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公开(公告)号：US20180185764A1
公开(公告)日：2018-07-05
申请号：US15905893
申请日：2018-02-27
Inventor： RYOUTA MIYAZAKI , KENTO OGAWA , SEIYA HIGUCHI
CPC classification number: A63H33/005 , A63H3/006 , A63H3/28 , A63H11/00 , A63H29/08 , A63H29/22 , A63H33/26 , A63H2200/00 , G05D1/0891 , G05D2201/0214
Abstract: A robot is provided. When a value obtained by excluding a gravitational component from an acceleration detected by an acceleration sensor is continuously less than a reference value for a certain time, a travelling state of the robot is determined as frictional surface travelling. A control circuit calculates an attitude angle of the robot from an angular velocity in a pitch direction, which is detected by an angular velocity sensor. When the calculated attitude angle is a lower limit angle or more for a determination time, the control circuit sets the attitude angle at the end of the determination time as an attitude control angle. When the travelling state of the robot is determined as the frictional surface travelling, the control circuit moves a counterweight frontward by a movement amount corresponding to the attitude control angle.
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2.发明申请公开(公告)号：US20180056519A1
公开(公告)日：2018-03-01
申请号：US15806097
申请日：2017-11-07
Inventor： KENTO OGAWA , RYOUTA MIYAZAKI , MICHIKO SASAGAWA , YUJI KUNITAKE , SEIYA HIGUCHI
CPC classification number: B25J11/0015 , A63H3/28 , A63H5/00 , A63H11/00 , A63H33/005 , A63H2200/00 , B25J5/00 , B25J19/021 , B25J19/026 , B60L58/13
Abstract: A robot includes a main casing, a first spherical cap and a second spherical cap, and a shaft linking the spherical caps. The robot further includes a display, a first driving mechanism causing the first and second spherical caps to be rotated by the shaft, and a second driving mechanism that causes the main casing to be rotated. The robot also includes a control circuit and an electric power source, charged by electric power from an external charger. If the remaining electric power of the electric power source is lower than or equal to a predetermined value, the second driving mechanism is controlled to stop rotation of the main casing, and the first driving mechanism is controlled to switch a rotational direction of the first spherical cap and the second spherical cap, causing the display to be reciprocally moved in a vertical direction.
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公开(公告)号：US20180154513A1
公开(公告)日：2018-06-07
申请号：US15888171
申请日：2018-02-05
Inventor： SHIKI KOU , RYOUTA MIYAZAKI , MASAHIRO ISHII , KENTO OGAWA , YUJI KUNITAKE , SEIYA HIGUCHI
CPC classification number: B25J5/00 , A63H11/00 , A63H33/005 , A63H2200/00 , B25J9/1697 , B25J11/0015 , B25J13/003 , G10L15/22 , G10L2015/223 , H04R1/028 , Y10S901/01 , Y10S901/47
Abstract: A robot having a spherical casing, a control circuit and a communication circuit configured to connect to an external server is provided. The robot further includes a set of wheels included in the spherical casing, which comes into contact with an inner surface of the spherical casing and configured to rotate the spherical casing when the driving wheels are driven. The control circuit is configured to, when determining that performing a predetermined processing in response to an input instruction received from a user requires a predetermined amount of time or more, causes each of the set of driving wheels to rotate in opposite directions from each other to rotate the spherical casing during the predetermined processing. When the predetermined processing is complete and a response is to be output, the control circuit stops rotation of the spherical casing with the set of wheels facing toward the user.
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4.发明申请公开(公告)号：US20180122365A1
公开(公告)日：2018-05-03
申请号：US15791447
申请日：2017-10-24
Inventor： YUJI KUNITAKE , RYOUTA MIYAZAKI , SEIYA HIGUCHI , YUSAKU OTA
CPC classification number: G10L15/063 , G06F17/2735 , G10L15/02 , G10L15/187 , G10L15/22 , G10L2015/025 , G10L2015/0635
Abstract: A method is provided for correcting a dictionary used in a voice processing apparatus. The method includes first extracting a speech of a target speaker from audio collected by a microphone, and estimating a speech phonemic sequence configuring the speech. The method also includes calculating a match degree, using a first dictionary, between the speech phonemic sequence and a first phonemic sequence that corresponds to a first word registered in the first dictionary, and second extracting the first word corresponding to a highest match degree as a spoken word spoken by the target speaker. The method further includes first correcting a second dictionary based on the highest match degree, the second dictionary indicating a relation between a second word and a third word, and second correcting the second dictionary by correcting the relation between the third word matching the spoken word and the second word.
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公开(公告)号：US20190015758A1
公开(公告)日：2019-01-17
申请号：US16019450
申请日：2018-06-26
Inventor： SEIYA HIGUCHI
CPC classification number: A63H33/005 , A63H2200/00 , B25J5/00 , B25J9/1664 , B25J11/0005 , B25J13/085 , B25J13/088 , B62D57/02 , G05D1/0891 , G05D2201/0214 , G06N3/008
Abstract: A robot includes a control circuit that detects a changing maximum value of a pitch angle, when the robot moves to a predetermined target point by rotating its main body. The control circuit determines a minimum control amount corresponding to the maximum value of the pitch angle, when the robot arrives at a predetermined distance short of the predetermined target point. The control circuit generates a deceleration control amount for the second drive mechanism that is greater than or equal to the minimum control amount, according to a remaining distance to the predetermined target point. The control circuit decelerates the rotation of the main body by controlling the second drive mechanism in accordance with the deceleration control amount.
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Patent Agency Ranking
公开(公告)号：US20180178136A1
公开(公告)日：2018-06-28
申请号：US15905883
申请日：2018-02-27
Inventor： MICHIKO SASAGAWA , SEIYA HIGUCHI , RYOUTA MIYAZAKI , KENTO OGAWA
Abstract: In a robot, after a first value indicating acceleration in the up-and-down axis direction output from an acceleration sensor exceeds a certain threshold value, when any of the first value indicating the acceleration in the up-and-down axis direction, a second value indicating the acceleration in the front-and-back axis direction, and a third value indicating the acceleration in the left-and-right axis direction is determined to exhibit variation exceeding a certain width for a fixed period, the robot determines that a housing of the robot is being held by a user.
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公开(公告)号：US20180154273A1
公开(公告)日：2018-06-07
申请号：US15888177
申请日：2018-02-05
Inventor： SHIKI KOU , RYOUTA MIYAZAKI , MASAHIRO ISHII , KENTO OGAWA , YUJI KUNITAKE , SEIYA HIGUCHI
CPC classification number: A63H33/005 , A63H5/00 , A63H11/00 , A63H33/26 , A63H2200/00 , B25J5/007 , B25J11/0005 , B25J11/0015 , B25J13/003 , B25J19/002 , B25J19/023 , B25J19/026 , H04N5/2251 , H04N5/23203 , H04N5/23219
Abstract: A robot having a spherical casing, a weight driving mechanism, and a rotating mechanism is provided. The robot further includes a control circuit that controls the weight driving mechanism and the rotating mechanism is also provided. The control circuit is configured to, when responding to an input instruction received from a user, based on a predetermined processing that requires a predetermined amount of time or more to respond to an input instruction by a user input via an input device, cause the weight driving mechanism to be rotated to where a guide path of the weight driving mechanism is positioned to be orthogonal to an advancing direction by a set of driving wheels. The control circuit is further configured to cause the weight to be reciprocally move along the guide path that is positioned orthogonal to the advancing direction, during the predetermined processing.
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8.发明申请公开(公告)号：US20180056518A1
公开(公告)日：2018-03-01
申请号：US15803783
申请日：2017-11-05
Inventor： KENTO OGAWA , RYOUTA MIYAZAKI , MICHIKO SASAGAWA , YUJI KUNITAKE , SEIYA HIGUCHI
CPC classification number: B25J11/0005 , A63H3/006 , A63H3/28 , A63H11/00 , A63H33/005 , A63H2200/00 , B25J19/002 , B25J19/005 , B25J19/023 , B25J19/026 , H02J7/0042 , H02J7/0047 , H02J2007/0049 , H02J2007/005
Abstract: A robot includes a spherical housing, a frame disposed in the housing, and a display that displays at least a facial feature of the robot. The robot further includes a set of driving wheels that are in contact with an inner surface of the housing to rotate the housing, and a weight driving mechanism that causes a weight to move along a predetermined axis. Also, the robot includes a power supply that is externally charged and supplies electric power to the set of driving wheels and weight driving mechanism, and a control circuit that stops rotation of the set of driving wheels and moves the weight along the predetermined axis to correspondingly move the display vertically.
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公开(公告)号：US20190094874A1
公开(公告)日：2019-03-28
申请号：US16058439
申请日：2018-08-08
Inventor： KENTO OGAWA , SEIYA HIGUCHI
IPC: G05D1/02
Abstract: A robot includes a range finding sensor that measures a distance from the robot to an object facing a display each time the range finding sensor rotates through a predetermined angle. If a difference between a first distance previously measured and a second distance subsequently measured is a first predetermined value or greater, information is stored in a memory to indicate that a down-step is located in a direction defined by a turning angle of the robot when the first distance is measured at a position that is separated from the robot by the first distance. When rotating and moving the main casing in a direction in which the down-step is located, the robot is caused to make a pivot turn first. Subsequently, the main casing is rotated to move in the direction in which the down-step is located by a distance smaller than the first distance.
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公开(公告)号：US20190061161A1
公开(公告)日：2019-02-28
申请号：US16051639
申请日：2018-08-01
Inventor： SEIYA HIGUCHI
Abstract: A spherical shaped robot with a drive mechanism and a weight drive mechanism is provided. If a distance from the robot to an object is less than a predetermined value, the robot executes a pivot turn mode. In the pivot turn mode, the robot controls the drive mechanism to stop linear movements of the robot, controls the weight drive mechanism to tilt the weight to a first side representing one of the right hand side and left hand side of the robot, controls the drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controls the drive mechanism to stop the forward movement of the robot, controls the weight drive mechanism to tilt the weight to a second side different from the first side, and controls the drive mechanism to cause a backward movement of the robot with the weight tilted to the second side.
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