公开(公告)号：US08504202B2

公开(公告)日：2013-08-06

申请号：US12547666

申请日：2009-08-26

申请人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

发明人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

IPC分类号： G05B19/18 ,  G05B19/4061 ,  G05D1/00 ,  G08G1/16

CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0289

摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.

摘要翻译： 一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7， 其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及 终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而 能够快速移动，同时避免由于冲出而产生碰撞。

公开(公告)号：US20100222954A1

公开(公告)日：2010-09-02

申请号：US12547666

申请日：2009-08-26

申请人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

发明人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

IPC分类号： G05D1/00 ,  G05B19/04

CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0289

摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.

摘要翻译： 一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7， 其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及 终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而 能够快速移动，同时避免由于冲出而产生碰撞。

公开(公告)号：US07660665B2

公开(公告)日：2010-02-09

申请号：US11274322

申请日：2005-11-16

申请人： Junichi Tamamoto ,  Yuji Hosoda ,  Saku Egawa ,  Toshihiko Horiuchi

发明人： Junichi Tamamoto ,  Yuji Hosoda ,  Saku Egawa ,  Toshihiko Horiuchi

IPC分类号： G01C21/00

CPC分类号： G05D1/0236 ,  G05D1/0274

摘要： Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.

摘要翻译： 自主移动设备包括物体位置和自身位置检测系统和移动单元，并且自主移动。 物体位置和位置检测系统包括数据库，其中记录关于物体的表面形状和位置的信息。 由位置测量单元检测到的物体的表面形状与记录在数据库中的物体的表面形状进行整理。 如果整理的表面形状彼此一致，则将记录在数据库中的对象的信息传送到行驶计划单元。 如果整理的表面形状彼此不一致，则由位置测量单元获取的对象的信息被传送到行驶计划单元。

公开(公告)号：US20060104502A1

公开(公告)日：2006-05-18

申请号：US11274322

申请日：2005-11-16

申请人： Junichi Tamamoto ,  Yuji Hosoda ,  Saku Egawa ,  Toshihiko Horiuchi

发明人： Junichi Tamamoto ,  Yuji Hosoda ,  Saku Egawa ,  Toshihiko Horiuchi

IPC分类号： G06K9/00

CPC分类号： G05D1/0236 ,  G05D1/0274

摘要： Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.

摘要翻译： 自主移动设备包括物体位置和自身位置检测系统和移动单元，并且自主移动。 物体位置和位置检测系统包括数据库，其中记录关于物体的表面形状和位置的信息。 由位置测量单元检测到的物体的表面形状与记录在数据库中的物体的表面形状进行整理。 如果整理的表面形状彼此一致，则将记录在数据库中的对象的信息传送到行驶计划单元。 如果整理的表面形状彼此不一致，则由位置测量单元获取的对象的信息被传送到行驶计划单元。

公开(公告)号：US07649331B2

公开(公告)日：2010-01-19

申请号：US11270599

申请日：2005-11-10

申请人： Yuji Hosoda ,  Saku Egawa ,  Junichi Tamamoto ,  Ryosuke Nakamura ,  Toshihiko Horiuchi

发明人： Yuji Hosoda ,  Saku Egawa ,  Junichi Tamamoto ,  Ryosuke Nakamura ,  Toshihiko Horiuchi

IPC分类号： B25J5/00 ,  B25J19/02

CPC分类号： B62D57/024 ,  B25J5/007 ,  B62K11/007

摘要： A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

摘要翻译： 移动机器人具有移动机构，摆动机构和控制单元。 移动机构为同轴两轮式，通过倒立摆控制控制向前推力。 摆动机构主动地相对于移动机构横向上摆动上身。 离心力和重力作用在移动机器人的重心上。 控制摆动姿态，使得作用于移动机器人的重心的力的复合矢量的延伸与车轮的接地面之间的交点的位置保持在左右轮之间。

公开(公告)号：US20060097683A1

公开(公告)日：2006-05-11

申请号：US11270599

申请日：2005-11-10

申请人： Yuji Hosoda ,  Saku Egawa ,  Junichi Tamamoto ,  Ryosuke Nakamura ,  Toshihiko Horiuchi

发明人： Yuji Hosoda ,  Saku Egawa ,  Junichi Tamamoto ,  Ryosuke Nakamura ,  Toshihiko Horiuchi

IPC分类号： B25J5/00

CPC分类号： B62D57/024 ,  B25J5/007 ,  B62K11/007

摘要： A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

摘要翻译： 移动机器人具有移动机构，摆动机构和控制单元。 移动机构为同轴两轮式，通过倒立摆控制控制向前推力。 摆动机构主动地相对于移动机构横向上摆动上身。 离心力和重力作用在移动机器人的重心上。 控制摆动姿态，使得作用于移动机器人的重心的力的复合矢量的延伸与车轮的接地面之间的交点的位置保持在左右轮之间。

公开(公告)号：US07677345B2

公开(公告)日：2010-03-16

申请号：US11349920

申请日：2006-04-17

申请人： Yuji Hosoda

发明人： Yuji Hosoda

IPC分类号： B62D61/00

CPC分类号： B62D57/028 ,  B62D57/024

摘要： Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.

摘要翻译： 在狭窄占地面积的移动机器人中，在飞机表面上具有快速的行驶性能，以及抗倒塌功能，并且还适合于与人共存的操作，能够在行驶状态下行驶 水平差等：在主驱动轮2和3的前后分别通过倒立摆控制进行控制，支撑腿4和5，其顶端可上下升起，其中， 支撑腿4和5被定位成在行进表面之间保持预定距离，当在倒置的两轮行进上行驶时，支撑腿4和5被固定或者在下降方向上的任一个被推出到 跌倒方向，以防止跌倒。 此外，根据设置在支撑腿4,5的前端的地面距离传感器4e，5e和侧面距离传感器4f，4g，5f，5g的检测信息，机器人感知到存在 的水平差和/或倾斜表面，以使支撑腿从水平差和/或倾斜表面逸出，并通过其他支撑腿，稳定地保持重心的位置， 落在地面上，主驱动轮2和3; 从而能够超过水平差和倾斜表面。

公开(公告)号：US4604561A

公开(公告)日：1986-08-05

申请号：US661958

申请日：1984-10-17

申请人： Kohji Kamajima ,  Yoshiyuki Nakano ,  Masakatsu Fujie ,  Yuji Hosoda ,  Taro Iwamoto ,  Kazuo Honma

发明人： Kohji Kamajima ,  Yoshiyuki Nakano ,  Masakatsu Fujie ,  Yuji Hosoda ,  Taro Iwamoto ,  Kazuo Honma

IPC分类号： G05D3/12 ,  B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  B25J13/08 ,  G05B19/414 ,  G05B19/10

CPC分类号： G05B19/4141 ,  G05B2219/37572 ,  G05B2219/42162 ,  G05B2219/45083 ,  G05B2219/49143

摘要： In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.

摘要翻译： 在具有多个臂元件的多关节臂机构的控制装置中，为了提高每个臂元件的操作速度，臂元件的前端和其目标位置之间的真实的控制误差由 臂元件的移动和其预测的控制误差的差异被评估，并且控制臂元件以使差为零。

公开(公告)号：US4579006A

公开(公告)日：1986-04-01

申请号：US636214

申请日：1984-07-31

申请人： Yuji Hosoda ,  Masakatsu Fijie ,  Kazuo Honma ,  Taro Iwamoto ,  Kohji Kamejima ,  Yoshio Kojima ,  Yoshiyuki Nakano

发明人： Yuji Hosoda ,  Masakatsu Fijie ,  Kazuo Honma ,  Taro Iwamoto ,  Kohji Kamejima ,  Yoshio Kojima ,  Yoshiyuki Nakano

IPC分类号： G05D3/00 ,  F03G7/06 ,  G01K7/02 ,  G01L1/00 ,  G01L5/00 ,  G12B1/00

CPC分类号： G12B1/00 ,  F03G7/06 ,  G01K7/02 ,  G01L1/005 ,  G01L5/0061

摘要： In force sensing apparatus for a driving device which employs a shape memory alloy, note is taken of the fact that a force to be generated by the shape memory alloy varies depending upon the temperature or resistance and the displacement of the shape memory alloy, and force information on an output of the driving device is detected on the basis of information of the temperature or resistance and the displacment of the shape memory alloy.

摘要翻译： 采用形状记忆合金的驱动装置的力传感装置，注意到由形状记忆合金产生的力根据形状记忆合金的温度或电阻和位移而变化，并且力 基于形状记忆合金的温度或电阻和位移的信息来检测关于驱动装置的输出的信息。

公开(公告)号：US09182235B2

公开(公告)日：2015-11-10

申请号：US14118899

申请日：2011-05-20

申请人： Yoshitaka Hara ,  Akira Oshima ,  Kenjiro Yamamoto ,  Yuji Hosoda

发明人： Yoshitaka Hara ,  Akira Oshima ,  Kenjiro Yamamoto ,  Yuji Hosoda

IPC分类号： G01C21/00 ,  G01C21/30

CPC分类号： G01C21/005 ,  G01C21/30

摘要： Calculating a highly accurate locus is a goal. An administrative part (20) for correcting a traveling locus of a mobile object (V) is characterized by including an evaluation function generating unit (21) that sets a plurality of nodes on locus data of the mobile object (V) acquired by a wheel rotation quantity measuring unit (16), correlates position data of the mobile object (V) acquired by the wheel rotation quantity measuring unit (16) to the nodes and correlates position data of the mobile object (V) acquired by other units of measurement means than the wheel rotation quantity measuring unit to the nodes, represents positions at which the nodes may occur by probability, represents positions at which position data correlated to the nodes may occur by probability, and calculates an evaluation function including the nodes and the position data as variables, based on each probability; and a locus optimization calculation unit (22) that calculates a locus on which each node occurs with largest probability, based on the evaluation function.

摘要翻译： 计算高精度的轨迹是一个目标。 用于校正移动物体（V）的行驶轨迹的管理部分（20）的特征在于包括评估函数生成单元（21），其设置由车轮获取的移动体（V）的轨迹数据上的多个节点 旋转量测量单元（16）将由车轮旋转量测量单元（16）获取的移动体（V）的位置数据与节点相关联，并且将由测量装置的其他单元获取的移动体（V）的位置数据相关联， 相对于节点的车轮旋转量测量单元，表示以概率出现节点的位置，表示通过概率与节点相关的位置数据的位置，并且计算包括节点和位置数据的评估函数， 变量，基于每个概率; 以及轨迹优化计算单元，其基于所述评估函数，以最大概率计算出每个节点出现的轨迹。