公开(公告)号：US09579795B2

公开(公告)日：2017-02-28

申请号：US13456489

申请日：2012-04-26

申请人： Wataru Kokubo ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

发明人： Wataru Kokubo ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1666 ,  G05B2219/40298 ,  G05B2219/40475

摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括驱动单元的操作所需的空间的限制区域以及用于显示受限制区域的区域显示单元。

公开(公告)号：US20120290132A1

公开(公告)日：2012-11-15

申请号：US13456489

申请日：2012-04-26

申请人： Wataru KOKUBO ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

发明人： Wataru KOKUBO ,  Tetsuharu Fukushima ,  Masakuni Nagano ,  Satoru Shimizu

IPC分类号： G05B19/04

CPC分类号： B25J9/1666 ,  G05B2219/40298 ,  G05B2219/40475

摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括所述驱动单元的操作所需的空间的限制区域以及用于显示所述限制区域的区域显示单元。

公开(公告)号：US08972054B2

公开(公告)日：2015-03-03

申请号：US13070138

申请日：2011-03-23

申请人： Hirokazu Shirado ,  Masakuni Nagano ,  Wataru Kokubo ,  Yoshiaki Iwai ,  Satoru Shimizu

发明人： Hirokazu Shirado ,  Masakuni Nagano ,  Wataru Kokubo ,  Yoshiaki Iwai ,  Satoru Shimizu

IPC分类号： B25J13/00 ,  G05D1/02 ,  G06K9/00 ,  A61B5/11 ,  A61H3/06 ,  G01S19/14

CPC分类号： G05D1/0274 ,  A61B5/1112 ,  A61B5/1113 ,  A61H3/06 ,  B25J11/009 ,  G01S19/14 ,  G05D1/0238 ,  G05D1/0246 ,  G05D2201/0206 ,  G06K9/00335 ,  G06K9/00771

摘要： A robot apparatus, method and computer program storage device use a memory that stores cueing point information and user information to assist a user in an external environment. The cueing points are distributed within an environmental map held by the robot apparatus, and when the user is detected by the robot apparatus as approaching a predetermined region within the external environment classified as a cueing point, the robot apparatus reacts by providing a cue to the user. The cue may user-specific, or optionally provided based on a level of care required by the user.

摘要翻译： 机器人装置，方法和计算机程序存储装置使用存储提示点信息和用户信息以在外部环境中帮助用户的存储器。 提示点分布在由机器人装置保持的环境地图中，并且当机器人装置检测到用户接近分类为提示点的外部环境中的预定区域时，机器人装置通过向机器人装置提供提示来进行反应 用户。 提示可以是用户特定的，或者可选地基于用户所要求的关注级别来提供。

公开(公告)号：US09242599B2

公开(公告)日：2016-01-26

申请号：US14001635

申请日：2012-02-03

申请人： Satoru Shimizu ,  Masahiro Akiba ,  Ryuji Akiba ,  Kazuhiko Tanaka

发明人： Satoru Shimizu ,  Masahiro Akiba ,  Ryuji Akiba ,  Kazuhiko Tanaka

IPC分类号： B60Q1/00 ,  B60Q5/00 ,  B62J3/00 ,  G10K9/22 ,  G10K11/00

CPC分类号： B60Q5/008 ,  B60L2270/42 ,  B60Q1/0017 ,  B62J3/00 ,  B62K2202/00 ,  B62K2204/00 ,  G10K9/22 ,  G10K11/004

摘要： A vehicle approach alert device for a saddle-ridden electric vehicle is a vehicle approach alert device for a saddle-ridden electric vehicle that is provided with a sound emitter that is attached on the vehicle body of a saddle-ridden electric vehicle having an electric motor in a power engine, and that emits an alert sound to a surrounding area for notifying the surrounding area of approach of the saddle-ridden electric vehicle, such that sound emission of the sound emitter is controlled, and the sound emitter is arranged so that the direction of sound emission is oriented diagonally downward and forward of the saddle-ridden electric vehicle.

摘要翻译： 用于骑马式电动车辆的车辆接近警报装置是用于骑乘式电动车辆的车辆接近警报装置，其具有安装在具有电动马达的骑马式电动车辆的车体上的发声器 在电力发动机中，向周围区域发出警报声音，以通知骑乘式电动车辆的周边区域，使得发声器的声音发射被控制，并且发声器被布置成使得 发声方向朝向骑马式电动汽车的向下和向前方向。

公开(公告)号：US08573590B2

公开(公告)日：2013-11-05

申请号：US12644548

申请日：2009-12-22

申请人： Satoru Shimizu ,  Zen Kayaba

发明人： Satoru Shimizu ,  Zen Kayaba

IPC分类号： B65H31/00

CPC分类号： B65H37/04 ,  B65H31/00 ,  B65H2405/1113 ,  B65H2405/22 ,  B65H2801/27

摘要： In a sheet finisher which receives a sheet from an image forming apparatus, conducts a sheet finishing onto the sheet and feeds out the sheet, the sheet finisher includes: a stacking section which stores temporarily one or more sheets; and a sheet finishing section which conducts the sheet finishing onto the sheet stored in the stacking section. The stacking section having a first guide member which forms a stacking surface to guide the sheet, and a second guide member which faces the first guide member and is spaced apart from the first guide member by a predetermined distance, and is provided obliquely from a horizontal direction, and the stacking surface formed by at least a part of the first guide member, is formed to be curved in a direction perpendicular to a sheet conveyance direction.

摘要翻译： 在从图像形成装置接收片材的片材整理器中，将片材整理导入片材并送出片材，片材整理器包括：临时存储一个或多个片材的堆叠部分; 以及将片材精加工到存储在堆叠部中的片材上的片材整理部。 所述堆叠部分具有形成用于引导所述片材的层叠表面的第一引导部件和与所述第一引导部件相对并与所述第一引导部件间隔开预定距离的第二引导部件， 方向和由第一引导构件的至少一部分形成的堆叠表面形成为在与片材输送方向垂直的方向上弯曲。

公开(公告)号：US08095479B2

公开(公告)日：2012-01-10

申请号：US11624416

申请日：2007-01-18

申请人： Takaaki Sekiai ,  Satoru Shimizu ,  Eiichi Kaminaga ,  Akihiro Yamada ,  Yoshiharu Hayashi ,  Naohiro Kusumi ,  Masayuki Fukai

发明人： Takaaki Sekiai ,  Satoru Shimizu ,  Eiichi Kaminaga ,  Akihiro Yamada ,  Yoshiharu Hayashi ,  Naohiro Kusumi ,  Masayuki Fukai

IPC分类号： G06F15/18

CPC分类号： G05B13/048

摘要： There is provided a control apparatus including a function of generating an operation signal applied to a control subject and a model that simulates characteristics of the control subject, a function of receiving an evaluation value signal calculated based on a measurement signal obtained by applying the operation signal to the control subject and the model, and a function of learning to generate the operation signal such that an expected value of the sum of the evaluation value signals obtained from a present state to a future state is either maximum or minimum in which the evaluation value signal calculated based on the measurement signal from the model is calculated by adding a first evaluation value obtained based on a deviation between the measurement signal obtained from the model and a setpoint value, and a second evaluation value obtained based on a difference in characteristics between the model and the control subject.

摘要翻译： 提供了一种控制装置，包括产生施加到控制对象的操作信号和模拟控制对象的特性的模型的功能，接收基于通过应用操作信号而获得的测量信号计算的评估值信号的功能 控制主体和模型的功能，以及学习生成操作信号的功能，使得从当前状态到未来状态获得的评估值信号的和的期望值是最大值或最小值，其中评估值 通过添加基于从模型获得的测量信号与设定值之间的偏差获得的第一评估值和基于来自模型的特性差异获得的第二评估值来计算基于来自模型的测量信号计算的信号 模型和控制科目。

公开(公告)号：US20110108345A1

公开(公告)日：2011-05-12

申请号：US13002009

申请日：2009-06-24

申请人： Satoru Shimizu ,  Takumi Sakamoto

发明人： Satoru Shimizu ,  Takumi Sakamoto

IPC分类号： F02P5/04 ,  F01N1/00 ,  F02M35/10 ,  B62K11/00

CPC分类号： F01N1/165 ,  F01N1/085 ,  F01N2240/36 ,  F01N2590/04 ,  F02D9/1065 ,  F02D11/02 ,  F02D11/04

摘要： A two-wheeled motor vehicle (10) provided with a throttle grip (25) rotated by the driver to change the degree of opening of a throttle valve (31), and also with an exhaust valve (34) which, when a throttle ratio which is a ratio of the angle of operation of the throttle grip to the maximum rotation angle of the throttle grip is between zero and a predetermined value, reduces noise emitted from an engine.

摘要翻译： 具有由驾驶员旋转以改变节气门（31）的开度的节气门手柄（25）的两轮机动车辆（10），以及排气阀（34），当排气门 节气门手柄的操作角度与节气门手柄的最大旋转角度的比值在零和预定值之间，这降低了从发动机排出的噪音。

公开(公告)号：US07664569B2

公开(公告)日：2010-02-16

申请号：US10498149

申请日：2003-10-10

申请人： Satoru Shimizu ,  Jinichi Yamaguchi ,  Yoshihiro Kuroki

发明人： Satoru Shimizu ,  Jinichi Yamaguchi ,  Yoshihiro Kuroki

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.

摘要翻译： 基于由机器人本体划分的各部分的轨迹构成的理想运动数据，生成了施加到机器人的机器人主体的各种力矩的关系的ZMP平衡方程，并且产生ZMP平衡方程中的力矩误差 被计算。 设置修正目标轨迹以抵消力矩误差的部件的优先顺序。 将目标轨迹从对应于优先顺序的序列中的一部分修正为另一部分，以补偿力矩误差。

公开(公告)号：US20090176022A1

公开(公告)日：2009-07-09

申请号：US12295305

申请日：2006-03-31

申请人： Satoru Shimizu

发明人： Satoru Shimizu

IPC分类号： B05D3/10 ,  C25D5/56 ,  C09K13/04

CPC分类号： C23C18/24 ,  C08J7/14 ,  C23C18/208 ,  C23C18/30 ,  C25D5/56

摘要： A surface modification liquid for plastic that in pretreatment for metallization of a plastic surface by metal plating, solves the problems of etching treatment with the use of conventional etching liquid containing chromic acid, etc. There is provided a surface modification liquid for plastic characterized by containing permanganic acid, phosphoric acid and nitric acid.

摘要翻译： 一种用于塑料的表面改性液体，其在通过金属电镀对塑料表面进行金属化的预处理中，通过使用含有铬酸的常规蚀刻液等来解决蚀刻处理的问题。提供了一种用于塑料的表面改性液体，其特征在于包含 高锰酸，磷酸和硝酸。

公开(公告)号：US20090132095A1

公开(公告)日：2009-05-21

申请号：US12274659

申请日：2008-11-20

申请人： Takaaki Sekiai ,  Akihiro Yamada ,  Toru Eguchi ,  Satoru Shimizu ,  Masayuki Fukai ,  Yoshiharu Hayashi

发明人： Takaaki Sekiai ,  Akihiro Yamada ,  Toru Eguchi ,  Satoru Shimizu ,  Masayuki Fukai ,  Yoshiharu Hayashi

IPC分类号： G06G7/48 ,  G05B13/02 ,  G06G7/63 ,  G05B15/02

CPC分类号： G05B13/027

摘要： A control device for a plant includes a manipulation signal generation section for generating the manipulation signal to the plant, a model adapted to simulate a characteristic of the plant, a learning section for generating an input signal of the model so that an output signal obtained by the model simulating the characteristic of the plant satisfies a predetermined target, a learning signal generation section for calculating a learning signal in accordance with a learning result in the learning section, a manipulation result evaluation section for calculating a first deviation as a deviation between a first measurement signal of the plant obtained as a result of application of a certain manipulation signal to the plant and a target value of the measurement signal, and a second deviation as a deviation between a second measurement signal of the plant obtained as a result of application of an updated manipulation signal to the plant and the target value, and a correction signal generation section for generating, when the second deviation calculated by the manipulation result evaluation section is greater than the first deviation, a correction signal of the manipulation signal to be generated by the manipulation signal generation section.

摘要翻译： 一种用于工厂的控制装置，包括用于产生对工厂的操作信号的操作信号产生部分，适用于模拟工厂特性的模型，用于产生模型输入信号的学习部分，使得通过 模拟植物特征的模型满足预定目标，学习信号生成部分，用于根据学习部分的学习结果计算学习信号;操作结果评估部分，用于计算第一偏差，作为第一 作为对植物施加一定操作信号而获得的植物的测量信号和测量信号的目标值，以及作为施加结果获得的植物的第二测量信号之间的偏差的第二偏差 对植物的更新的操作信号和目标值，以及校正信号发生器 离子部，用于当由所述操作结果评估部计算出的所述第二偏差大于所述第一偏差时，生成由所述操作信号生成部生成的所述操作信号的校正信号。