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公开(公告)号：US08447455B2
公开(公告)日：2013-05-21
申请号：US12666485
申请日：2008-10-24
申请人： Shinichi Matsunaga
发明人： Shinichi Matsunaga
CPC分类号： B25J9/1664 , G05B2219/40465 , G05D1/0212 , G05D1/0217 , G05D1/0225 , G05D2201/0217
摘要： A target route generation system which generates a target route for a robot (R) to travel along autonomously is provided with a route candidate generation element (110) which generates a plurality of travel route candidates to connect the terminating point and the starting point by connecting links stored at a link storing element (211), state recognition elements (115 to 118) which recognize a state of the robot (R), and a route evaluation IC element (120) which evaluates a cost of a travel route candidate including therein an action point stored in an action point storing element (212) lower as the necessity for passing by the action point is higher in view of the state of the robot (R) recognized by the state recognition elements (115 to 118). According to the system, the robot can be made to travel through the action point with a high necessity in view of the state of the robot.
摘要翻译： 产生用于机器人（R）自主行进的目标路线的目标路线产生系统设置有路线候选生成元件（110），其生成多个行驶路线候选，以通过连接来连接终点和起点 存储在链接存储元件（211）的链接，识别机器人（R）的状态的状态识别元件（115〜118）以及评估其中包括的旅行路线候选者的成本的路线评估IC元件（120） 鉴于由状态识别元件（115至118）识别的机器人（R）的状态，存储在动作点存储元件（212）中的动作点作为通过动作点的必要性较低。 根据该系统，考虑到机器人的状态，机器人可以以高的必要性使其行进通过动作点。
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2.发明授权Position detection apparatus, position detection method and position detection program 有权位置检测装置，位置检测方法和位置检测程序公开(公告)号：US07239339B2
公开(公告)日：2007-07-03
申请号：US09866151
申请日：2001-05-26
摘要： A position detection apparatus that is able to easily detect self-position during autonomous movement by a humanoid robot that moves by the use of legs or automobile. The position detection apparatus detects the position of a moving object, said position detection apparatus being provided with a brightness image acquisition device that acquires a brightness image of the forward field of view of the moving object, a distance image acquisition device having the same field of view as the brightness image acquisition device that acquires a distance image simultaneous to acquisition of a brightness image by the brightness image acquisition device, a characteristic point extraction device that extracts respective characteristic points from the brightness images of at least two consecutive frames, and a reference characteristic point selection device that calculates the amount of displacement of a position between two frames of a characteristic point extracted by the characteristic point extraction device based on a distance image, and selects a reference characteristic point for calculating self-position according to said amount of displacement.
摘要翻译： 一种位置检测装置，其能够通过使用腿部或汽车移动的类人机器人容易地检测自主运动期间的自身位置。 位置检测装置检测移动物体的位置，所述位置检测装置设置有获取所述移动物体的正视场的亮度图像的亮度图像获取装置，具有相同场的距离图像获取装置 作为通过亮度图像获取装置同时获取亮度图像的距离图像的亮度图像获取装置，从至少两个连续帧的亮度图像中提取各个特征点的特征点提取装置和参考 特征点选择装置，其基于距离图像计算由特征点提取装置提取的特征点的两帧之间的位置的位移量，并且根据所述位移量来选择用于计算自身位置的参考特征点 。
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公开(公告)号：US5795992A
公开(公告)日：1998-08-18
申请号：US765365
申请日：1997-02-10
申请人： Toshio Tanahashi , Masakatsu Sanada , Hiroyuki Domyo , Hiroshi Hirayama , Kazuaki Sobue , Tsuneo Higashi , Koji Yokota , Hideo Sobukawa , Tadashi Suzuki , Shinichi Matsunaga
发明人： Toshio Tanahashi , Masakatsu Sanada , Hiroyuki Domyo , Hiroshi Hirayama , Kazuaki Sobue , Tsuneo Higashi , Koji Yokota , Hideo Sobukawa , Tadashi Suzuki , Shinichi Matsunaga
CPC分类号： F01N11/002 , F02D41/1446 , F02D41/1495 , F01N2550/02 , F01N2550/20 , Y02T10/47
摘要： An internal combustion engine in which a three-way catalyst (12) for purification of the exhaust gas is arranged in the exhaust passage, wherein the relationship between the magnitude of the stress causing deterioration of the three-way catalyst (12), for example the catalytic bed temperature, and the rate of deterioration of the performance of the catalyst is found. A durability test is performed by raising the catalytic bed temperature higher than that of the vehicle under market driving. The length of the durability test at this time is determined from the relationship between the catalytic bed temperature and the rate of deterioration of the performance of the catalyst so as to give the same degree of deterioration of the performance of the catalyst as with market driving. The length of the durability test required for giving the same degree of deterioration of the performance of the catalyst is much shorter than the market driving time.
摘要翻译： PCT No.PCT / JP96 / 01318 Sec。 371日期1997年2月10日 102（e）日期1997年2月10日PCT提交1996年5月17日PCT公布。 WO96 / 36863 PCT出版物 日期：1996年11月21日在排气通路内配置有用于净化废气的三元催化剂（12）的内燃机，其中，三元催化剂的导致劣化的应力的大小 12），例如催化床温度和催化剂性能劣化的速率。 在市场驾驶下，通过提高催化床温度高于车辆的耐久性试验。 此时的耐久性试验的长度根据催化床温度与催化剂性能劣化的关系来确定，从而与催化剂的性能相同程度的劣化与市场驾驶相同。 给出相同程度的催化剂性能劣化所需的耐久性试验的长度比市场行驶时间短得多。
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公开(公告)号：US5722238A
公开(公告)日：1998-03-03
申请号：US734774
申请日：1996-10-22
申请人： Toshio Tanahashi , Masakatsu Sanada , Koji Yokota , Shinichi Matsunaga , Hideo Sobukawa , Ichiro Konomi , Tadashi Suzuki
发明人： Toshio Tanahashi , Masakatsu Sanada , Koji Yokota , Shinichi Matsunaga , Hideo Sobukawa , Ichiro Konomi , Tadashi Suzuki
CPC分类号： F01N11/002 , F01N11/00 , F01N11/007 , F01N2550/02 , Y02T10/47
摘要： A device for evaluating catalyst performance deterioration includes an air-fuel ratio sensor and a temperature sensor. The degree of catalyst performance deterioration per unit time is calculated based on the concentration of oxygen in the exhaust gas and the temperature of the catalyst. The deterioration of the catalyst is evaluated on the basis of the accumulated value of the degree of catalyst performance deterioration per unit time.
摘要翻译： 用于评价催化剂性能劣化的装置包括空燃比传感器和温度传感器。 基于废气中的氧浓度和催化剂的温度计算每单位时间的催化剂性能劣化程度。 基于每单位时间的催化剂性能劣化程度的累积值来评价催化剂的劣化。
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公开(公告)号：US09592610B2
公开(公告)日：2017-03-14
申请号：US12521828
申请日：2008-10-07
CPC分类号： B25J13/06 , B25J9/1676 , G05D1/0033 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0217
摘要： A remote controller enables a user to manipulate behavior of a robot so that the robot does not stray away from a given area and also avoids contact with an object. If a route designated by the user satisfies a stable movement requirement, a first command signal is transmitted from the remote controller to the robot. By doing so, it is possible to move the robot according to the designated route. On the other hand, if the route designated by the user does not satisfy the stable movement requirement, the first command signal is not transmitted from the remote controller to the robot. Therefore, it is possible to stop the robot from moving according to the designated route, and further to avoid the situation where the robot strays away from the designated region, or comes into contact with the object.
摘要翻译： 遥控器使用户能够操纵机器人的行为，使得机器人不会偏离给定的区域，也避免与对象的接触。 如果由用户指定的路由满足稳定的移动要求，则从遥控器向机器人发送第一命令信号。 通过这样做，可以根据指定的路线移动机器人。 另一方面，如果由用户指定的路径不满足稳定运动要求，则不将第一命令信号从遥控器发送到机器人。 因此，可以根据指定的路线停止机器人的移动，并且进一步避免机器人远离指定区域而与物体接触的情况。
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6.发明授权公开(公告)号：US07840308B2
公开(公告)日：2010-11-23
申请号：US11221903
申请日：2005-09-09
IPC分类号： G05B19/18
CPC分类号： B25J9/1694 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D2201/0217
摘要： The control apparatus for a movable robot comprises: environment information acquisition means (such as video camera 3 and microphone 4); a current position detecting means (15); a map storage (7); a control parameter storage (9) for storing control parameters adjusted to different environments; and control means (11, 12) for determining a current position of the robot on the map data based on a signal from the current position detecting means, retrieving control parameters suitable for the current position from the parameter storage, and controlling the environment information acquisition means or actuators for moving the robot by using the retrieved control parameters.
摘要翻译： 用于可移动机器人的控制装置包括：环境信息获取装置（诸如摄像机3和麦克风4）; 当前位置检测装置（15）; 地图存储（7）; 控制参数存储器（9），用于存储调整到不同环境的控制参数; 以及控制装置（11,12），用于基于来自当前位置检测装置的信号来确定机器人在地图数据上的当前位置，从参数存储器检索适合于当前位置的控制参数，以及控制环境信息采集 用于通过使用检索到的控制参数来移动机器人的装置或致动器。
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公开(公告)号：US07720685B2
公开(公告)日：2010-05-18
申请号：US10667964
申请日：2003-09-23
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
摘要： To automate the work of recognizing a guest, check the appointment, notify a host of the arrival of the guest and conduct the guest to a designated place, a robot having a function to autonomously travel is equipped with camera/microphone for recognizing a guest at least according to image information. The system comprises management database adapted to communicate with the robot and equipped with an information database for identifying the recognized guest, and identifies the guest according to the information obtained from the camera/microphone and management database. The robot recognizes the guest from the image thereof, and the recognized guest is identified and verified by comparing the image of the visitor with the information contained in the database so that the robot can automatically conduct the guest to the designated meeting room according to the information of the appointment stored in the database.
摘要翻译： 为了自动化识别客人的工作，检查约会，通知主人客人的到达并将客人送到指定的地点，具有自主旅行功能的机器人配备有用于识别客人的相机/麦克风 最少根据图像信息。 该系统包括适于与机器人通信并配备有用于识别识别的客人的信息数据库的管理数据库，并且根据从相机/麦克风和管理数据库获得的信息来识别客人。 机器人从其图像中识别客人，并且通过将访问者的图像与包含在数据库中的信息进行比较来识别和验证识别的客人，使得机器人可以根据信息自动地将客人导向指定的会议室 的约会存储在数据库中。
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公开(公告)号：US20100036527A1
公开(公告)日：2010-02-11
申请号：US12521828
申请日：2008-10-07
CPC分类号： B25J13/06 , B25J9/1676 , G05D1/0033 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0217
摘要： A remote controller enables a user to manipulate behavior of a robot so that the robot does not stray away from a given area and also avoids contact with an object. If a route designated by the user satisfies a stable movement requirement, a first command signal is transmitted from the remote controller to the robot. By doing so, it is possible to move the robot according to the designated route. On the other hand, if the route designated by the user does not satisfy the stable movement requirement, the first command signal is not transmitted from the remote controller to the robot. Therefore, it is possible to stop the robot from moving according to the designated route, and further to avoid the situation where the robot strays away from the designated region, or comes into contact with the object.
摘要翻译： 遥控器使用户能够操纵机器人的行为，使得机器人不会偏离给定的区域，也避免与对象的接触。 如果由用户指定的路由满足稳定的移动要求，则从遥控器向机器人发送第一命令信号。 通过这样做，可以根据指定的路线移动机器人。 另一方面，如果由用户指定的路径不满足稳定运动要求，则不将第一命令信号从遥控器发送到机器人。 因此，可以根据指定的路线停止机器人的移动，并且进一步避免机器人远离指定区域而与物体接触的情况。
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公开(公告)号：US20100174436A1
公开(公告)日：2010-07-08
申请号：US12666485
申请日：2008-10-24
申请人： Shinichi Matsunaga
发明人： Shinichi Matsunaga
IPC分类号： G05D1/02
CPC分类号： B25J9/1664 , G05B2219/40465 , G05D1/0212 , G05D1/0217 , G05D1/0225 , G05D2201/0217
摘要： A target route generation system which generates a target route for a robot (R) to travel along autonomously is provided with a route candidate generation element (110) which generates a plurality of travel route candidates to connect the terminating point and the starting point by connecting links stored at a link storing element (211), state recognition elements (115 to 118) which recognize a state of the robot (R), and a route evaluation IC element (120) which evaluates a cost of a travel route candidate including therein an action point stored in an action point storing element (212) lower as the necessity for passing by the action point is higher in view of the state of the robot (R) recognized by the state recognition elements (115 to 118). According to the system, the robot can be made to travel through the action point with a high necessity in view of the state of the robot.
摘要翻译： 产生用于机器人（R）自主行进的目标路线的目标路线产生系统设置有路线候选生成元件（110），其生成多个行驶路线候选，以通过连接来连接终点和起点 存储在链接存储元件（211）的链接，识别机器人（R）的状态的状态识别元件（115〜118）以及评估其中包括的旅行路线候选者的成本的路线评估IC元件（120） 鉴于由状态识别元件（115至118）识别的机器人（R）的状态，存储在动作点存储元件（212）中的动作点作为通过动作点的必要性较低。 根据该系统，考虑到机器人的状态，机器人可以以高的必要性使其行进通过动作点。
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公开(公告)号：US07474945B2
公开(公告)日：2009-01-06
申请号：US11299834
申请日：2005-12-13
申请人： Shinichi Matsunaga
发明人： Shinichi Matsunaga
IPC分类号： G05D1/02
CPC分类号： G05D1/0214 , G05D1/0217 , G05D1/0251 , G05D1/0274
摘要： In a route generating system for an autonomous mobile robot, a plurality of nodes are designated within an area of movement of the robot and an edge is defined between a pair of nodes only if a distance from the one node to the other node is less than a threshold value and there is no obstacle on a line drawn between the one point and the other point. Because the route is generated from a collection of pre-defined edges which are free from obstacles and are selected so as to optimize the generated route, the robot is enabled to travel from the current position to the destination in a safe and optimum fashion. Furthermore, the edges are defined by connecting only those nodes that are relatively close to each other, the candidates of the edges for generating a route can be reduced to a small number and this reduces computational loads. Also, because the route can be selected in a relatively intelligent manner so as to optimize a certain criterion, a clumsy appearance in the movement of the robot can be avoided.
摘要翻译： 在用于自主移动机器人的路由生成系统中，在机器人的移动区域内指定多个节点，并且仅在从一个节点到另一个节点的距离小于 阈值，并且在一点和另一点之间绘制的线上没有障碍物。 因为路线是从没有障碍物的预定边缘的集合产生的并且被选择以便优化所生成的路线，所以能够以安全和最佳的方式从机构到当前位置行进到目的地。 此外，通过仅连接彼此相对接近的那些节点来限定边缘，用于生成路线的边缘的候选可以减少到少数，并且这减少了计算负荷。 另外，由于能够以相对智能的方式选择路线以便优化某一标准，所以可以避免机器人移动中的笨拙的外观。
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