公开(公告)号：USD651104S1

公开(公告)日：2011-12-27

申请号：US29367655

申请日：2010-08-11

申请人： Toshihiro Mori ,  Yutaka Takaoka ,  Keisuke Suga

设计人： Toshihiro Mori ,  Yutaka Takaoka ,  Keisuke Suga

公开(公告)号：US08317847B2

公开(公告)日：2012-11-27

申请号：US12678998

申请日：2008-09-18

申请人： Yoichiro Hosokawa ,  Hiroshi Masuhara ,  Kazunori Okano ,  Yutaka Takaoka ,  Mika Ohta ,  Akihiko Ito

发明人： Yoichiro Hosokawa ,  Hiroshi Masuhara ,  Kazunori Okano ,  Yutaka Takaoka ,  Mika Ohta ,  Akihiko Ito

IPC分类号： A61N5/06 ,  A61N7/00 ,  A61F7/12

CPC分类号： A61N5/0619 ,  A61N2005/0644 ,  A61N2005/067

摘要： A biostimulation apparatus of the present invention includes a laser oscillator for oscillating an ultra short pulsed laser beam and an optical system for focusing the ultra short pulsed laser beam, wherein the ultra short pulsed laser beam is focused by the optical system at a target portion of a living subject to cause the target portion to be irradiated with the laser beam to stimulate an acupuncture point, and wherein the target portion is either the acupuncture point or its periphery.

摘要翻译： 本发明的生物刺激装置包括用于振荡超短脉冲激光束的激光振荡器和用于聚焦超短脉冲激光束的光学系统，其中超短脉冲激光束被光学系统聚焦在目标部分 使激光束照射目标部分以刺激针刺点的活体，并且其中目标部分是针刺点或其周边。

公开(公告)号：US07987021B2

公开(公告)日：2011-07-26

申请号：US12526279

申请日：2008-01-18

申请人： Yutaka Takaoka

发明人： Yutaka Takaoka

IPC分类号： G06K9/36 ,  G05B19/00 ,  G01C11/00

CPC分类号： B25J9/1676 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00664

摘要： To reduce a calculation time required for generating an environment map in a mobile robot. A mobile robot (100) generates a three-dimensional position data set representing an external environment using measurement information obtained from a range sensor (10). Next, based on an old environment map which is the environment map generated in the past and an amount of movement of the mobile robot (100), at least three-dimensional position data belonging to an area determined as the obstacle area in the old environment map, and three-dimensional position data belonging to an unobserved area which is not included in the old environment map are selected as plane-detection target data from among three-dimensional position data included in the three-dimensional position data set. Then, plane detection is executed using the plane-detection target data. Then, the movable area and the obstacle area which are included in the plane-detection target data are recognized using the results of the plane detection. Lastly, a new environment map is generated by integrating the movable area and obstacle area, which are recognized using the results of the plane detection, with an area determined as the movable area in the old environment map.

摘要翻译： 减少在移动机器人中生成环境地图所需的计算时间。 移动机器人（100）使用从距离传感器（10）获得的测量信息，生成表示外部环境的三维位置数据集。 接下来，基于作为过去生成的环境映射的旧环境映射和移动机器人（100）的移动量，至少三维位置数据属于被确定为旧环境中的障碍区域的区域 地图和属于未包含在旧环境地图中的不可观察区域的三维位置数据从三维位置数据组中包括的三维位置数据中选择为平面检测目标数据。 然后，使用平面检测目标数据执行平面检测。 然后，使用平面检测的结果来识别包括在平面检测目标数据中的可移动区域和障碍物区域。 最后，通过使用平面检测结果识别的可移动区域和障碍物区域与在旧环境地图中确定为可移动区域的区域进行集成来生成新的环境地图。

公开(公告)号：US20100324769A1

公开(公告)日：2010-12-23

申请号：US12526279

申请日：2008-01-18

申请人： Yutaka Takaoka

发明人： Yutaka Takaoka

IPC分类号： G05D1/02

CPC分类号： B25J9/1676 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00664

摘要： To reduce a calculation time required for generating an environment map in a mobile robot. A mobile robot (100) generates a three-dimensional position data set representing an external environment using measurement information obtained from a range sensor (10). Next, based on an old environment map which is the environment map generated in the past and an amount of movement of the mobile robot (100), at least three-dimensional position data belonging to an area determined as the obstacle area in the old environment map, and three-dimensional position data belonging to an unobserved area which is not included in the old environment map are selected as plane-detection target data from among three-dimensional position data included in the three-dimensional position data set. Then, plane detection is executed using the plane-detection target data. Then, the movable area and the obstacle area which are included in the plane-detection target data are recognized using the results of the plane detection. Lastly, a new environment map is generated by integrating the movable area and obstacle area, which are recognized using the results of the plane detection, with an area determined as the movable area in the old environment map.

摘要翻译： 减少在移动机器人中生成环境地图所需的计算时间。 移动机器人（100）使用从距离传感器（10）获得的测量信息，生成表示外部环境的三维位置数据集。 接下来，基于作为过去生成的环境映射的旧环境映射和移动机器人（100）的移动量，至少三维位置数据属于被确定为旧环境中的障碍区域的区域 地图和属于未包含在旧环境地图中的不可观察区域的三维位置数据从三维位置数据组中包括的三维位置数据中选择为平面检测目标数据。 然后，使用平面检测目标数据执行平面检测。 然后，使用平面检测的结果来识别包括在平面检测目标数据中的可移动区域和障碍物区域。 最后，通过使用平面检测结果识别的可移动区域和障碍物区域与在旧环境地图中确定为可移动区域的区域进行集成来生成新的环境地图。