公开(公告)号：US5727132A

公开(公告)日：1998-03-10

申请号：US518713

申请日：1995-08-24

申请人： Taro Arimatsu ,  Takashi Jyumonji ,  Kazuhisa Otsuka ,  Hiroaki Kubota

发明人： Taro Arimatsu ,  Takashi Jyumonji ,  Kazuhisa Otsuka ,  Hiroaki Kubota

IPC分类号： B65G43/08 ,  B25J9/10 ,  B25J13/00 ,  G05B19/18 ,  G05B19/19 ,  G05B19/408 ,  G05B19/42 ,  G06F15/46

CPC分类号： G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39102

摘要： A robot visual-tracking method in which the precision of a tracking movement of a robot is improved using a visual sensor. A count value N (0) of a pulse coder is stored when a sensor detects a workpiece. Then, arrival of the workpiece at a taught photographing position is detected based on an incremental quantity from the count value N (0) of the pulse coder, and the workpiece is photographed by a camera. A deviation is obtained between positions of two points Wa and Wb on the workpiece and the reference positions thereof. When the workpiece arrives at a tracking start position L1, a tracking coordinate system .SIGMA.tr starts to move and tracking operations of the robot are started. In the tracking operation, the robot position is corrected to compensate the detected deviation amount. The robot approaches the workpiece W to meet with it and grips the workpiece W by a hand when the workpiece W reaches a position Q0. Then, when the workpiece W arrives at a tracking termination position L3, the tracking operation is terminated. The robot moves to a teaching point Q2 according to a normal playback operation, where the hand is opened to release the workpiece W.

摘要翻译： 使用视觉传感器提高机器人的跟踪运动的精度的机器人视觉跟踪方法。 当传感器检测到工件时，存储脉冲编码器的计数值N（0）。 然后，根据来自脉冲编码器的计数值N（0）的增量量来检测工件到教导的拍摄位置，并且通过照相机拍摄工件。 在工件上的两点Wa和Wb的位置及其参考位置之间获得偏差。 当工件到达跟踪开始位置L1时，跟踪坐标系SIGMA tr开始移动，并且启动机器人的跟踪操作。 在跟踪操作中，校正机器人位置以补偿检测到的偏差量。 当工件W到达位置Q0时，机器人靠近工件W以与其对齐并用手握住工件W。 然后，当工件W到达跟踪终止位置L3时，跟踪操作终止。 机器人根据通常的重放操作移动到教学点Q2，其中手打开以释放工件W.

公开(公告)号：US07734376B2

公开(公告)日：2010-06-08

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US20060200274A1

公开(公告)日：2006-09-07

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US07107123B2

公开(公告)日：2006-09-12

申请号：US10278864

申请日：2002-10-24

申请人： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Hiroaki Kubota ,  Tadamasa Horiuchi

发明人： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Hiroaki Kubota ,  Tadamasa Horiuchi

IPC分类号： G06F19/00

CPC分类号： B65B5/105 ,  B65B5/12

摘要： A food dishing robot system capable of dealing with dishing operations of foods of various characteristics. Trays are supplied to vicinities of food dishing robots RB1–RB3 by food supplying lines L1–L3. Four food conveying containers are placed on each tray. Each of the robots RB1–RB3 handles a food conveying container containing a food on the tray to move the food conveying container over a lunch box supplied by a lunch box supplying line L4 at a predetermined position, and dishes the food on a predetermined space in the lunch box. The food contained in the food conveying container is discharged through a cutout or an opening formed at a side thereof by inclining the food conveying container. The food conveying container may have a bottom plate to be opened/closed or the robot may have an auxiliary member in the form of scoop to forcedly discharge the food from the food conveying container. After completing the dishing of the food, the food conveying container is returned on the tray. Shaped, shapeless, solid, powdery, granular and liquid food can be dished on the lunch box.

摘要翻译： 一种能够处理各种特征的食品的凹陷操作的食品机器人系统。 托盘通过食品供应管线L 1 -L 3供应到食品凹陷机器人RB 1 -RB 3附近。 四个食物输送容器放置在每个托盘上。 机器人RB 1 -RB 3中的每一个处理在托盘上容纳食物的食物输送容器，以将食物输送容器移动到由预定位置的午餐盒供给管线L 4供给的饭盒上，并将食物 午餐盒中的预定空间。 容纳在食物输送容器中的食物通过使食品输送容器倾斜而通过切口或形成在其一侧的开口排出。 食品输送容器可以具有打开/关闭的底板，或者机器人可以具有勺形式的辅助构件，以将食物从食品输送容器强制排出。 食物完成后，食物输送容器返回到托盘上。 形状，无形，坚实，粉状，颗粒状和液体的食物可以在午餐盒上撒上。

公开(公告)号：US06920393B2

公开(公告)日：2005-07-19

申请号：US10615919

申请日：2003-07-10

申请人： Tamotsu Hasegawa ,  Mieko Matsuda ,  Hiroaki Kubota

发明人： Tamotsu Hasegawa ,  Mieko Matsuda ,  Hiroaki Kubota

IPC分类号： G09B29/00 ,  G01C21/00 ,  G01C21/34 ,  G06F17/30 ,  G06T11/60 ,  G08G1/005

CPC分类号： G01C21/3644 ,  G01C21/20 ,  G01C21/34 ,  G01C21/3667

摘要： A database stores map data including road network data and landmark data. A route search unit searches for a route from a departure point to a destination point from the road network data stored in the database. A road pattern analysis unit analyzes a route pattern of the route by referring to the road network data, and obtains road pattern data as the analysis result. A landmark selection area decision unit determines a landmark selection area for route guidance along the route based on the road network data and the road pattern data. A landmark selection unit selects landmark data included in the landmark selection area from said database. A route guidance information generation unit generates route guidance information of the route using the road pattern data and the landmark data selected by the landmark selection unit. A presentation unit presents the route guidance information.

公开(公告)号：US06622089B2

公开(公告)日：2003-09-16

申请号：US10083538

申请日：2002-02-27

申请人： Tamotsu Hasegawa ,  Mieko Matsuda ,  Hiroaki Kubota

发明人： Tamotsu Hasegawa ,  Mieko Matsuda ,  Hiroaki Kubota

IPC分类号： G01C2134

CPC分类号： G01C21/3644 ,  G01C21/20 ,  G01C21/34 ,  G01C21/3667

摘要： A database stores map data including road network data and landmark data. A route search unit searches for a route from a departure point to a destination point from the road network data stored in the database. A road pattern analysis unit analyzes a route pattern of the route by referring to the road network data, and obtains road pattern data as the analysis result. A landmark selection area decision unit determines a landmark selection area for route guidance along the route based on the road network data and the road pattern data. A landmark selection unit selects landmark data included in the landmark selection area from said database. A route guidance information generation unit generates route guidance information of the route using the road pattern data and the landmark data selected by the landmark selection unit. A presentation unit presents the route guidance information.

公开(公告)号：US6043823A

公开(公告)日：2000-03-28

申请号：US682007

申请日：1996-07-16

申请人： Naoaki Kodaira ,  Hiroaki Kubota

发明人： Naoaki Kodaira ,  Hiroaki Kubota

IPC分类号： H04N1/21 ,  G06K9/20 ,  G06T1/00 ,  G06T5/00 ,  G06T7/40 ,  G06T11/60 ,  H04N1/387 ,  H04N1/40 ,  G06T3/00

CPC分类号： G06T7/0081 ,  G06K9/00469 ,  G06T2207/10008 ,  G06T2207/30176

摘要： A document processing apparatus includes a division section for dividing a document image into a plurality of regions or connection components. A recognition section recognizes the type of a region in units of divided regions and edit section edits region data while displaying the recognition result. A shaping section then shapes the document image by using the edited region data.

摘要翻译： 文件处理装置包括用于将文件图像分割成多个区域或连接部件的划分部分。 识别部分在显示识别结果的同时识别以分割区域为单位的区域的类型和编辑部分编辑区域数据。 然后，成形部分通过使用编辑的区域数据来对文档图像进行成形。

公开(公告)号：US07107149B2

公开(公告)日：2006-09-12

申请号：US10234112

申请日：2002-09-05

申请人： Hiroaki Kubota

发明人： Hiroaki Kubota

IPC分类号： G01C21/30

CPC分类号： G01C21/20 ,  G06Q10/047 ,  G08G1/0962 ,  H04W8/18

摘要： A position information presentation device comprises a position information acquisition part which acquires position information indicated by a latitude and longitude or an address on a portable terminal, an information inspection part which retrieves inspected information, and to present information in which inspection is requested for the portable terminal, a position associated information memory part which memorize a title or a content of information presented by the information inspection part as a position associated information by associating with the acquired position information, a position associated information readout part which reads the position associated information corresponding to information which should be presented from the memorized position associated information as a key of the title or the content of the information, and a position associated information presentation part which presents position information which is included in the read position associated information as map information.

公开(公告)号：US06718262B2

公开(公告)日：2004-04-06

申请号：US10379689

申请日：2003-03-06

申请人： Mieko Matsuda ,  Tamotsu Hasegawa ,  Hiroaki Kubota

发明人： Mieko Matsuda ,  Tamotsu Hasegawa ,  Hiroaki Kubota

IPC分类号： G01C2134

CPC分类号： G01C21/3632 ,  G01C21/20 ,  G01C21/34 ,  G01C21/3644 ,  G01C21/3667

摘要： A database stores map data including road network data and landmark data. A route search unit searches for a route from a departure point to a destination point from the road network data stored in said database. A road pattern analysis unit analyzes a road pattern of the route by referring to the road network data, and obtains road pattern data as the analysis result. A route guidance information generation unit generates route guidance information of the route using the road pattern data and the landmark data along the route. A presentation unit presents the route guidance information.

公开(公告)号：US20130059167A1

公开(公告)日：2013-03-07

申请号：US13404366

申请日：2012-02-24

申请人： Atsushi Tomizawa ,  Hiroaki Kubota ,  Shinjiro Kuwayama ,  Saburo Inoue

发明人： Atsushi Tomizawa ,  Hiroaki Kubota ,  Shinjiro Kuwayama ,  Saburo Inoue

IPC分类号： B21D7/16 ,  B32B1/08

CPC分类号： B21D7/08 ,  B21D7/162 ,  B21D7/165 ,  Y10T428/1241

摘要： A bent member having a bent portion with an extremely small bend radius is manufactured by supporting a rectangular tube by a first support means disposed at a first position A while performing relative feeding of the rectangular tube in its lengthwise direction, locally heating the rectangular tube by a heating means disposed at a second position B, cooling the rectangular tube by a cooling means disposed at a third position C, and at the time of working, applying a shear force to the heated portion of the rectangular tube with a shear force applying means 14 disposed in a downstream region D by moving the device 14 two-dimensionally or three-dimensionally simultaneously in the feed direction of the rectangular tube and in a direction generally parallel to a transverse cross section in the lengthwise direction of the rectangular tube which was heated by the heating means.

摘要翻译： 通过在设置在第一位置A处的第一支撑装置支撑矩形管，同时在长度方向上相对供给矩形管的同时，通过对矩形管进行局部加热来将矩形管局部加热，来制造具有极小弯曲半径的弯曲部分 设置在第二位置B的加热装置，通过设置在第三位置C的冷却装置冷却矩形管，并且在加工时，用剪切力施加装置向矩形管的加热部分施加剪切力 14通过在矩形管的进给方向上沿着与被加热的矩形管的长度方向大致平行的横截面的方向二维或三维同时地移动装置14而设置在下游区域D中 通过加热装置。