公开(公告)号：US20050018074A1

公开(公告)日：2005-01-27

申请号：US10895859

申请日：2004-07-22

申请人： Hideichi Nakamoto ,  Junko Hirokawa ,  Takashi Ichikawa ,  Hideki Ito ,  Hideki Ogawa ,  Nobutaka Kikuiri

发明人： Hideichi Nakamoto ,  Junko Hirokawa ,  Takashi Ichikawa ,  Hideki Ito ,  Hideki Ogawa ,  Nobutaka Kikuiri

IPC分类号： B25J19/04 ,  H04N5/225 ,  H04N5/232

CPC分类号： H04N5/2259

摘要： An outer body of ball shell type has an opening. A camera is located in the outer body and receives an image from outside of the outer body through the opening. A camera support unit is located in the outer body and rotationally supports the camera along a first axis and a second axis mutually crossed at a center of the outer body. A first camera actuator is located in the outer body and rotationally actuates the camera around the first axis. A second camera actuator is located in the outer body and rotationally actuates the camera around the second axis.

摘要翻译： 球壳型的外壳具有开口。 相机位于外体中并通过开口从外体的外部接收图像。 相机支撑单元位于外部主体中并且沿着第一轴线和在外部主体的中心处相互交叉的第二轴线旋转地支撑照相机。 第一相机致动器位于外主体中并围绕第一轴旋转地驱动相机。 第二个相机致动器位于外部主体中并围绕第二轴旋转地驱动相机。

公开(公告)号：US07446813B2

公开(公告)日：2008-11-04

申请号：US10895859

申请日：2004-07-22

申请人： Hideichi Nakamoto ,  Junko Hirokawa ,  Takashi Ichikawa ,  Hideki Ito ,  Hideki Ogawa ,  Nobutaka Kikuiri

发明人： Hideichi Nakamoto ,  Junko Hirokawa ,  Takashi Ichikawa ,  Hideki Ito ,  Hideki Ogawa ,  Nobutaka Kikuiri

IPC分类号： H04N5/225 ,  H04N7/18

CPC分类号： H04N5/2259

摘要： An outer body of ball shell type has an opening. A camera is located in the outer body and receives an image from outside of the outer body through the opening. A camera support unit is located in the outer body and rotationally supports the camera along a first axis and a second axis mutually crossed at a center of the outer body. A first camera actuator is located in the outer body and rotationally actuates the camera around the first axis. A second camera actuator is located in the outer body and rotationally actuates the camera around the second axis.

摘要翻译： 球壳型的外壳具有开口。 相机位于外体中并通过开口从外体的外部接收图像。 相机支撑单元位于外部主体中并且沿着第一轴线和在外部主体的中心处相互交叉的第二轴线旋转地支撑照相机。 第一相机致动器位于外主体中并围绕第一轴旋转地驱动相机。 第二个相机致动器位于外部主体中并围绕第二轴旋转地驱动相机。

公开(公告)号：US20050222711A1

公开(公告)日：2005-10-06

申请号：US11091418

申请日：2005-03-29

申请人： Takashi Yoshimi ,  Kaoru Suzuki ,  Daisuke Yamamoto ,  Junko Hirokawa ,  Hideichi Nakamoto ,  Masafumi Tamura ,  Tomotaka Miyazaki ,  Shunichi Kawabata

发明人： Takashi Yoshimi ,  Kaoru Suzuki ,  Daisuke Yamamoto ,  Junko Hirokawa ,  Hideichi Nakamoto ,  Masafumi Tamura ,  Tomotaka Miyazaki ,  Shunichi Kawabata

IPC分类号： B25J13/00 ,  B25J5/00 ,  G06F19/00

CPC分类号： B25J9/0003 ,  B25J19/023

摘要： A robot is autonomously moved locally by a move mechanism. In the robot, a check work memory stores a plurality of check works and check place to execute each check work in case of a user's departure to a remote location. A check work plan unit selects check works to be executed from the check work memory and generates an execution order of selected check works. A control unit controls the move mechanism to move the robot to a check place to execute a selected check work according to the execution order. A work result record unit records an execution result of each of the selected check works. A presentation unit presents the execution result to the user.

摘要翻译： 机器人由移动机构在本地自动移动。 在机器人中，检查工作存储器存储多个检查工作和检查位置以在用户离开到远程位置的情况下执行每个检查工作。 检查工作计划单元从检查工作存储器中选择要执行的检查工作，并生成所选检查工作的执行顺序。 控制单元控制移动机构以将机器人移动到检查位置，以根据执行顺序执行所选择的检查工作。 工作结果记录单元记录每个所选检查工作的执行结果。 呈现单元将执行结果呈现给用户。

公开(公告)号：US20060149419A1

公开(公告)日：2006-07-06

申请号：US11289641

申请日：2005-11-30

申请人： Hideki Ogawa ,  Hideichi Nakamoto ,  Takafumi Sonoura

发明人： Hideki Ogawa ,  Hideichi Nakamoto ,  Takafumi Sonoura

IPC分类号： G06F19/00

CPC分类号： B25J19/0091 ,  B25J5/007

摘要： A movable robot includes a movement mechanism unit configured to perform driving for moving the movable robot; a body unit continuously connected to the movement mechanism unit in a movable manner in a planar direction between the movement mechanism unit and the body unit; and a shock absorber interposed between the movement mechanism unit and the body unit, for absorbing one of an inertial force and an external force generated by a movement control in the planar direction.

摘要翻译： 可移动机器人包括移动机构单元，其构造成执行用于移动可移动机器人的驱动; 在所述移动机构单元和所述主体单元之间沿平面方向以可移动的方式连续地连接到所述移动机构单元的主体单元; 以及设置在所述移动机构单元和所述主体单元之间的减震器，用于吸收由平面方向上的移动控制产生的惯性力和外力中的一个。

公开(公告)号：US20090127768A1

公开(公告)日：2009-05-21

申请号：US12260182

申请日：2008-10-29

申请人： Yasuo Shima ,  Shunsuke Hattori ,  Hideichi Nakamoto

发明人： Yasuo Shima ,  Shunsuke Hattori ,  Hideichi Nakamoto

IPC分类号： B65H3/08

CPC分类号： B65H3/0684 ,  B65H1/14 ,  B65H3/48 ,  B65H3/54

摘要： A sheet separating device includes: an air blowing unit that is configured to blow air toward a side face of stacked sheets being stacked with a plurality of sheets to separate the sheets by forming an air layer between the sheets; and a sheet pressing unit that is configured to apply a pressing force on the uppermost sheet in the stacked sheets while the uppermost sheet is separated from other sheets, the pressing force having a downward component and a component in a direction along the uppermost sheet.

摘要翻译： 片材分离装置包括：吹风单元，其构造成朝向堆叠的多个片材的堆叠片材的侧面吹送空气，以通过在片材之间形成空气层来分离片材; 以及片材按压单元，其被配置为在最上面的片材与其他片材分离的同时在堆叠的片材中的最上面的片材上施加按压力，该按压力沿着最上面的片材沿着方向具有向下的部件和部件。

公开(公告)号：US20090025502A1

公开(公告)日：2009-01-29

申请号：US12219700

申请日：2008-07-25

申请人： Hideichi Nakamoto

发明人： Hideichi Nakamoto

IPC分类号： B25J15/08

CPC分类号： B25J15/0009 ,  B25J9/104 ,  B25J9/1612 ,  B25J19/023 ,  Y10T74/20305

摘要： A manipulator includes: a first finger having a sequence of first links and first joint shafts, the sequence of first links bending so that rotation angles of the first joint shafts maintain a fixed relationship; a second finger having a sequence of second links bending sequentially from one of the second links assigned at a basal side of the second finger; and drive sources driving the first and second fingers, wherein an adjacent second link next to the second link assigned at the basal side moves after contacting the second link assigned at the basal side with the object.

摘要翻译： 操纵器包括：具有第一连杆和第一关节轴序列的第一手指，第一连杆的顺序弯曲，使得第一关节轴的旋转角保持固定的关系; 第二手指具有从分配在第二手指的基底侧的第二连杆之一顺序地弯曲的第二连杆序列; 以及驱动源驱动第一和第二手指，其中在基部侧分配的第二连杆旁边的相邻第二连杆在与基体侧分配的第二连杆与物体接触之后移动。

公开(公告)号：US20080079383A1

公开(公告)日：2008-04-03

申请号：US11723408

申请日：2007-03-19

申请人： Hideichi Nakamoto

发明人： Hideichi Nakamoto

IPC分类号： G05D1/00 ,  B25J5/00

CPC分类号： B25J5/00 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274

摘要： A method of controlling movement of a robot, the method includes detecting a target person to be followed, following detected target person, detecting an environment of a current position around the robot while following the detected target person, determining whether detected environment satisfies a predetermined target-point condition, specifying the current position as a target point, when the detected environment satisfies the predetermined target-point condition, and creating a path along which the robot travels including specified target point, based on the specified target point and a movable path for the robot stored in a movable path storing unit.

摘要翻译： 一种控制机器人运动的方法，所述方法包括检测目标人物，跟踪检测到的目标人员，在跟踪检测到的目标人员的同时检测机器人周围的当前位置的环境，确定检测到的环境是否满足预定目标 指定当前位置为目标点时，当检测到的环境满足预定的目标点状态时，基于指定的目标点和可移动路径，创建包括指定目标点在内的机器人行进的路径 机器人存储在可移动路径存储单元中。

公开(公告)号：US20080009975A1

公开(公告)日：2008-01-10

申请号：US11387823

申请日：2006-03-24

申请人： Hideichi Nakamoto ,  Kaoru Suzuki

发明人： Hideichi Nakamoto ,  Kaoru Suzuki

IPC分类号： G05B15/00 ,  G06K9/00

CPC分类号： G05D1/0246 ,  G05D1/0242 ,  G05D1/0251

摘要： A robot apparatus includes a moving unit configured to move in a moving plane on flooring, and turn in horizontal direction of the flooring about a rotation axis vertical to the flooring; an imaging unit configured to take images in a direction horizontal to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis; a storage unit configured to store the image taken by the image processor when the moving unit receives a turning request of a command angle; a detector configured to detect a rotation angle of the imaging unit relative to the moving unit; a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in an opposite direction, and based on a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate a gap determined by comparing the taken image with the stored image; and a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector.

摘要翻译： 一种机器人装置，包括移动单元，被配置为在地板上移动的平面中移动，并且围绕垂直于地板的旋转轴在地板的水平方向上转动; 成像单元，被配置为在与所述移动平面水平的方向上拍摄图像，并且围绕所述旋转轴线在所述地板的水平方向上旋转; 存储单元，被配置为当所述移动单元接收到指令角度的转动请求时，存储由所述图像处理器拍摄的图像; 检测器，被配置为检测所述摄像单元相对于所述移动单元的旋转角度; 控制器，其被配置为基于使所述移动单元沿所述指令角度的方向转动并使所述成像单元沿相反方向旋转的公共值来控制所述移动单元的转动和所述摄像单元的旋转，并且基于 改变移动单元的转动或成像单元的旋转的速率值，以补偿通过将拍摄的图像与存储的图像进行比较而确定的间隙; 以及停止单元，其被配置为当所述指令角度对应于由所述检测器检测到的旋转角度时，停止所述移动单元的转动和所述成像单元的旋转。

公开(公告)号：US20060293810A1

公开(公告)日：2006-12-28

申请号：US11396471

申请日：2006-04-04

申请人： Hideichi Nakamoto

发明人： Hideichi Nakamoto

IPC分类号： G05D1/00 ,  G01C22/00

CPC分类号： G05D1/0272 ,  G05D1/0234 ,  G05D1/0255 ,  G05D1/0274

摘要： A map data memory stores map data of a movement region, position data of a marker at a predetermined place in the movement region, identification data of the marker, and position data of a boundary line near the marker in the movement region. A marker detection unit detects the marker in an image, based on the position data of the marker and the identification data. A boundary line detection unit detects the boundary line near the marker from the image. A parameter calculation unit calculates a parameter of the boundary line in the image. A position posture calculation unit calculates a position and a posture of the mobile robot in the movement region, based on the parameter and the position data of the boundary line.

摘要翻译： 地图数据存储器存储移动区域的地图数据，移动区域中的预定位置处的标记的位置数据，标记的识别数据和移动区域中的标记附近的边界线的位置数据。 标记检测单元基于标记的位置数据和识别数据检测图像中的标记。 边界线检测单元从图像检测标记附近的边界线。 参数计算单元计算图像中边界线的参数。 位置姿势计算单元基于边界线的参数和位置数据来计算移动机器人在移动区域中的位置和姿势。

公开(公告)号：US07873439B2

公开(公告)日：2011-01-18

申请号：US11387823

申请日：2006-03-24

申请人： Hideichi Nakamoto ,  Kaoru Suzuki

发明人： Hideichi Nakamoto ,  Kaoru Suzuki

IPC分类号： G05B15/00

CPC分类号： G05D1/0246 ,  G05D1/0242 ,  G05D1/0251

摘要： A robot apparatus includes a moving unit configured to move in a moving plane on flooring, and turn in horizontal direction of the flooring about a rotation axis vertical to the flooring; an imaging unit configured to take images in a direction horizontal to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis; a storage unit configured to store the image taken by the image processor when the moving unit receives a turning request of a command angle; a detector configured to detect a rotation angle of the imaging unit relative to the moving unit; a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in an opposite direction, and based on a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate a gap determined by comparing the taken image with the stored image; and a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector.

摘要翻译： 一种机器人装置，包括移动单元，被配置为在地板上移动的平面中移动，并且围绕垂直于地板的旋转轴在地板的水平方向上转动; 成像单元，被配置为在与所述移动平面水平的方向上拍摄图像，并且围绕所述旋转轴线在所述地板的水平方向上旋转; 存储单元，被配置为当所述移动单元接收到指令角度的转动请求时，存储由所述图像处理器拍摄的图像; 检测器，被配置为检测所述摄像单元相对于所述移动单元的旋转角度; 控制器，其被配置为基于使所述移动单元沿所述指令角度的方向转动并使所述成像单元沿相反方向旋转的公共值来控制所述移动单元的转动和所述摄像单元的旋转，并且基于 改变移动单元的转动或成像单元的旋转的速率值，以补偿通过将拍摄的图像与存储的图像进行比较而确定的间隙; 以及停止单元，其被配置为当所述指令角度对应于由所述检测器检测到的旋转角度时，停止所述移动单元的转动和所述成像单元的旋转。