公开(公告)号：US07047105B2

公开(公告)日：2006-05-16

申请号：US10076782

申请日：2002-02-15

申请人： Kazushige Kakutani ,  Shin Miyaji ,  Naoto Tojo ,  Shinya Kataoka ,  Seiji Murakami ,  Tomoyoshi Tokumaru ,  Hideaki Aoki

发明人： Kazushige Kakutani ,  Shin Miyaji ,  Naoto Tojo ,  Shinya Kataoka ,  Seiji Murakami ,  Tomoyoshi Tokumaru ,  Hideaki Aoki

IPC分类号： G06F19/00

CPC分类号： G06N3/008

摘要： A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.

摘要翻译： 用户与附属于机器人的电话附件口袋的便携式电话与伴侣通信。 机器人根据从便携式电话输出的语音信号进行动作，从而表现得像对用户说话一样。 机器人响应于由麦克风拾取的用户的声音输出语音，从而表现得像在听用户一样。 由于该机器人或使用该机器人的机器人系统，所以用户在使用便携式电话的通信中感觉不太奇怪。

公开(公告)号：US07152882B2

公开(公告)日：2006-12-26

申请号：US10397195

申请日：2003-03-27

申请人： Tomoyoshi Tokumaru ,  Kazushige Kakutani ,  Atsushi Oda ,  Seiji Murakami ,  Naoto Tojo

发明人： Tomoyoshi Tokumaru ,  Kazushige Kakutani ,  Atsushi Oda ,  Seiji Murakami ,  Naoto Tojo

IPC分类号： B60S9/00

CPC分类号： B62D57/04 ,  Y10S180/907

摘要： The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source means and the control means is utilized as the weight portion of the center-of-gravity shifting means.

公开(公告)号：US06859684B2

公开(公告)日：2005-02-22

申请号：US10462701

申请日：2003-06-17

申请人： Kazushige Kakutani ,  Shin Miyaji ,  Naoto Tojo

发明人： Kazushige Kakutani ,  Shin Miyaji ,  Naoto Tojo

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D3/00 ,  G05D3/12 ,  G05B15/00 ,  G05B19/00

CPC分类号： B25J9/1679 ,  G05B2219/40042

摘要： A table angle controlling method capable of effectively preventing an article placed on a table (20), from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive device for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

摘要翻译： 一种桌面角度控制方法，其能够有效地防止放置在桌子（20）上的物品通过倾斜桌子而脱落，使得作用在桌子上的水平加速度和重力加速度的合成矢量作用在与其垂直的桌子上。 该方法具有以下步骤：随着托架（11）的运动，测量作用于台（20）或滑架（11）的水平加速度和重力的合成矢量，并且倾斜台，使得所获得的合成矢量作用在 垂直于其的桌子。 或者，该方法具有以下步骤：从输入到用于移动滑架的托架（11）的驱动装置的速度指令值估计加速度，计算推定的水平加速度和重力加速度的合成矢量，以及倾斜该表 使得所获得的合成载体作用在与其垂直的工作台上。

公开(公告)号：US20050212475A1

公开(公告)日：2005-09-29

申请号：US11066500

申请日：2005-02-28

申请人： Kazushige Kakutani ,  Shinya Kataoka ,  Naoto Tojo

发明人： Kazushige Kakutani ,  Shinya Kataoka ,  Naoto Tojo

IPC分类号： H02K11/00 ,  H02K3/52 ,  H02P7/68

CPC分类号： H02K3/522

摘要： An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

摘要翻译： 一种致动器，其允许控制器通常应用于多个模型，而不需要复杂的控制参数的设置操作，并且具有优异的成本效益，可重用性和可扩展性。 此外，提供构成致动器的马达单元和控制器单元。 电机单元配有电机，电机驱动电路和参数存储器，用于存储控制电机所需的特性参数。 适于可拆卸到电动机单元的控制器单元设置有电动机控制电路和通信控制电路。 当控制器单元连接到电机单元时，存储在参数存储器中的特性参数通过通信连接器加载，用于设置电机控制电路的控制参数。

公开(公告)号：US07166981B2

公开(公告)日：2007-01-23

申请号：US11066500

申请日：2005-02-28

申请人： Kazushige Kakutani ,  Shinya Kataoka ,  Naoto Tojo

发明人： Kazushige Kakutani ,  Shinya Kataoka ,  Naoto Tojo

IPC分类号： H02P7/68

CPC分类号： H02K3/522

摘要： An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

摘要翻译： 一种致动器，其允许控制器通常应用于多个模型，而不需要复杂的控制参数的设置操作，并且具有优异的成本效益，可重用性和可扩展性。 此外，提供构成致动器的马达单元和控制器单元。 电机单元配有电机，电机驱动电路和参数存储器，用于存储控制电机所需的特性参数。 适于可拆卸到电动机单元的控制器单元设置有电动机控制电路和通信控制电路。 当控制器单元连接到电机单元时，存储在参数存储器中的特性参数通过通信连接器加载，用于设置电机控制电路的控制参数。

公开(公告)号：US6150794A

公开(公告)日：2000-11-21

申请号：US147065

申请日：1998-09-29

申请人： Makoto Yamada ,  Hiroshi Kutsuyama ,  Hideaki Aoki ,  Seigou Torita ,  Kazushige Kakutani ,  Seiji Murakami ,  Keiji Kishimoto ,  Masahiro Maekawa

发明人： Makoto Yamada ,  Hiroshi Kutsuyama ,  Hideaki Aoki ,  Seigou Torita ,  Kazushige Kakutani ,  Seiji Murakami ,  Keiji Kishimoto ,  Masahiro Maekawa

IPC分类号： B60L11/18 ,  B62M6/45 ,  B62M6/60 ,  H01F38/14 ,  H02J7/02 ,  H02J7/00

CPC分类号： B62M6/60 ,  B60L11/007 ,  B60L11/182 ,  B60L11/1825 ,  B60L11/1877 ,  B62H1/02 ,  B62M6/45 ,  B62M6/80 ,  H01F38/14 ,  H02J7/025 ,  B60L2200/12 ,  B60L2210/30 ,  B60L2230/14 ,  Y02T10/7005 ,  Y02T10/705 ,  Y02T10/7088 ,  Y02T10/7241 ,  Y02T90/121 ,  Y02T90/122 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14

摘要： The charging system of the invention comprises a primary charging device 4 disposed at a predetermined location, and a secondary charging device 6 mounted on the body 1 of a bicycle. The secondary charging device 6 comprises a secondary coil unit 50, rectifying circuit and charging control circuit which are housed in a casing 610. The secondary coil unit 50 is connected to a battery 20 mounted on the bicycle body 1 by a cord, and comprises a secondary coil 502 provided around an iron core 501. On the other hand, the primary charging device 4 comprises a primary coil unit 30 and charging circuit which are housed in a casing 410. The primary coil unit 30 comprises a primary coil 302 provided around an iron core 301. When the secondary coil unit 50 is positioned close to the primary coil unit 30, the battery 20 can be charged by the charging system.

摘要翻译： PCT No.PCT / JP97 / 01760 Sec。 371日期：1998年9月29日 102（e）1998年9月29日PCT PCT 1997年5月23日PCT公布。 公开号WO97 / 45913 日期1997年12月4日本发明的充电系统包括设置在预定位置的主充电装置4和安装在自行车主体1上的次充电装置6。 二次充电装置6包括容纳在壳体610中的次级线圈单元50，整流电路和充电控制电路。次级线圈单元50通过线连接到安装在自行车主体1上的电池20，并且包括 次级线圈502设置在铁芯501周围。另一方面，主充电装置4包括容纳在壳体410中的初级线圈单元30和充电电路。初级线圈单元30包括围绕 铁芯301.当次级线圈单元50靠近初级线圈单元30定位时，电池20可以由充电系统充电。

公开(公告)号：US06845830B2

公开(公告)日：2005-01-25

申请号：US10401668

申请日：2003-03-31

申请人： Naoto Tojo ,  Kazushige Kakutani

发明人： Naoto Tojo ,  Kazushige Kakutani

IPC分类号： B62B5/02 ,  A61G5/00 ,  A61G5/02 ,  A61G5/06 ,  B62D55/075 ,  B62D61/10 ,  B62D61/12 ,  B62D57/024 ,  B62D57/032

CPC分类号： A61G5/046 ,  A61G5/06 ,  A61G5/1051 ,  A61G5/1072 ,  A61G5/1075 ,  A61G2203/36 ,  A61G2203/40 ,  A61G2203/42 ,  A61G2203/44 ,  B62D55/075 ,  B62D61/12 ,  Y10S280/10

摘要： A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.

摘要翻译： 转向架设置有能够沿垂直方向移动每个车轮的车轮机构，以及控制单元，用于对车轮支撑单元施加的移动力进行阻抗控制，其中设置在车轮机构中的电动机支撑车轮 。 当第三轮上升一步时，控制单元控制每个车轮机构的输出，使第三轮与踏板的壁面接触，并且便于车轮向上移动，使其可以爬上 即使当攀爬轮在垂直方向上不规则地移动时，也可以立即使其他车轮与地面接触，从而转向架保持稳定的姿势。

公开(公告)号：US06983657B1

公开(公告)日：2006-01-10

申请号：US10049000

申请日：2000-08-28

申请人： Kazushige Kakutani ,  Keiji Kishimoto ,  Kazunobu Yokotani ,  Hideaki Aoki ,  Kazufumi Ushijima ,  Takeshi Fukunaga ,  Minoru Nakanishi ,  Fumitake Kondo

发明人： Kazushige Kakutani ,  Keiji Kishimoto ,  Kazunobu Yokotani ,  Hideaki Aoki ,  Kazufumi Ushijima ,  Takeshi Fukunaga ,  Minoru Nakanishi ,  Fumitake Kondo

IPC分类号： G01B7/16 ,  G01L1/00

CPC分类号： D06F37/24 ,  D06F39/003 ,  G01G19/52 ,  G01L1/125 ,  G01L1/127

摘要： The invention provides a load detecting system comprising a core (83) of magnetostrictive material, a coil (85) disposed in the vicinity of the core, and a load detecting circuit (10) connected to the coil (85) for detecting the magnitude of a load acting on the core (83). The load detecting circuit (10) comprises an exciting circuit (102) for passing an a.c. detecting current through the coil (85), a pulse current generating circuit (103) for passing through the coil a detection preparing current having a current value greater than the maximum value of the detecting current, a change-over circuit (104) for effecting a change-over between the exciting circuit (102) and the pulse current generating circuit (103) to pass the detecting current through the coil after passing the detection preparing current therethrough, and a microcomputer (100) for deriving the magnitude of the load acting on the magnetostrictive element based on an impedance variation produced in the coil during the period of passage of the detecting current through the coil.

摘要翻译： 本发明提供了一种负载检测系统，其包括磁致伸缩材料芯（83），设置在芯附近的线圈（85）和连接到线圈（85）的负载检测电路（10），用于检测 作用在芯部（83）上的负载。 负载检测电路（10）包括用于通过交流电流的激励电路（102）。 检测通过线圈（85）的电流;脉冲电流产生电路（103），用于使具有大于检测电流的最大值的电流值的检测准备电流通过线圈;用于实现 激励电路（102）和脉冲电流产生电路（103）之间的转换，使检测准备电流通过之后通过线圈传递检测电流;以及微计算机（100），用于导出负载的大小 基于在检测电流通过线圈的通过期间在线圈中产生的阻抗变化的磁致伸缩元件。

公开(公告)号：US06460381B1

公开(公告)日：2002-10-08

申请号：US09526882

申请日：2000-03-16

申请人： Shigeki Yoshida ,  Koichi Yoshizaki ,  Takao Kuraseko ,  Yuka Yoshida ,  Kazushige Kakutani ,  Keiji Kishimoto ,  Hideaki Aoki ,  Kazuya Hiyamizu

发明人： Shigeki Yoshida ,  Koichi Yoshizaki ,  Takao Kuraseko ,  Yuka Yoshida ,  Kazushige Kakutani ,  Keiji Kishimoto ,  Hideaki Aoki ,  Kazuya Hiyamizu

IPC分类号： D06F3302

CPC分类号： D06F39/087 ,  D06F37/203 ,  D06F39/003

摘要： A washing machine according to the present invention includes a pressure sensor provided at a rod holding plate holding a suspension rod with which an outer tub is suspended. The pressure sensor is constructed so that a coil is wound around a magnetostrictive element whose magnetic characteristic changes when it is expanded, compressed or twisted by an external force. The change in the magnetic characteristic is converted to the change in the inductance of the coil, and an oscillating signal of a frequency corresponding to the inductance generated. Based on the frequency of the signal, the load on the pressure sensor is detected. Before supplying water, the amount of the laundry contained in a wash-and-extraction tub is detected based on the output of the pressure sensor, and an object water level corresponding to the amount is determined. After that, a water supply valve is opened to start supplying water into the wash-and-extraction tub. The weight of water supplied is monitored based on the output of the pressure sensor, and the weight is converted to a water level. When the monitored water level has attained the object water level, the water supply is stopped. Thus, the pressure sensor functions not only as a load detector but also as a level sensor.

摘要翻译： 根据本发明的洗衣机包括压力传感器，该压力传感器设置在保持外桶的悬挂杆的杆保持板上。 压力传感器被构造成使得线圈缠绕在磁致伸缩元件周围，其磁特性在通过外力膨胀，压缩或扭曲时变化。 磁特性的变化被转换为线圈的电感的变化，并且产生与产生的电感相对应的频率的振荡信号。 根据信号的频率，检测压力传感器的负载。 在供水之前，基于压力传感器的输出来检测包含在洗涤和提取桶中的衣物的量，并且确定与该量对应的物体水位。 之后，打开供水阀，开始向洗涤和提取桶供水。 根据压力传感器的输出监测供水量，将重量转换为水位。 当监测到的水位达到目标水位时，供水停止。 因此，压力传感器不仅用作负载检测器，而且还用作液位传感器。

公开(公告)号：US06173801B1

公开(公告)日：2001-01-16

申请号：US09147156

申请日：1998-10-20

申请人： Kazushige Kakutani ,  Hideaki Aoki ,  Hideo Kawakami ,  Yoshio Tomigashi

发明人： Kazushige Kakutani ,  Hideaki Aoki ,  Hideo Kawakami ,  Yoshio Tomigashi

IPC分类号： B62K1100

CPC分类号： B62M6/60 ,  B62M6/40 ,  B62M6/45 ,  B62M6/75 ,  G01L3/1435

摘要： A manually operated travelling vehicle with an auxiliary power device, which can detect a rotating torque applied to a rotating crank shaft (40) in non-contact manner. Supported on a body (15) is a manually operated prime mover wheel (5). A rotating coil (201) is provided coaxially on the prime mover wheel (5). A variable impedance device (202) is electrically connected to the rotating coil (201) such that impedance changes depending upon a load applied to the prime mover wheel (5). A stationary coil (101) is fixed to the body (15) to be coaxial with and spaced from the rotating coil (201) with a predetermined interval therebetween and is electromagnetically connected to the rotating coil (201). A detection circuit (109) is connected to the stationary coil (101) to detect a change in current or voltage applied to the stationary coil (101) from the rotating coil (201) in accordance with an impedance change in the variable impedance device (202). A control unit (130) controls a power source for the auxiliary power device on the basis of an output value issued from the detection circuit (109).

摘要翻译： 一种具有辅助动力装置的手动行驶车辆，其可以以非接触的方式检测施加到旋转曲轴（40）的旋转扭矩。 在主体（15）上支撑的是手动操作的原动机轮（5）。 旋转线圈（201）同轴地设置在原动机轮（5）上。 可变阻抗装置（202）电连接到旋转线圈（201），使得阻抗根据施加到原动机轮（5）的负载而变化。 固定线圈（101）固定在主体（15）上，与旋转线圈（201）以预定间隔同轴并与其间隔开，并与旋转线圈（201）电磁连接。 检测电路（109）连接到固定线圈（101），以根据可变阻抗装置的阻抗变化来检测从旋转线圈（201）施加到固定线圈（101）的电流或电压的变化（ 202）。 控制单元（130）根据从检测电路（109）发出的输出值来控制辅助电力设备的电源。