公开(公告)号：US07219855B2

公开(公告)日：2007-05-22

申请号：US10618301

申请日：2003-07-11

申请人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

发明人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

IPC分类号： B64C33/02

CPC分类号： B64C33/02

摘要： A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.

摘要翻译： 进行流体结构交互分析，同时根据规定的拍打模式使n种类型的翼结构模型进行折翼。 基于分析，数据1，数据2，。 。 。 计算与流体行为和与结构行为相关的物理值相关的物理值的数据n。 在数据1中，数据2，。 。 。 数据n，提取具有规定参数的数据，例如优化的提升力。 形成翼部的原型，其具有由对应于提取的数据的机翼结构的数值模型的各种参数值指定的结构。 驾驶单元905以与扑灭昆虫的方式等效的扑动运动模型所表示的扑动方式驱动机翼部分的原型。 此时，机翼具有适合拍打飞行的刚度，使规定的参数达到最佳值。

公开(公告)号：US20050151010A1

公开(公告)日：2005-07-14

申请号：US10769304

申请日：2004-01-30

申请人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

发明人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

IPC分类号： B25J5/00 ,  B64C33/02 ,  B64C39/02 ,  H02N2/00

CPC分类号： B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/044 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/146

摘要： On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for: driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

摘要翻译： 在飘动装置的主体部分上，形成有一个翼翼（左翼），其具有前翼轴，后翼轴和设置在前翼和后翼轴上的翼片。 此外，在主体部分上安装有用于驱动前翼轴的旋转致动器和用于驱动后翼轴的旋转致动器。 前（后）翼轴在与作为支点的致动器正交的旋转轴线的平面中往复运动。 因此，获得具有优异的机动性并且可以在室内和室外不受任何障碍物或几何形状阻碍的移动装置。

公开(公告)号：US06648822B2

公开(公告)日：2003-11-18

申请号：US09904499

申请日：2001-07-16

申请人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara ,  Kenji Ohta

发明人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara ,  Kenji Ohta

IPC分类号： A61B500

CPC分类号： G06Q10/02 ,  A61B5/0013 ,  Y10S128/903

摘要： A communication apparatus includes a transmitter and a receiver for communicating communication data containing transmission data transmitted from an operator; and a data (physical data of his/her surrounding environment) analyzer for outputting a mental state and/or a physiological condition of the operator by estimating it based on the communication data. The communication apparatus enables smooth communication between a sending end and a receiving end.

摘要翻译： 通信装置包括发送器和接收器，用于传送包含从操作者发送的发送数据的通信数据; 以及数据（他/她周围环境的物理数据）分析器，用于通过基于通信数据的估计来输出操作者的精神状态和/或生理状态。 通信装置能够实现发送端和接收端之间的平滑通信。

公开(公告)号：US08210470B2

公开(公告)日：2012-07-03

申请号：US11166743

申请日：2005-06-23

申请人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

发明人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

IPC分类号： B64C33/02

CPC分类号： B64C33/00

摘要： In a moving apparatus, flapping angle of a front wing shaft is γ+Δγ/2, and the flapping angle of rear wing shaft is γ−Δγ/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is Δγ. Further, the flapping motion of front wing shaft is represented by sin (τ+φ/2), and the flapping motion of rear wing shaft is represented by sin (τ−φ/2). In other words, phase difference between the front and rear wing shafts is φ. Further, amplitude difference Δγ and phase difference φ are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference Δγ and phase difference φ, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.

摘要翻译： 在移动装置中，前翼轴的拍击角为γ+＆Dgr;γ/ 2，后翼轴的拍打角为γ＆Dgr;γ/ 2。 具体来说，前翼轴和后翼轴之间的振幅差为＆Dgr;γ。 此外，前翼轴的拍击运动由sin（τ+＆phgr; / 2）表示，后翼轴的扑动运动由sin（τ-＆phgr; / 2）表示。 换句话说，前翼和后翼轴之间的相位差是＆phgr。 此外，振幅差Dgr;γ和相位差 各自由使用公共参数的函数表示。 因此，控制部分可以独立地改变振幅差Dgrγ和相位差phgr，以便不同地改变由翼的末端部分形成的扭转角和规定的幻影平面。 因此，可以提供可以从盘旋到向前或向后飞行的有效过渡的移动装置。

公开(公告)号：US07584084B2

公开(公告)日：2009-09-01

申请号：US10299947

申请日：2002-11-19

申请人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara ,  Toshiaki Hisada

发明人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara ,  Toshiaki Hisada

IPC分类号： G06G7/60 ,  G06G7/72 ,  G05B13/04 ,  G05B19/18 ,  G09B9/05 ,  G09B9/10

CPC分类号： G06F17/5018 ,  G06F2217/12 ,  G06F2217/16

摘要： A numerical model related to fluttering of an insect, when an equivalent model of actual structure of a wing of the insect is moved in the air in accordance with a model of fluttering motion of the wing of the insect is calculated by fluid-structure interactive analysis, in which behavior of the wing and behavior of the air are given as numerical values, including interaction therebetween. Thereafter, a method of controlling a fluttering robot, wing shape and the like are determined by modifying numerical models of fluttering of an insect prepared by fluid-structure interactive analysis, in accordance with sensitivity analysis. Accordingly, a method of preparing numerical models of wing and air considering the behavior of the wing of the insect in the air is provided and, in addition, a method of manufacturing a fluttering robot utilizing the numerical model prepared by this method of preparing numerical model can be provided.

摘要翻译： 与昆虫飘动相关的数值模型，当昆虫翼翼的实际结构的等效模型根据昆虫翼的飘动运动的模式在空中移动时，通过流体结构相互作用分析计算 ，其中机翼的行为和空气的行为被给予为数值，包括它们之间的相互作用。 此后，根据灵敏度分析，通过修改通过流体 - 结构相互作用分析制备的昆虫振动的数值模型来确定控制飘动机器人，翼形等的方法。 因此，提出了考虑到昆虫在空气中的机翼的行为的机翼和空气的数值模型的制备方法，此外，还提供了一种使用通过这种制备数值模型的方法制备的数值模型来制造振动机器人的方法 可以提供。

公开(公告)号：US07089084B2

公开(公告)日：2006-08-08

申请号：US10447075

申请日：2003-05-27

申请人： Yoshiji Ohta ,  Masaki Hamamoto ,  Keita Hara

发明人： Yoshiji Ohta ,  Masaki Hamamoto ,  Keita Hara

IPC分类号： G06F19/00

CPC分类号： B64C33/00 ,  B64C39/024

摘要： A search robot system first divides the entire area of disaster into a mesh cell of an appropriate size, and arranges a search robot for each mesh cell. A search is made for a route of travel from an outermost mesh cell to a casualty and to an adjacent mesh cell. The search robot immediately communicates with a mother robot when a casualty is found. The search robot also communicates with the mother robot when a route to an adjacent mesh cell is found. In the search robot system, a new search robot is arranged to search in an adjacent mesh cell. Accordingly, a rescue activity that is a matter of time can be carried out by a plurality of robots.

摘要翻译： 搜索机器人系统首先将整个灾害区域划分成适当大小的网格单元，并为每个网孔单元布置搜索机器人。 搜索从最外面网格单元到伤员和相邻网格单元的行进路线。 当发现伤员时，搜索机器人立即与母机器人通信。 当找到到相邻网孔的路由时，搜索机器人还与母机器人通信。 在搜索机器人系统中，新的搜索机器人被布置成在相邻的网格单元格中进行搜索。 因此，作为时间问题的救援活动可以由多个机器人进行。

公开(公告)号：US20060060698A1

公开(公告)日：2006-03-23

申请号：US11166743

申请日：2005-06-23

申请人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

发明人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

IPC分类号： B64C33/02

CPC分类号： B64C33/00

摘要： In a moving apparatus, flapping angle of a front wing shaft is γ+Δγ/2, and the flapping angle of rear wing shaft is γ−Δγ/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is Δγ. Further, the flapping motion of front wing shaft is represented by sin (τ+φp/2), and the flapping motion of rear wing shaft is represented by sin (τ−φ/2). In other words, phase difference between the front and rear wing shafts is φ. Further, amplitude difference Δγ and phase difference φ are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference Δγ and phase difference φ, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.

摘要翻译： 在移动装置中，前翼轴的摆动角为γ+ Deltagamma / 2，后翼轴的拍击角为γ-Deltagamma / 2。 具体来说，前翼轴和后翼轴之间的振幅差为Deltagamma。 此外，前翼轴的拍动运动由sin（tau + phip / 2）表示，后翼轴的拍动运动由sin（tau-phi / 2）表示。 换句话说，前翼和后翼轴之间的相位差是phi。 此外，振幅差Deltagamma和相位差phi均由使用公共参数的函数表示。 因此，控制部分可以独立地改变振幅差Deltagamma和相位差phi，以便不同地改变由翼的末端部分形成的扭转角和规定的幻影平面。 因此，可以提供可以从盘旋到向前或向后飞行的有效过渡的移动装置。

公开(公告)号：US07409266B2

公开(公告)日：2008-08-05

申请号：US10739453

申请日：2003-12-17

申请人： Keita Hara ,  Masaki Hamamoto ,  Yoshiji Ohta

发明人： Keita Hara ,  Masaki Hamamoto ,  Yoshiji Ohta

IPC分类号： G06F19/00

CPC分类号： G06N3/008 ,  B64C33/025 ,  B64C2201/025 ,  B64C2201/143 ,  G05D1/104

摘要： A group robot system includes a plurality of sensing robots and a base station controlling the sensing robots, and establishes communication in a hierarchical manner. The hierarchical structure is formed of a plurality of levels between a plurality of sensing robots with base station as the highest hierarchical level. The first sensing robot detects an object; the second sensing robot conducts further search on the object; and the third sensing robot conducts communication relay between the first sensing robot and the base station. When the first sensing robot detects an object, the base station provides control such that all sensing robots, other than the first, second and third sensing robots, move outside the current area of search.

摘要翻译： 组机器人系统包括多个感测机器人和控制感测机器人的基站，并以层次的方式建立通信。 层次结构由具有基站的多个感测机器人之间的多个级别形成为最高层级。 第一感测机器人检测物体; 第二感测机器人进一步搜索物体; 并且第三感测机器人在第一感测机器人和基站之间进行通信中继。 当第一感测机器人检测到物体时，基站提供控制，使得除了第一，第二和第三感测机器人之外的所有感测机器人移动到当前搜索区域之外。

公开(公告)号：US07195199B2

公开(公告)日：2007-03-27

申请号：US11107064

申请日：2005-04-15

申请人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

发明人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

IPC分类号： B64C33/00

CPC分类号： B64C33/02

摘要： A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

摘要翻译： 拍打装置包括由驱动源旋转的第一盘和与第一盘的主表面接触旋转的第二盘。 第二盘设置有限制其旋转角度的第一和第二挡块。 当止动件与第一盘接触时，翼轴的旋转仅由第一盘的旋转引起，并且当止动件不与第一盘接触时，翼轴的旋转仅由 旋转第二盘。

公开(公告)号：US07474256B2

公开(公告)日：2009-01-06

申请号：US10918018

申请日：2004-08-12

申请人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

发明人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

IPC分类号： G01S13/06 ,  G01C1/00

CPC分类号： G01S17/48 ,  G01S17/003

摘要： A transmitting apparatus and a receiving apparatus of a position detecting system execute a program including the steps of transmitting a laser beam; detecting an azimuth α(Y) at which the laser beam is transmitted; detecting an azimuth β at which the reflected laser beam is received; calculating a distance L(1) between the transmitting apparatus and a moving body from α(Y), β and a distance D between the transmitting apparatus and the receiving apparatus; and calculating a distance L(2) between the receiving apparatus and the moving body.

摘要翻译： 位置检测系统的发送装置和接收装置执行包括发送激光束的步骤的程序; 检测发射激光束的方位角α（Y）; 检测反射激光束被接收的方位角β; 从发送装置和接收装置之间的α（Y），β和距离D计算发送装置和移动体之间的距离L（1） 并计算接收装置和移动体之间的距离L（2）。