公开(公告)号：US06343242B1

公开(公告)日：2002-01-29

申请号：US09807418

申请日：2001-06-11

申请人： Akihiro Nomura ,  Shinji Yamashita ,  Masafumi Tamai ,  Satoshi Murakami ,  Shinobu Satou ,  Takeo Suzuki

发明人： Akihiro Nomura ,  Shinji Yamashita ,  Masafumi Tamai ,  Satoshi Murakami ,  Shinobu Satou ,  Takeo Suzuki

IPC分类号： G06F1900

CPC分类号： B25J13/088 ,  B25J9/1676 ,  H01L21/67742

摘要： The invention relates to a protective device for a clean robot that includes a base 7 in which actuators 4 and 5 for driving a robot arm 3 are accommodated; a translational guide 8 for causing the base 7 to travel in a rectilinear direction; and a robot controller 10 that drives and controls the drive motor 4A and 5A of the robot arm 3 and an actuator 9 of the translational guide 8; wherein the protective device further includes acceleration sensors 11, which are disposed in the base 7 and are provided in respective axes so that they can detect an impact, when the clean robot 1 interferes with a surrounding substance, as vibration acceleration in the three-dimensional directions; an interference detecting device 13 that outputs a pulse when the detection signals of the acceleration sensors 11 of the respective axes exceed the threshold values that will become standards; and the first AND circuit that converts signals outputted from the interference detection means of the respective axes to interference signals, and the drive motors 4A and 5A for the robot arm 3 and the actuator for driving the translation guide 8 are stopped; whereby it is possible to prevent an internally incorporated speed reducer in the robot from being damaged.

摘要翻译： 本发明涉及一种用于清洁机器人的保护装置，其包括：基座7，其中容纳有用于驱动机器人臂3的致动器4和5; 用于使基部7沿直线方向行进的平移引导件8; 以及驱动和控制机器人手臂3的驱动马达4A和5A以及平移引导件8的致动器9的机器人控制器10; 其特征在于，所述保护装置还包括加速度传感器11，所述加速度传感器11设置在所述基座7中并设置在各自的轴上，使得当所述清洁机器人1与周围物质发生干扰时，能够检测冲击，作为三维的振动加速度 方向; 当各轴的加速度传感器11的检测信号超过将成为标准的阈值时输出脉冲的干扰检测装置13; 以及将从各轴的干涉检测装置输出的信号转换为干扰信号的第一AND电路，并且停止用于机器人臂3的驱动马达4A和5A以及用于驱动平移引导件8的致动器。 从而可以防止机器人内部并入的减速机被损坏。

公开(公告)号：US07811203B2

公开(公告)日：2010-10-12

申请号：US11528329

申请日：2006-09-28

申请人： Munetoshi Unuma ,  Fumitaka Otsu ,  Hideki Inoue ,  Shinobu Satou ,  So Higuchi

发明人： Munetoshi Unuma ,  Fumitaka Otsu ,  Hideki Inoue ,  Shinobu Satou ,  So Higuchi

IPC分类号： A63B71/00

CPC分类号： G01C22/006 ,  A61B5/11 ,  A61B5/1112 ,  A61B2560/0242 ,  G06K9/00342

摘要： A behavior of a walker is detected according to combination of detection of the walking behavior on a level and an altitude variation of the walker to more accurately detect the behavior of the walker. A burned calorie can be obtained according to the type of the walking behavior. An altitude variation can be obtained more accurately by integrating altitude variation only at sections with vertical movement during walking. A stride is estimated according to the behavior of the walker in consideration of the vertical movement. Obtained position and traveling direction are used for compensating values in inertial navigation system. The behavior with and without vertical movement is used in a walker navigator and a worker observing system including a worker terminal carried by the walker for detecting the behavior of the worker and a worker observing terminal for providing the detected position and behavior of the walker.

摘要翻译： 根据步行行为的检测和步行者的高度变化的组合来检测步行者的行为，以更准确地检测步行者的行为。 可以根据步行行为的类型获得燃烧的卡路里。 通过在步行中垂直运动的部分整合高度变化，可以更准确地获得高度变化。 考虑到垂直运动，可以根据步行者的行为来估计步幅。 获得的位置和行进方向用于补偿惯性导航系统中的值。 具有和不具有垂直运动的行为用于步行者导航器和工作人员观察系统，其包括由步行者承载的用于检测工人的行为的工作人员终端和工作人员观察终端，用于提供所检测的步行者的位置和行为。

公开(公告)号：US20070072158A1

公开(公告)日：2007-03-29

申请号：US11528329

申请日：2006-09-28

申请人： Munetoshi Unuma ,  Fumitaka Otsu ,  Shinobu Satou ,  So Higuchi ,  Hideki Inoue

发明人： Munetoshi Unuma ,  Fumitaka Otsu ,  Shinobu Satou ,  So Higuchi ,  Hideki Inoue

IPC分类号： A63B71/00 ,  A63B69/00 ,  G09B19/00

CPC分类号： G01C22/006 ,  A61B5/11 ,  A61B5/1112 ,  A61B2560/0242 ,  G06K9/00342

摘要： A behavior of a walker is detected according to combination of detection of the walking behavior on a level and an altitude variation of the walker to more accurately detect the behavior of the walker. A burned calorie can be obtained according to the type of the walking behavior. An altitude variation can be obtained more accurately by integrating altitude variation only at sections with vertical movement during walking. A stride is estimated according to the behavior of the walker in consideration of the vertical movement. Obtained position and traveling direction are used for compensating values in inertial navigation system. The behavior with and without vertical movement is used in a walker navigator and a worker observing system including a worker terminal carried by the walker for detecting the behavior of the worker and a worker observing terminal for providing the detected position and behavior of the walker.

摘要翻译： 根据步行行为的检测和步行者的高度变化的组合来检测步行者的行为，以更准确地检测步行者的行为。 可以根据步行行为的类型获得燃烧的卡路里。 通过在步行中垂直运动的部分整合高度变化，可以更准确地获得高度变化。 考虑到垂直运动，可以根据步行者的行为来估计步幅。 获得的位置和行进方向用于补偿惯性导航系统中的值。 具有和不具有垂直运动的行为用于步行者导航器和工作人员观察系统，其包括由步行者承载的用于检测工人的行为的工作人员终端和工作人员观察终端，用于提供所检测的步行者的位置和行为。