公开(公告)号：US08942847B2

公开(公告)日：2015-01-27

申请号：US13313318

申请日：2011-12-07

申请人： Nobuyuki Ohno ,  Makoto Sekiya

发明人： Nobuyuki Ohno ,  Makoto Sekiya

IPC分类号： B25J9/16

CPC分类号： B25J9/1666 ,  G05B2219/35148 ,  G05B2219/40428 ,  G05B2219/40475

摘要： Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2(k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2(k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2(k) is longer than a previous time interval or the like.

摘要翻译： 考虑到受控对象的状态，提供了能够在时空坐标系中适当地搜索受控对象的期望轨迹的系统等。 时空坐标系中的第一参考点q1（k）和第二参考点q2（k）之间的初始位置关系（k = 1）被设置为满足根据致动器的运动性能定义的第一条件 当先前的轨迹候选tr（k-1）被确定为与对象轨迹tro接触时，第一参考点q1（k）和第二参考点q2（k）之间的当前位置关系（k> 1） 时间空间坐标系中的k）设定为满足第一基准点q1（k）和第二基准点q2（k）之间的当前时间间隔比前一时间间隔等长的第二条件。

公开(公告)号：US08296005B2

公开(公告)日：2012-10-23

申请号：US12565264

申请日：2009-09-23

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G01C22/00

CPC分类号： G05D1/0246 ,  G05D1/0242 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0211 ,  G05D2201/0217

摘要： Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a first classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The second moving condition is a condition that the robot is capable of moving in according to a current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The first classification is a classification of the object as an object capable of recognizing an action pattern of the robot and capable of moving autonomously.

摘要翻译： 即使当不满足第一移动条件时，当确定满足第二移动条件并且同时对象属于第一分类时，控制机器人的操作以便使对象按照 到第一模式或任意模式。 第二移动条件是当根据第一图案移动物体时，机器人能够根据当前目标位置轨迹移动而不被物体阻碍的条件。 第一分类是作为能够识别机器人的动作模式并能够自主移动的对象的对象的分类。

公开(公告)号：US20120150350A1

公开(公告)日：2012-06-14

申请号：US13313318

申请日：2011-12-07

申请人： Nobuyuki Ohno ,  Makoto Sekiya

发明人： Nobuyuki Ohno ,  Makoto Sekiya

IPC分类号： B25J9/16

CPC分类号： B25J9/1666 ,  G05B2219/35148 ,  G05B2219/40428 ,  G05B2219/40475

摘要： Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2 (k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2 (k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2 (k) is longer than a previous time interval or the like.

摘要翻译： 考虑到受控对象的状态，提供了能够在时空坐标系中适当地搜索受控对象的期望轨迹的系统等。 时空坐标系中的第一参考点q1（k）和第二参考点q2（k）之间的初始位置关系（k = 1）被设置为满足根据致动器的运动性能定义的第一条件 当先前的轨迹候选tr（k-1）被确定为与对象轨迹tro接触时，第一参考点q1（k）和第二参考点q2（k）之间的当前位置关系（k> 1） 时间空间坐标系中的k）设定为满足第一基准点q1（k）和第二基准点q2（k）之间的当前时间间隔比前一时间间隔等长的第二条件。

公开(公告)号：US07873438B2

公开(公告)日：2011-01-18

申请号：US12323851

申请日：2008-11-26

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G05B19/04

CPC分类号： G05D1/0246 ,  B25J19/023 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0289 ,  G05D2201/0217

摘要： A mobile apparatus capable of moving or acting autonomously while flexibly avoiding contact with a moving object in accordance with various situations is provided. In a case where a second safety condition is not satisfied because, e.g., a first target trajectory cannot be found, a second target trajectory causing a first spatial element to approach the boundary of an element passing region is searched for and determined. A robot autonomously approaches the boundary of the passable region in accordance with the second target trajectory determined as a provisional target trajectory, and stops at the position corresponding to the end point of the second target trajectory. Such movement of the robot along the second target trajectory increases the space, making it possible to prompt an object to move through the space.

摘要翻译： 提供了能够根据各种情况灵活地避免与移动物体的接触而自主移动或执行移动装置。 在由于例如不能找到第一目标轨迹而不满足第二安全条件的情况下，搜索并确定使第一空间元素接近元素通过区域的边界的第二目标轨迹。 根据确定为临时目标轨迹的第二目标轨迹，机器人自主地接近可通过区域的边界，并且在与第二目标轨迹的终点相对应的位置处停止。 机器人沿着第二目标轨迹的这种运动增加了空间，使得有可能提示物体移动通过该空间。

公开(公告)号：US20100238487A1

公开(公告)日：2010-09-23

申请号：US12661596

申请日：2010-03-16

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G06F3/12

CPC分类号： G06F3/1288 ,  G06F3/1203 ,  G06F3/1268 ,  H04N1/00222 ,  H04N1/00244 ,  H04N1/00413 ,  H04N2201/3205 ,  H04N2201/3207 ,  H04N2201/3209 ,  H04N2201/3219

摘要： A print system according to one embodiment of the present invention includes a terminal apparatus, a print server, and a printing apparatus connected to each other via a network. The terminal apparatus includes a transmission unit for transmitting a print job of a user to the print server as a print job addressed to another user. The print server includes a storage unit for storing the print job of the user that has been transmitted from the terminal apparatus, as a print job addressed to the other user, and a transfer unit for transferring the print job addressed to the other user to the printing apparatus in response to a request from the printing apparatus. The printing apparatus includes a transfer request unit for requesting the print server to transfer the print job addressed to the other user stored in the print server.

摘要翻译： 根据本发明的一个实施例的打印系统包括经由网络彼此连接的终端设备，打印服务器和打印设备。 终端装置包括：发送单元，用于将作为打印作业的用户的打印作业发送到打印服务器，作为寻址到另一用户的打印作业。 打印服务器包括存储单元，用于存储从终端设备发送的用户的打印作业，作为寻址到另一用户的打印作业;以及传送单元，用于将寻址到另一用户的打印作业传送到 打印装置响应于来自打印装置的请求。 打印设备包括：传送请求单元，用于请求打印服务器将寻址的打印作业传送到存储在打印服务器中的其他用户。

公开(公告)号：US20090143932A1

公开(公告)日：2009-06-04

申请号：US12323851

申请日：2008-11-26

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G05D1/00 ,  G06F17/00

CPC分类号： G05D1/0246 ,  B25J19/023 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0289 ,  G05D2201/0217

摘要： A mobile apparatus capable of moving or acting autonomously while flexibly avoiding contact with a moving object in accordance with various situations is provided. In a case where a second safety condition is not satisfied because, e.g., a first target trajectory cannot be found, a second target trajectory causing a first spatial element to approach the boundary of an element passing region is searched for and determined. A robot autonomously approaches the boundary of the passable region in accordance with the second target trajectory determined as a provisional target trajectory, and stops at the position corresponding to the end point of the second target trajectory. Such movement of the robot along the second target trajectory increases the space, making it possible to prompt an object to move through the space.

摘要翻译： 提供了能够根据各种情况灵活地避免与移动物体的接触而自主移动或执行移动装置。 在由于例如不能找到第一目标轨迹而不满足第二安全条件的情况下，搜索并确定使第一空间元素接近元素通过区域的边界的第二目标轨迹。 根据确定为临时目标轨迹的第二目标轨迹，机器人自主地接近可通过区域的边界，并且在与第二目标轨迹的终点相对应的位置处停止。 机器人沿着第二目标轨迹的这种运动增加了空间，使得有可能提示物体移动通过该空间。

公开(公告)号：US5145591A

公开(公告)日：1992-09-08

申请号：US547880

申请日：1990-07-03

申请人： Hirotugu Kinoshita ,  Makoto Sekiya ,  Masaru Mishima

发明人： Hirotugu Kinoshita ,  Makoto Sekiya ,  Masaru Mishima

IPC分类号： C10M115/08

CPC分类号： C10M115/08 ,  C10M2201/103 ,  C10M2201/105 ,  C10M2205/026 ,  C10M2205/04 ,  C10M2207/40 ,  C10M2207/404 ,  C10M2209/084 ,  C10M2215/102 ,  C10M2215/22 ,  C10M2215/221 ,  C10M2215/225 ,  C10M2215/226 ,  C10M2215/30 ,  C10M2219/10 ,  C10M2219/102 ,  C10M2219/104 ,  C10M2219/106 ,  C10M2223/045 ,  C10N2210/02

摘要： A diurea grease composition contains a base oil and 2 to 25 wt.%, based on the total weight of the composition, of a diurea compound, the diurea grease compound being produced by reacting a mixed system of two or more different diisocyanates represented by the formula (I) OCN--R--NCO wherein R stands for a straight-chained or branched alkylene group, a straight-chained or branched alkenylene group, a cycloalkylene group or an aromatic group, with an amine compound selected from the group consisting of a primary amine represented by the formula (II) R.sub.1 --NH.sub.2 wherein R.sub.1 stands for a hydrocarbon residue having 6 to 20 carbon atoms, a secondary amine represented by the formula (III) ##STR1## wherein R.sub.2 and R.sub.3 each stand for hydrocarbon residues having 6 to 20 carbon atoms, and mixtures thereof.

摘要翻译： 二脲润滑脂组合物含有基础油和基于组合物总重量的2至25重量％的二脲化合物，所述二脲油脂化合物是通过使由两种或更多种不同的二异氰酸酯表示的混合体系 式（I）OCN-R-NCO其中R代表直链或支链亚烷基，直链或支链亚烯基，亚环烷基或芳族基团，其中胺化合物选自 由式（II）表示的伯胺R1-NH2其中R1代表具有6至20个碳原子的烃残基，由式（III）表示的仲胺其中R2和R3各代表具有6个 至20个碳原子，及其混合物。

公开(公告)号：US08688307B2

公开(公告)日：2014-04-01

申请号：US13059797

申请日：2009-08-14

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G06F19/00

CPC分类号： B25J9/1676 ,  B25J9/162 ,  G05B2219/39091 ,  G05D1/0217 ,  G05D2201/0217

摘要： Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a second classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The “first moving condition” is a condition that the robot is capable of moving without being obstructed by the object when the robot moves according to a current target position trajectory. The “second moving condition” is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The “second classification” means a classification of the object which is capable of being moved by a force from the robot acting thereon.

摘要翻译： 即使当不满足第一移动条件时，当确定满足第二移动条件并且同时对象属于第二分类时，控制机器人的操作以便使对象按照 到第一模式或任意模式。 “第一移动条件”是当机器人根据当前目标位置轨迹移动时能够移动而不被物体阻碍的条件。 “第二移动条件”是当物体根据第一图案移位时，机器人能够根据当前目标位置轨迹移动而不被物体阻碍的条件。 “第二分类”是指能够通过来自机器人作用于其上的力而被移动的对象的分类。

公开(公告)号：US08265509B2

公开(公告)日：2012-09-11

申请号：US12082377

申请日：2008-04-09

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G03G15/00

CPC分类号： G06F21/34 ,  G06F21/32 ,  H04N1/00209 ,  H04N1/0035

摘要： A multifunctional apparatus control system includes a multifunctional apparatus an authentication information input device, an I/F converter, and a control server. The control server includes: a UI control section which transmits, to the multifunctional apparatus over a network, data of authentication screen which prompts the user to make preparations for causing the authentication information input device to acquire authentication information; an authentication information input device driver which controls the operation of the authentication information input device over the network and receives, over the network, the authentication information that the authentication information input device has acquired; an authenticating section which performs authentication based on the authentication information that the authentication information input device driver has received; and a device control section which permits the multifunctional apparatus to execute the job, in accordance with the authentication result of the authenticating section. This arrangement makes it possible to construct a flexible authentication system.

摘要翻译： 多功能设备控制系统包括认证信息输入设备，I / F转换器和控制服务器的多功能设备。 控制服务器包括：UI控制部分，其通过网络向多功能设备发送认证画面的数据，该数据提示用户准备使认证信息输入设备获取认证信息; 认证信息输入设备驱动器，其通过网络控制认证信息输入设备的操作，并且通过网络接收认证信息输入设备已经获取的认证信息; 认证部，其基于所述认证信息输入装置驱动器接收到的认证信息进行认证; 以及根据认证部的认证结果允许多功能设备执行作业的设备控制部。 这种安排使得构建灵活的认证系统成为可能。

公开(公告)号：US07454152B2

公开(公告)日：2008-11-18

申请号：US11609973

申请日：2006-12-13

申请人： Makoto Sekiya

发明人： Makoto Sekiya

IPC分类号： G03G15/00 ,  G03G21/00

CPC分类号： G03G15/5004 ,  G03G2215/00021 ,  G03G2215/0119 ,  G03G2221/1696

摘要： An image recording system is provided which includes two image recording apparatuses that can independently record images and can sequentially start up the two image recording apparatuses one by one rather than starting up at the same time. A bypass transporting path apparatus is disposed on a color image recording apparatus and a transporting path connecting apparatus is disposed between a front portion of a monochrome image recording apparatus and a rear portion of the color image recording apparatus. This system includes a start-up controlling portion that performs control such that after any one image recording apparatus is started up and put into a recordable state, the other image recording apparatus is started up and put into a recordable state.

摘要翻译： 提供了一种图像记录系统，其包括可以独立地记录图像的两个图像记录装置，并且可以逐个地依次启动两个图像记录装置，而不是同时启动。 旁路传送路径装置设置在彩色图像记录装置上，传送路径连接装置设置在单色图像记录装置的前部和彩色图像记录装置的后部之间。 该系统包括启动控制部分，其执行控制，使得在任何一个图像记录装置启动并进入可记录状态之后，另一图像记录装置被启动并进入可记录状态。