts against the pair of side plates, and covers a part of the pair of gears in a circumferential direction, a pump assembly (10) having the pair of gears, the two shafts, the pair of side plates, and the seal block, and a case (12) having a recess (12a) in which the pump assembly is accommodated, and having a facing surface (12b) that faces the seal block on an inner wall forming the recess, in which the pump assembly (10) has a line passing through an arc center of a cylindrical surface which is inscribed in the facing surface (12b) of the case, and is parallel to two shafts (2, 3) as a rotating axis, and is hold to be rotatable about the rotating axis, and when the pump assembly rotates about the rotating axis, one of the pair of side plates comes in contact with the inner wall of the case (12).

摘要翻译： 齿轮泵（1）包括彼此啮合的一对齿轮（4,5），两个轴（2,3）被旋转地支撑，插入到该对相应的齿轮中，并与该对齿轮一起旋转 ，一对邻近所述一对齿轮的两个侧表面布置的侧板（7,7'），并且每个具有形成两个轴的轴承的两个通孔，与所述两个轴相接的密封块（8） 一对侧板，并且在圆周方向上覆盖一对齿轮的一部分，具有一对齿轮的泵组件（10），两个轴，一对侧板和密封块，以及壳体（ 12），其具有容纳泵组件的凹部（12a），并且具有在形成凹部的内壁上面对密封块的面对表面（12b），其中泵组件（10）具有穿过的线 圆筒表面的圆弧中心，其内嵌在壳体的相对表面（12b）中，并且平行于两个轴（2,3） 作为旋转轴，并且保持成能够围绕旋转轴线旋转，并且当泵组件围绕旋转轴线旋转时，一对侧板中的一个与壳体（12）的内壁接触。

公开(公告)号：US20150160654A1

公开(公告)日：2015-06-11

申请号：US14401615

申请日：2012-05-18

申请人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

发明人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

IPC分类号： G05D1/02

CPC分类号： G05D1/021 ,  B25J5/007 ,  G05D1/024

摘要： A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.

摘要翻译： 即使在拥挤的环境中也能够提供平稳的移动的控制装置。 控制装置包括：运动处理部，其生成与自主移动装置（1）的移动有关的信息的移动计划; 移动控制部（21），其根据由所述移动处理部（101）生成的移动计划移动所述自主移动装置（1）。 拥挤度估计部（102），计算自主移动装置（1）的移动方向的拥挤度; 当自主移动装置（1）的正面的拥挤度为规定值以上时，估计移动障碍物的视野的视野估计部（103） 以及使用注意呼叫装置（15）来引起注意的注意呼叫控制部（104）进入所述估计的视野。

公开(公告)号：US20110137462A1

公开(公告)日：2011-06-09

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： G05B19/04

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 shits 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， 并在检测到移动单元已经经过上一步骤之后横向地重心重心进行下一步骤。

公开(公告)号：US07658245B2

公开(公告)日：2010-02-09

申请号：US11942994

申请日：2007-11-20

申请人： Ryosuke Nakamura ,  Azusa Amino

发明人： Ryosuke Nakamura ,  Azusa Amino

IPC分类号： B62D51/06

CPC分类号： B62D57/028

摘要： There is provided a high-speed and stable robot apparatus realizing stable walking by surely grounding legs having wheels even on an irregular ground surface. The mobile robot includes a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity, and the plurality of legs each having a thigh part and a lower limb part. The thigh part is rotatable around an X-axis, which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body. The robot comprises wheels rotatable around the Y-axis and movable supporting parts rotatable around the Y-axis and capable of being grounded on a road surface, which are provided on lower portions of the lower limb parts. The robot switches its operation according to irregularities of the road surface between coaxial two-wheeled inverted pendulum control operation of moving with the wheels without grounding the movable supporting parts while maintaining the inversion and bipedal walking control operation of walking by controlling the grounding of the wheels and the movable supporting parts on the road surface.

摘要翻译： 提供了一种高速稳定的机器人装置，通过可靠地接地腿实现稳定的行走，即使在不规则的地面上也具有车轮。 移动机器人包括具有控制装置的主体和检测倾斜角度和角速度的倾斜角度检测装置，并且多个腿部各自具有大腿部分和下肢部分。 大腿部能够围绕作为相对于身体的前方的X轴旋转，并且围绕作为相对于身体的侧面方向的Y轴。 该机器人包括围绕Y轴旋转的轮子和可围绕Y轴旋转的可移动支撑部件，并且能够在设置在下肢部分的下部的路面上接地。 机器人根据路面移动的同轴两轮倒立摆控制操作之间的路面不规则性切换操作，而不会通过控制车轮的接地而保持反转和双脚步行控制操作，同时可移动支撑部件接地。 和路面上的活动支撑部件。

公开(公告)号：US20080135312A1

公开(公告)日：2008-06-12

申请号：US11942994

申请日：2007-11-20

申请人： Ryosuke Nakamura ,  Azusa Amino

发明人： Ryosuke Nakamura ,  Azusa Amino

IPC分类号： B62D57/028

CPC分类号： B62D57/028

摘要： There is provided a high-speed and stable robot apparatus realizing stable walking by surely grounding legs having wheels even on an irregular ground surface. The mobile robot includes a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity, and the plurality of legs each having a thigh part and a lower limb part. The thigh part is rotatable around an X-axis, which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body. The robot comprises wheels rotatable around the Y-axis and movable supporting parts rotatable around the Y-axis and capable of being grounded on a road surface, which are provided on lower portions of the lower limb parts. The robot switches its operation according to irregularities of the road surface between coaxial two-wheeled inverted pendulum control operation of moving with the wheels without grounding the movable supporting parts while maintaining the inversion and bipedal walking control operation of walking by controlling the grounding of the wheels and the movable supporting parts on the road surface.

摘要翻译： 提供了一种高速稳定的机器人装置，通过可靠地接地腿实现稳定的行走，即使在不规则的地面上也具有车轮。 移动机器人包括具有控制装置的主体和检测倾斜角度和角速度的倾斜角度检测装置，并且多个腿部各自具有大腿部分和下肢部分。 大腿部能够围绕作为相对于身体的前方的X轴旋转，并且围绕作为相对于身体的侧面方向的Y轴。 该机器人包括围绕Y轴旋转的轮子和可围绕Y轴旋转的可移动支撑部件，并且能够在设置在下肢部分的下部的路面上接地。 机器人根据路面移动的同轴两轮倒立摆控制操作与车轮之间的不规则性切换操作，而不用可移动支撑部件接地，同时通过控制车轮的接地来维持倒车和双脚步行控制操作 和路面上的活动支撑部件。

公开(公告)号：US09588518B2

公开(公告)日：2017-03-07

申请号：US14401615

申请日：2012-05-18

申请人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

发明人： Ryosuke Nakamura ,  Azusa Amino ,  Taishi Ueda

IPC分类号： G05D1/00 ,  G05D1/02 ,  B25J5/00

CPC分类号： G05D1/021 ,  B25J5/007 ,  G05D1/024

摘要： A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.

摘要翻译： 即使在拥挤的环境中也能够提供平稳的移动的控制装置。 控制装置包括：运动处理部，其生成与自主移动装置（1）的移动有关的信息的移动计划; 移动控制部（21），其根据由所述移动处理部（101）生成的移动计划移动所述自主移动装置（1）。 拥挤度估计部（102），计算自主移动装置（1）的移动方向的拥挤度; 当自主移动装置（1）的正面的拥挤度为规定值以上时，估计移动障碍物的视野的视野估计部（103） 以及使用注意呼叫装置（15）来引起注意的注意呼叫控制部（104）进入所述估计的视野。

公开(公告)号：US20150027801A1

公开(公告)日：2015-01-29

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 ,  B60G11/14 ,  B62D5/04

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：US20140376780A1

公开(公告)日：2014-12-25

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 ,  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：US08041458B2

公开(公告)日：2011-10-18

申请号：US12018452

申请日：2008-01-23

申请人： Azusa Amino ,  Junichi Tamamoto ,  Ryosuke Nakamura

发明人： Azusa Amino ,  Junichi Tamamoto ,  Ryosuke Nakamura

IPC分类号： B25J13/08

CPC分类号： B25J19/022 ,  G01S17/88

摘要： To provide a robot whose degree of freedom of design is not limited, and which has simple structure and further reduces load of an actuator of a neck part, the present invention provides a robot at least including a head part, a body part, and a neck link which connects the head part and the body part, wherein a surrounding object distance measurement means is provided adjacently to the neck link and in an upper portion of the body part between the head part and the body part, and a distance scanning field of the surrounding object distance measurement means is provided in parallel with a horizontal plane.

摘要翻译： 为了提供一种设计自由度没有限制的机器人，其结构简单并且进一步降低了颈部致动器的负荷，本发明提供了一种机器人，其至少包括头部，身体部分和 颈部连杆，其连接头部和主体部，其中，围绕物体距离测量装置设置成与颈部链节相邻并且在主体部分和主体部分之间的主体部分的上部中，以及距离扫描场 周边物体距离测量装置与水平面平行地设置。