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公开(公告)号：US20080267469A1
公开(公告)日：2008-10-30
申请号：US12047186
申请日：2008-03-12
申请人： Kuniaki Kawabata , Yuta Komori , Taketoshi Mishima , Hajime Asama , Kei Takeda
发明人： Kuniaki Kawabata , Yuta Komori , Taketoshi Mishima , Hajime Asama , Kei Takeda
IPC分类号： G06K9/00
CPC分类号： G06T7/0004 , G06T2207/10152
摘要： The present invention provides assistance for visual observation based counting of particles or crystals. In an image of a specimen of an unidentified sample, particles are counted from an image obtained as a result of binarization using a method such as the discriminant analysis method, for example, and crystals are counted from two images using the difference between the images according with different imaging conditions. As an example, in the particle counting, such as a two-step noise removal is performed, and also, for the crystals, alignment and aspect ratio calculation are performed. In particular, the present invention can provide assistance for the dispersion staining method in which asbestos crystals are visually searched for using a phase-contrast microscope.
摘要翻译： 本发明提供对基于目视观察的颗粒或晶体计数的辅助。 在未鉴定样品的样本的图像中，使用例如判别分析方法的方法从作为二值化结果获得的图像中计数颗粒，并且使用图像之间的差异从两个图像计数晶体 具有不同的成像条件。 例如，在粒子计数中，例如进行两步噪声除去，并且对于晶体，进行对准和纵横比计算。 特别地，本发明可以对使用相差显微镜目视检索石棉晶体的分散染色方法提供帮助。
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公开(公告)号：US07081731B2
公开(公告)日：2006-07-25
申请号：US10830040
申请日：2004-04-23
IPC分类号： G05B11/01
CPC分类号： G05B19/4062 , A61G5/04 , A61G5/048 , A61G7/08 , G05B2219/42271 , G05B2219/45109
摘要： A translatory actuator unit including a translatory actuator module that moves an object straightly, a force sensor that detects a load applied to the translatory actuator module, and a servo control module that controls a speed, a position and/or output power of the translatory actuator module. The translatory actuator module, the force sensor and the servo control module are integrally configured. The servo control module has a two-way network means of receiving a control command concerning the speed, the position and/or the output power from a network, and transmitting information of the speed, the position and/or the output power to the network, a control means of controlling the speed, the position and/or the output power, and a self-diagnosis means of confirming safety and detecting an abnormal state based on detected information of the speed, the position, the load, and/or an electric current of the translatory actuator module.
摘要翻译： 一种平移致动器单元，包括一个能够直接移动一个物体的平移致动器模块，一个检测施加到平移执行器模块的负载的力传感器，以及一个伺服控制模块，该伺服控制模块控制平移执行机构的速度，位置和/或输出功率 模块。 平移式致动器模块，力传感器和伺服控制模块整体构成。 伺服控制模块具有双向网络装置，用于接收关于来自网络的速度，位置和/或输出功率的控制命令，并将速度，位置和/或输出功率的信息传送到网络 ，控制装置，用于控制速度，位置和/或输出功率;以及自诊断装置，其基于检测到的速度信息，位置，负载和/或控制装置来确认安全性并检测异常状态 平移式执行器模块的电流。
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公开(公告)号：US06453212B1
公开(公告)日：2002-09-17
申请号：US09657084
申请日：2000-09-07
IPC分类号： B06F1900
CPC分类号： B25J9/162 , B25J5/007 , G05B2219/36429
摘要： In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.
摘要翻译： 在为了控制移动机器人的运动特性的移动机器人运动控制的方法中，将移动机器人的这种动作特性设为实际上等效于施法者的运动特性，从而实现适应于外力的运动性能。 因此，提供了一种用于移动机器人运动控制的方法，通过该方法可以通过人和移动机器人协同操作对象。
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公开(公告)号：US5819008A
公开(公告)日：1998-10-06
申请号：US663908
申请日：1996-06-14
申请人： Hajime Asama , Hayato Kaetsu , Shoji Suzuki , Yoshikazu Arai , Shin-ya Kotosaka , Isao Endo
发明人： Hajime Asama , Hayato Kaetsu , Shoji Suzuki , Yoshikazu Arai , Shin-ya Kotosaka , Isao Endo
IPC分类号： G05D1/02
CPC分类号： G05D1/0289 , G05D1/0242
摘要： An object of the present invention is to provide a sensor system which can effect local communications suitable for exchanging information to avoid collisions between mobile robots. The sensor system also prevents collisions between the mobile robots and obstacles. The system is well-suited for a multi-robot environment where multiple mobile robots operate. The system includes infrared signal transmitters installed in each of the multiple mobile robots for sending transmission data via infrared signals. The system further includes infrared signal receivers installed in each of the multiple mobile robots for receiving the transmission data sent by the infrared signal transmitters. Each mobile robot includes a control unit. The control unit prepares transmission information which includes mobile robot identification information unique to the mobile robot. The transmission information is included in the transmission data sent from the infrared signal transmitter. The control unit also extracts transmission information which is received by the infrared signal receiver.
摘要翻译： 本发明的目的是提供一种能够实现本地通信的传感器系统，其适于交换信息以避免移动机器人之间的碰撞。 传感器系统还可以防止移动机器人与障碍物之间的碰撞。 该系统非常适合于多机器人环境，其中多个移动机器人操作。 该系统包括安装在每个多个移动机器人中的红外信号发射器，用于通过红外信号发送传输数据。 该系统还包括安装在每个多个移动机器人中的红外信号接收器，用于接收由红外信号发射器发送的传输数据。 每个移动机器人包括一个控制单元。 控制单元准备包括移动机器人独有的移动机器人识别信息的传输信息。 发送信息包含在从红外信号发送器发送的发送数据中。 控制单元还提取由红外线信号接收器接收的发送信息。
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公开(公告)号：US06629028B2
公开(公告)日：2003-09-30
申请号：US09893653
申请日：2001-06-29
申请人： Igor E. Paromtchik , Hajime Asama
发明人： Igor E. Paromtchik , Hajime Asama
IPC分类号： G05D100
CPC分类号： G05D1/0236 , G05D1/0297
摘要： In order to set target positions in the case where mobile bodies such as mobile robots transfer in accordance with a manner different from that of the prior art, a method for instructing such target positions of at least one or more of the mobile bodies contained movably in a predetermined environment comprises light beacons being produced by a light beam projecting device in a surface on which the mobile bodies are to be transferred, whereby the target positions towards which the mobile bodies are to be transferred being instructed.
摘要翻译： 为了在诸如移动机器人的移动体根据与现有技术的方式不同的方式传送的情况下设定目标位置，可以将移动体中的至少一个或多个移动体的目标位置指示为可移动地包含在 预定的环境包括由移动体要被传送的表面中的光束投射装置产生的光信标，由此指示移动体要传送的目标位置。
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公开(公告)号：US06960986B2
公开(公告)日：2005-11-01
申请号：US09851986
申请日：2001-05-10
申请人： Hajime Asama , Daisuke Kurabayashi
发明人： Hajime Asama , Daisuke Kurabayashi
IPC分类号： A62B99/00 , A61B5/00 , A61B5/0205 , A61B5/021 , A61B5/0476 , A62B33/00 , B25J19/02 , G01S13/82 , G06K17/00 , G06K19/00 , G06K19/07 , H04Q9/00 , G08B23/00
CPC分类号： G01S13/825 , A61B5/0002 , A61B5/0008 , A61B5/02055 , A61B5/021 , A61B5/0476 , A61B2560/0214 , A62B33/00
摘要： To provide a support system using a data carrier system by which an activity or a work operation by means of human beings and robots may be supported in a variety of environments. The support system comprises at least one tag being a data carrier that is disposed at a predetermined position; and at least one reader/writer that communicates with the tag; the tag being provided with an input/output means, a predetermined device being connected to the input/output means, and the predetermined device being operated by information output from the reader/writer.
摘要翻译： 提供使用数据载体系统的支持系统，通过该系统可以在各种环境中支持通过人类和机器人的活动或工作操作。 支撑系统包括至少一个标签，该标签是设置在预定位置的数据载体; 以及与标签通信的至少一个读取器/写入器; 标签设置有输入/输出装置，预定装置连接到输入/输出装置，并且预定装置由从读取器/写入器输出的信息操作。
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公开(公告)号：US20050254687A1
公开(公告)日：2005-11-17
申请号：US11088839
申请日：2005-03-25
IPC分类号： G06T1/00 , G06K9/00 , G06T7/20 , G08B13/196 , G08B25/00
CPC分类号： G06K9/00335 , G08B13/196
摘要： An action analysis method comprising: an image recording step for continuously photographing a target; a movement locus measuring step for obtaining a movement locus of the target; an action analysis step for analyzing an action of the target from the movement locus; and an output step. In the action analysis step, a speed v and a movement direction displacement angle θ for each unit time is obtained from the movement locus; an average value X of v·cos θ for each unit time within a predetermined time is obtained; and a predetermined extraction target is distinguished by a statistic measure using the average value as an operation element index.
摘要翻译： 一种动作分析方法，包括：用于连续拍摄目标的图像记录步骤; 运动轨迹测量步骤，用于获得目标的运动轨迹; 动作分析步骤，用于从所述移动轨迹分析所述目标的动作; 和输出步骤。 在动作分析步骤中，从移动轨迹获得每单位时间的速度v和移动方向位移角θ; 获得在预定时间内每单位时间的v.cosθ的平均值X; 并且通过使用平均值作为操作元素索引的统计量来区分预定提取目标。
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公开(公告)号：US07486800B2
公开(公告)日：2009-02-03
申请号：US11088839
申请日：2005-03-25
IPC分类号： G06K9/00
CPC分类号： G06K9/00335 , G08B13/196
摘要： An action analysis method comprising: an image recording step for continuously photographing a target; a movement locus measuring step for obtaining a movement locus of the target; an action analysis step for analyzing an action of the target from the movement locus; and an output step. In the action analysis step, a speed v and a movement direction displacement angle θ for each unit time is obtained from the movement locus; an average value X of v·cos θ for each unit time within a predetermined time is obtained; and a predetermined extraction target is distinguished by a statistic measure using the average value as an operation element index.
摘要翻译： 一种动作分析方法，包括：用于连续拍摄目标的图像记录步骤; 运动轨迹测量步骤，用于获得目标的运动轨迹; 动作分析步骤，用于从所述移动轨迹分析所述目标的动作; 和输出步骤。 在动作分析步骤中，从移动轨迹获得每单位时间的速度v和移动方向位移角θ; 获得在预定时间内每单位时间的v.cosθ的平均值X; 并且通过使用平均值作为操作元素索引的统计量来区分预定提取目标。
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公开(公告)号：US5929778A
公开(公告)日：1999-07-27
申请号：US555592
申请日：1995-11-09
申请人： Hajime Asama , Hayato Kaetsu , Shin-ya Kotosaka , Isao Endo , Sakae Miyao , Atsusi Nakamura
发明人： Hajime Asama , Hayato Kaetsu , Shin-ya Kotosaka , Isao Endo , Sakae Miyao , Atsusi Nakamura
CPC分类号： G06K19/0723 , G06K7/0008
摘要： A data carrier system allows data to be transmitted and received. The data is transmitted using weak radio waves of suitable frequencies, such as frequencies in a high frequency band (HF) or a very high frequency band (VHF). The transmitters and receivers need not physically contact each other, be located in any particular position, or be oriented in any particular direction. The data carrier system does not suffer deficiencies in electric power supply, and therefore there exists no need to exchange batteries. Individual transmitters and receivers are positively discriminated one from another. The receivers are in the form of a plurality of tags. The transmitters are in the form of a plurality of reader-writers. Both are controlled by microcomputers, and each tag is equipped with a secondary battery as the power source.
摘要翻译： 数据载体系统允许发送和接收数据。 使用适当频率的弱无线电波（诸如高频带（HF）或非常高频带（VHF）中的频率）发送数据。 发射机和接收机不需要物理上彼此接触，位于任何特定的位置，或者被定位在任何特定的方向。 数据载体系统不会出现电力供应不足，因此不需要更换电池。 各个发射机和接收机之间是相互区分的。 接收器是多个标签的形式。 发射机是多个读写器的形式。 两者都由微型计算机控制，每个标签配备有二次电池作为电源。
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