公开(公告)号：US08548665B2

公开(公告)日：2013-10-01

申请号：US13048906

申请日：2011-03-16

申请人： Tetsuro Izumi ,  Dai Kouno

发明人： Tetsuro Izumi ,  Dai Kouno

IPC分类号： G05D1/00

CPC分类号： G05D1/024 ,  G05D1/0253 ,  G05D2201/0216

摘要： A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

摘要翻译： 可移动体系包括附着有摄像装置的移动体; 图像分析器，其执行由图像拾取装置拍摄的图像与先前在可移动体的行进路径上捕获的图像之间的图像匹配; 壁表面检测器，其检测可移动体相对于沿着行进路径布置的壁表面的方向以及壁表面和可移动体之间的距离; 以及行进方向计算器，其从图像分析器或壁面检测器的输出检测可移动体相对于行进路径的偏移，并且计算行进方向以使可移动体在行进路径上行进 。

公开(公告)号：US08606400B2

公开(公告)日：2013-12-10

申请号：US13354723

申请日：2012-01-20

申请人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

发明人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

IPC分类号： G05B19/418

CPC分类号： G05B19/4182 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39102 ,  G05B2219/40007 ,  Y02P90/083

摘要： A robot system according to embodiments includes a conveying device, a plurality of robots, an image capturing device, a workpiece detecting device, and a control device. The control device includes an operation instruction unit and an allocating unit. The operation instruction unit generates an operation instruction for performing a holding operation on workpieces on the basis of the detection result of the workpiece detecting device and transmits the operation instruction to the robots. The allocating unit determines which of the plurality of robots to which the operation instruction unit transmits the operation instruction on the basis of conveying situations of the workpieces obtained from the detection result of the workpiece detecting device.

摘要翻译： 根据实施例的机器人系统包括输送装置，多个机器人，图像捕获装置，工件检测装置和控制装置。 控制装置包括操作指令单元和分配单元。 操作指示单元基于工件检测装置的检测结果生成用于对工件执行保持操作的操作指令，并将操作指令发送给机器人。 分配单元基于从工件检测装置的检测结果获得的工件的传送情况，确定操作指令单元发送操作指令的多个机器人中的哪一个。

公开(公告)号：US08880216B2

公开(公告)日：2014-11-04

申请号：US13338169

申请日：2011-12-27

申请人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

发明人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

IPC分类号： G06F7/00 ,  B25J9/16 ,  G05B19/418

CPC分类号： G05B19/4182 ,  B25J9/1697 ,  Y02P90/083

摘要： A picking system includes a conveyer, a robot, and a control device. The conveyer conveys workpieces. The robot includes a plurality of holding parts and a supporting part. The holding parts hold the workpieces. The supporting part is rotatably provided against an arm to support the plurality of holding parts. Then, the control device instructs the robot to rotate the supporting part by a predetermined amount in such a manner that the direction of the workpiece becomes a predetermined direction for each the workpiece held by the holding parts and then to place the workpiece on a predetermined place.

摘要翻译： 拾取系统包括输送机，机器人和控制装置。 输送机输送工件。 机器人包括多个保持部和支撑部。 夹持件夹持工件。 支撑部分可旋转地设置成抵靠臂以支撑多个保持部。 然后，控制装置指示机器人使支撑部旋转预定量，使得对于由保持部保持的每个工件，工件的方向成为预定方向，然后将工件放置在预定位置 。

公开(公告)号：US08849455B2

公开(公告)日：2014-09-30

申请号：US13333858

申请日：2011-12-21

申请人： Tetsuro Izumi ,  Tomohiro Matsuo

发明人： Tetsuro Izumi ,  Tomohiro Matsuo

IPC分类号： G05B19/18

CPC分类号： B25J9/1641

摘要： A robot system according to embodiments includes a position command generating unit that corrects a position command of a motor based on a rotation angle of the motor, which drives a link of a robot via a speed reducer, and a rotation angle of an output shaft of the speed reducer.

摘要翻译： 根据实施例的机器人系统包括：位置指令生成单元，其基于通过减速器驱动机器人的连杆的马达的旋转角度以及输出轴的旋转角度来校正马达的位置指令 减速机。

公开(公告)号：US08880217B2

公开(公告)日：2014-11-04

申请号：US13337818

申请日：2011-12-27

申请人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

发明人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

IPC分类号： G06F7/00 ,  G06K9/34

CPC分类号： G06K9/34

摘要： A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.

摘要翻译： 拾取系统包括输送机，机器人，主摄像机和控制装置。 输送机输送工件。 机器人对工件执行保持操作和移动操作。 主相机捕获输送机的输送路径。 控制装置基于由主摄像机拍摄的图像来检测工件，并指示机器人对检测到的工件执行保持操作。 此外，当检测到工件的重叠时，控制装置指示机器人对重叠的工件执行保持操作。

公开(公告)号：US06822415B1

公开(公告)日：2004-11-23

申请号：US10258311

申请日：2002-10-18

申请人： Takehiko Komiya ,  Kozo Ide ,  Ryuichi Oguro ,  Keisei Inoki ,  Tetsuro Izumi ,  Kazuhiro Tsuruta ,  Nobuhiro Umeda ,  Soki Kaku

发明人： Takehiko Komiya ,  Kozo Ide ,  Ryuichi Oguro ,  Keisei Inoki ,  Tetsuro Izumi ,  Kazuhiro Tsuruta ,  Nobuhiro Umeda ,  Soki Kaku

IPC分类号： G05B1101

CPC分类号： H02P23/14 ,  G05B2219/34048 ,  G05B2219/37434 ,  G05B2219/41122 ,  H02P29/50

摘要： A electric motor control device is provided for controlling an electric motor which actuates a movable member of a machine through a transmitting mechanism. When a torque command is given as motion command signal (9) to servo device (3), servo device (3) sends input torque signal (12) corresponding to motion command signal (9) to electric motor (5), which is energized. Movable member (7) is thus moved, producing vibrations. Servo device (3) outputs input torque signal (11) equivalent to input torque signal (12), and input torque signal (11) and rotational speed signal (10) are stored in memory device (2). Analyzing device (1) analyzes the frequencies of input torque signal (11) and rotational speed signal (10) according to an FFT, and outputs analytical result (14).

摘要翻译： 提供电动机控制装置，用于控制通过发送机构致动机器的可动部件的电动机。 当向伺服装置（3）给出作为运动指令信号（9）的转矩指令时，伺服装置（3）将对应于运动指令信号（9）的输入转矩信号（12）发送到电动机（5） 。 因此，移动构件（7）移动，产生振动。 伺服装置（3）输出与输入转矩信号（12）相当的输入转矩信号（11），输入转矩信号（11）和转速信号（10）存储在存储装置（2）中。 分析装置（1）根据FFT分析输入转矩信号（11）和转速信号（10）的频率，并输出分析结果（14）。

公开(公告)号：US5394248A

公开(公告)日：1995-02-28

申请号：US995095

申请日：1992-12-22

申请人： Yoshihiko Ohta ,  Tetsuro Izumi

发明人： Yoshihiko Ohta ,  Tetsuro Izumi

IPC分类号： G11B15/087 ,  G11B27/28 ,  G11B27/32 ,  H04N5/7826 ,  H04N9/79 ,  H04N9/82 ,  H04N9/825 ,  H04N5/782

CPC分类号： H04N9/8233 ,  G11B27/324 ,  H04N9/7921 ,  H04N9/825 ,  G11B2220/91

摘要： A magnetic recording/reproducing apparatus for recording and reproducing a plurality of discrimination information corresponding to signal modes on a magnetic recording medium by utilizing a control signal. The plurality of discrimination information are indicated by discrimination information words which are determined by removing words, each of which is undistinguishable from the other words when being continuously arranged, from 2.sup.(2N-2) words each of which comprises 2N bits (N is a natural number equal to or more than 2) whose first bit is fixed to "L" or "S" and last bit is fixed to "S" or "L" and further by removing words which have an intermediate odd bit and the following even bit identical to the last bit and the first bit, respectively, from said 2.sup.(2N-2) words. This arrangement can record and reproduce both the discrimination information and VISS.multidot.VASS information and, in addition, can substantially record the back track prevention information.

摘要翻译： 一种用于通过利用控制信号在磁记录介质上记录和再现对应于信号模式的多个鉴别信息的磁记录/重放装置。 多个识别信息由识别信息字表示，该识别信息字由从2N（2N-2）个字中删除的字被确定，每个字独立地包括2N位（N是一个 自然数等于或大于2），其第一位固定为“L”或“S”，最后一位固定为“S”或“L”，并且进一步通过删除具有中间奇数位和下列偶数的字 分别与所述2（2N-2）个字的最后位和第一位相同。 这种布置可以记录和再现识别信息和VISSxVASS信息，并且还可以基本上记录背迹预防信息。

公开(公告)号：US20120323363A1

公开(公告)日：2012-12-20

申请号：US13354723

申请日：2012-01-20

申请人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

发明人： Tetsuro Izumi ,  Kenichi Koyanagi ,  Kenji Matsukuma ,  Yukio Hashiguchi

IPC分类号： G05B19/418

CPC分类号： G05B19/4182 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39102 ,  G05B2219/40007 ,  Y02P90/083

摘要： A robot system according to embodiments includes a conveying device, a plurality of robots, an image capturing device, a workpiece detecting device, and a control device. The control device includes an operation instruction unit and an allocating unit. The operation instruction unit generates an operation instruction for performing a holding operation on workpieces on the basis of the detection result of the workpiece detecting device and transmits the operation instruction to the robots. The allocating unit determines which of the plurality of robots to which the operation instruction unit transmits the operation instruction on the basis of conveying situations of the workpieces obtained from the detection result of the workpiece detecting device.

摘要翻译： 根据实施例的机器人系统包括输送装置，多个机器人，图像捕获装置，工件检测装置和控制装置。 控制装置包括操作指令单元和分配单元。 操作指示单元基于工件检测装置的检测结果生成用于对工件执行保持操作的操作指令，并将操作指令发送给机器人。 分配单元基于从工件检测装置的检测结果获得的工件的传送情况，确定操作指令单元发送操作指令的多个机器人中的哪一个。

公开(公告)号：US07902786B2

公开(公告)日：2011-03-08

申请号：US12472284

申请日：2009-05-26

申请人： Nobuhiro Umeda ,  Tetsuro Izumi

发明人： Nobuhiro Umeda ,  Tetsuro Izumi

IPC分类号： G05B5/01

CPC分类号： G05B13/042 ,  G05B17/02 ,  H02P23/0004

摘要： A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

摘要翻译： 电动机控制器包括产生命令信号的指令部分，当输入命令信号时通过输出滤波器驱动控制对象的控制部分，检测控制对象的操作量的操作量检测器，频率响应特性 测量部分，其基于命令信号和操作量产生开环频率响应特性，模拟计算部分，其模拟输出滤波器的频率特性;以及显示器，显示所述输出滤波器的振幅特性的相加结果 频率响应特性测量部分的频率特性和模型计算部分的频率特性的振幅特性。

公开(公告)号：US06872703B2

公开(公告)日：2005-03-29

申请号：US09874056

申请日：2001-06-06

申请人： Akira Okano ,  Yuzuru Eto ,  Tetsuro Izumi

发明人： Akira Okano ,  Yuzuru Eto ,  Tetsuro Izumi

IPC分类号： A61K38/00 ,  C07K14/475 ,  C07K14/435 ,  A61K38/17

CPC分类号： C07K14/475 ,  A61K38/00

摘要： A protein or a variant thereof, which has a binding activity to IRR and the following characteristics and an insulin receptor-related receptor are allowed to bind in the presence of a test substance, and inhibition of the binding is measured to search for an agonist or antagonist of IRR ligand. (a) it has the amino acid sequence of SEQ ID NO: 1; (b) it has a molecular weight measured by mass spectrometry using the Fourier transformation ion cyclotron method of about 6135, 6206, 6250 or 6321.

摘要翻译： 使具有与IRR的结合活性和以下特征的蛋白质或其变体与胰岛素受体相关受体在测试物质的存在下结合，并测定结合的抑制以寻找激动剂或 （a）其具有SEQ ID NO：1的氨基酸序列;（b）通过使用约6135,6206,6250或6321的傅立叶变换离子回旋加速仪通过质谱法测量的分子量。