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11. 发明申请

US20100106294A1 Robot Control System and Control Method for Robot 审中-公开
标题翻译：机器人控制系统及控制方法
公开(公告)号：US20100106294A1
公开(公告)日：2010-04-29
申请号：US11989603
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G06F19/00
CPC分类号： G05B19/042 , B25J9/1602 , G05B2219/21065 , G05B2219/39059 , G05B2219/40536
摘要： During robot operation, a CPU (22) of a sensor unit (10) transmits the sensor output of a sensor (15) to a robot CPU (12) during a transmission period within a control period. During the remaining reception period within the control period, the robot CPU (22) transmits update parameters to the robot CPU (12). The CPU (22) receives these update parameters, and writes them in a second region, among the storage regions of a RAM (16), which is different from a first region in which the default parameters are set. And, upon further receipt of a update command from the robot CPU (22), the CPU (22) performs processing to change over the parameters from the default to the update parameters which have been stored in the second region.
摘要翻译：在机器人操作期间，传感器单元（10）的CPU（22）在控制周期内的传输期间将传感器（15）的传感器输出传送到机器人CPU（12）。在控制期间的剩余接收期间，机器人CPU（22）向机器人CPU（12）发送更新参数。在与设置了默认参数的第一区域不同的RAM（16）的存储区域中，CPU（22）接收这些更新参数，并将它们写入第二区域。并且，当进一步从机器人CPU（22）接收到更新命令时，CPU（22）进行处理，将参数从缺省值切换到已存储在第二区域的更新参数。

12. 发明申请

US20100089155A1 Sensor Unit 有权
标题翻译：传感器单元
公开(公告)号：US20100089155A1
公开(公告)日：2010-04-15
申请号：US11989605
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
IPC分类号： G01P15/00 , G01P3/44
CPC分类号： G01C21/16 , F16F15/08 , G01P1/023 , G01P15/18
摘要： A sensor unit has a reference base. An acceleration sensor block and angular velocity sensor support rods are arranged on the reference base, using a bottom face and one side face of the reference base as reference faces. Three acceleration sensors, which detect accelerations that act in the directions in which an X-axis, a Y-axis, and a Z-axis extend, are fitted to three faces of the acceleration sensor block, respectively. Three angular velocity sensors, which detect angular velocities about the X-axis, the Y-axis, and the Z-axis, are fitted to boards that are fitted, via rubber bushings serving as vibration-proofing rubber members, to the angular velocity sensor support rods with screws, respectively.
摘要翻译：传感器单元具有参考基座。加速度传感器块和角速度传感器支撑杆以参考基座的底面和侧面作为基准面布置在基准基座上。检测加速度传感器的三个加速度传感器，其分别在加速度传感器模块的三个面上安装检测沿着X轴，Y轴和Z轴延伸的方向的加速度。三个角速度传感器，其检测关于X轴，Y轴和Z轴的角速度，通过用作防振橡胶构件的橡胶衬套安装到角速度传感器支撑杆分别带螺丝。

13. 发明申请

US20090133467A1 Robot Equipped with a Gyro and Gyro Calibration Apparatus, Program, and Method 审中-公开
标题翻译：机器人配备陀螺仪和陀螺仪校准装置，程序和方法
公开(公告)号：US20090133467A1
公开(公告)日：2009-05-28
申请号：US11989691
申请日：2006-08-01
申请人： Takemitsu Mori , Takashi Kato , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Takemitsu Mori , Takashi Kato , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G01C25/00
CPC分类号： G05D1/0891 , G01C19/00 , G01C25/00
摘要： While calibrating the position of a robot having a gyro, the robot emits a beam of light to a target wall surface, and the position of a laser point on the target wall surface illuminated by the beam of light is measured. The measured position is obtained as an initial value (S10, S12), and a start of calibration is indicated (S14, S16). Then, a calibration period is reset (S18) and the timekeeping process of the calibration period starts. The values detected by the gyro are consecutively obtained by sampling for a predetermined calibration period (S20). If a disturbance occurs while the values are obtained, an alarm is output and calibration restarts. Once the calibration period elapses without any disturbance, a calibrated value is set or determined based on the detected values obtained during the calibration period (S26, S28).
摘要翻译：在校准具有陀螺仪的机器人的位置时，机器人向目标壁表面发射光束，并且测量由光束照射的目标壁表面上的激光点的位置。获得测量位置作为初始值（S10，S12），并且指示校准的开始（S14，S16）。然后，重置校准周期（S18），并且校准周期的计时处理开始。由陀螺仪检测的值通过对预定的校准周期进行采样而连续获得（S20）。如果在获得值时发生干扰，则输出报警并重新启动校准。一旦校准周期过去了，没有任何干扰，校准值将根据在校准期间获得的检测值来设定或确定（S26，S28）。

14. 发明授权

US6158280A Detector for detecting angular velocities about perpendicular axes 有权
标题翻译：用于检测关于垂直轴的角速度的检测器
公开(公告)号：US6158280A
公开(公告)日：2000-12-12
申请号：US218151
申请日：1998-12-22
申请人： Yutaka Nonomura , Motohiro Fujiyoshi , Yoshiteru Omura , Norio Fujitsuka
发明人： Yutaka Nonomura , Motohiro Fujiyoshi , Yoshiteru Omura , Norio Fujitsuka
IPC分类号： G01C19/56 , G01P9/04
CPC分类号： G01C19/5719
摘要： A detector has first and second excitation beams extending along X-axis and Y-axis directions. These beams are fixed to a substrate via an intersecting portion. Mass portions are disposed at free ends of the beams. Sensing electrodes are disposed at the central portions of the mass portions to face the mass portions. By electrostatic force generated between the excitation electrodes and the mass portions, two mass portions vibrate in the Y-axis direction, while the remaining two mass portions vibrate in the X-axis direction. When an angular velocity .OMEGA..sub.x acts about the X axis, Z-axis Coriolis forces F.sub.1a and F.sub.1b act on the mass portions that are vibrating in the Y-axis direction. When an angular velocity .OMEGA..sub.y acts about the Y axis, Z-axis Coriolis forces F.sub.2a and F.sub.2b act on the mass portions that are vibrating in the X-axis direction. These vibrations are detected by the sensing electrodes in order to detect the angular velocities .OMEGA..sub.x and .OMEGA..sub.y.
摘要翻译：检测器具有沿X轴和Y轴方向延伸的第一和第二激发光束。这些光束经由交叉部分固定在基板上。质量部分设置在梁的自由端。传感电极设置在质量部分的中心部分以面对质量部分。通过在激励电极和质量部分之间产生的静电力，两个质量部分在Y轴方向上振动，而剩余的两个质量部分在X轴方向上振动。当角速度OMEGA x围绕X轴作用时，Z轴科里奥利力F1a和F1b作用在沿Y轴方向振动的质量部分上。当角速度OMEGA y围绕Y轴作用时，Z轴科里奥利力F2a和F2b作用在沿X轴方向振动的质量部分上。这些振动由感测电极检测，以便检测角速度OMEGA x和OMEGA y。

15. 发明授权

US5748712A Facsimile system of distinctive ringing type capable of automatic facsimile reception even when received call signal calls telephone number for telephone reception 失效
标题翻译：具有独特振铃型的传真系统，即使在接收到呼叫信号时也能进行自动传真接收，电话接收电话号码
公开(公告)号：US5748712A
公开(公告)日：1998-05-05
申请号：US348900
申请日：1994-11-25
申请人： Yutaka Nonomura
发明人： Yutaka Nonomura
IPC分类号： H04N1/32 , H04M1/82 , H04M11/00 , H04N1/327 , H04M1/64
CPC分类号： H04N1/32708 , H04M1/82 , H04N1/32704 , H04N1/32717
摘要： A facsimile system of distinctive ringing type capable of selective telephone and facsimile communications with a remote party calling one of telephone numbers used by the system such that the telephone numbers are called by respective call signals having respective different patterns, the system including a pattern registering device for registering as a facsimile reception pattern the pattern of the call signal assigned to call the telephone number which is exclusively used to receive a facsimile signal from the remote party, a pattern determining device for determining whether the received call signal has the registered facsimile reception pattern, a facsimile receiving device for automatically processing the facsimile signal if the call signal has the facsimile reception pattern, and a conditional facsimile reception device for automatically processing the facsimile signal if a predetermined condition is satisfied, even if the received call signal does not have the registered facsimile reception pattern.
摘要翻译：一种具有特殊振铃型的传真系统，能够与呼叫系统使用的电话号码之一的远程方进行选择性电话和传真通信，使得电话号码由具有各自不同模式的相应呼叫信号来调用，该系统包括模式注册装置用于作为传真接收模式登记分配用于呼叫专用于从远程方接收传真信号的电话号码的呼叫信号的模式;模式确定装置，用于确定所接收的呼叫信号是否具有已登记的传真接收模式如果呼叫信号具有传真接收模式，则用于自动处理传真信号的传真接收装置，以及如果满足预定条件则自动处理传真信号的条件传真接收装置，即使所接收的呼叫信号不具有注册facsi 英里接待模式。

16. 发明授权

US5729356A Facsimile machine 失效
标题翻译：传真机
公开(公告)号：US5729356A
公开(公告)日：1998-03-17
申请号：US439368
申请日：1995-05-11
申请人： Yutaka Nonomura
发明人： Yutaka Nonomura
IPC分类号： H04N1/00 , H04M11/00 , H04N1/32
CPC分类号： H04N1/3239 , H04N1/32363
摘要： Upon receiving a command for changing a forwarding number (Yes in S103), the present facsimile machine 1 receives the forwarding number (S105 -S108), and retains the received forwarding number in the EEPROM 18. Then, the present facsimile machine 1 dials the forwarding facsimile machine (S115). The present facsimile machine 1 prepares a cover page for indicating that the present facsimile machine is put into a condition capable of forwarding incoming image information (S116). The facsimile machine 1 transmits the cover page to the forwarding facsimile machine.
摘要翻译：当接收到转发号码的命令（S103中的“是”）时，本传真机1接收转接号码（S105〜S108），并将接收到的转接号码保存在EEPROM18中。然后，本传真机1拨打转发传真机（S115）。本传真机1准备用于指示当前传真机处于能够转发输入图像信息的条件的封面（S116）。传真机1将封面传送到转发传真机。

17. 发明授权

US5585562A Vibration-sensing gyro 无效
标题翻译：振动陀螺仪
公开(公告)号：US5585562A
公开(公告)日：1996-12-17
申请号：US640399
申请日：1996-04-30
申请人： Nobuo Kurata , Nobuyoshi Sugitani , Takashi Ozaki , Kenji Harada , Kimitoshi Tsuji , Yutaka Nonomura , Takeshi Morikawa , Masayuki Okuwa , Kouji Tsukada
发明人： Nobuo Kurata , Nobuyoshi Sugitani , Takashi Ozaki , Kenji Harada , Kimitoshi Tsuji , Yutaka Nonomura , Takeshi Morikawa , Masayuki Okuwa , Kouji Tsukada
IPC分类号： G01C19/5607 , G01P9/04
CPC分类号： G01C19/5607
摘要： A vibration-sensing gyro composed of a light alloy such as duralumin includes a base and a first pair of tines projecting parallel to each other from the base. Piezoelectric elements are mounted on the root of the side faces of the first pair of tines to excite the first pair of tines along an X axis. The vibrations of the first pair of tines along the X axis are then propagated to a second pair of tines to vibrate the second pair of tines along the X axis. Piezoelectric elements are mounted on the root of the upper and the lower faces of the second pair of tines to detect vibrations of the second pair of tines along an Y axis. When the second pair of tines receives the Coriolis force based on an angular velocity .omega. around a Z axis and vibrates along the Y axis, the vibrations along the Y axis are detected as electric signals (alternating current voltages) by piezoelectric effects of the piezoelectric elements.
摘要翻译：由诸如硬铝的轻合金构成的振动感测陀螺包括基部和从底部彼此平行地突出的第一对尖齿。压电元件安装在第一对尖齿的侧面的根部上，以沿X轴激发第一对尖齿。沿着X轴的第一对尖齿的振动然后传播到第二对尖齿，以使第二对尖齿沿X轴振动。压电元件安装在第二对尖齿的上表面和下表面的根部上，以检测第二对尖齿沿着Y轴的振动。当第二对尖齿接收基于围绕Z轴的角速度ω的科里奥利力并且沿着Y轴振动时，通过压电元件的压电效应将沿着Y轴的振动检测为电信号（交流电压）。

18. 发明授权

US5533397A Vibration-sensing element and vibration-sensing gyro using the same 失效
标题翻译：振动传感元件和振动感应陀螺仪使用相同
公开(公告)号：US5533397A
公开(公告)日：1996-07-09
申请号：US329385
申请日：1994-10-26
申请人： Nobuyoshi Sugitani , Masayuki Okuwa , Takeshi Morikawa , Yutaka Nonomura
发明人： Nobuyoshi Sugitani , Masayuki Okuwa , Takeshi Morikawa , Yutaka Nonomura
IPC分类号： G01C19/56 , G01C19/5607 , H03H9/02 , H03H9/24 , G01P9/04
CPC分类号： G01C19/5607
摘要： The invention provides a vibration-sensing gyro, where resonance frequencies of tines are adjusted adequately in a simple manner. A vibration-sensing gyro (10) of the invention is made of a light alloy plate like duralumin and includes a first tine (14) and a second tine (16) disposed parallel to each other and projecting from a base (12). When the first tine (14) has a length l1, a width w1 along the X axis, and a thickness t1 and the second tine (16) has a length l2, a width w2 along the X axis, and a thickness t2 (=t1), the first tine (14) and the second tine (16) hold the relationship of l2/.sqroot.t2=l1/.sqroot.w1. In other words, the tines (14,16) and the base (12) are manufactured to satisfy this relationship. Such definition of the dimensions makes a resonance frequency fx1 of the first tine along the X axis coincide with a resonance frequency fy 2 of the second tine 16 along the Y axis.
摘要翻译：本发明提供了一种振动感测陀螺仪，其中以简单的方式适当地调节尖齿的共振频率。本发明的振动感应陀螺仪（10）由轻质合金板如硬铝制成，并包括彼此平行并从底座（12）伸出的第一齿（14）和第二齿（16）。当第一齿（14）具有长度l1时，沿X轴的宽度w1和厚度t1和第二齿16具有长度l2，沿X轴的宽度w2和厚度t2（= t1），第一齿（14）和第二齿（16）保持l2 / 2ROOT t2 = l1 / 2ROOT w1的关系。换句话说，制造齿（14,16）和基座（12）以满足这种关系。尺寸的这种定义使得沿着X轴的第一齿的共振频率fx1与第二齿16沿Y轴的共振频率fy 2一致。

19. 发明授权

US09215089B2 Touch sensor system 有权
标题翻译：触摸传感器系统
公开(公告)号：US09215089B2
公开(公告)日：2015-12-15
申请号：US13502078
申请日：2009-10-14
申请人： Masanori Muroyama , Masayoshi Esashi , Shuji Tanaka , Sakae Matsuzaki , Mitsutoshi Makihata , Yutaka Nonomura , Motohiro Fujiyoshi , Takahiro Nakayama , Ui Yamaguchi , Hitoshi Yamada
发明人： Masanori Muroyama , Masayoshi Esashi , Shuji Tanaka , Sakae Matsuzaki , Mitsutoshi Makihata , Yutaka Nonomura , Motohiro Fujiyoshi , Takahiro Nakayama , Ui Yamaguchi , Hitoshi Yamada
IPC分类号： G06F13/00 , H04L12/40 , G01L1/14 , G01L5/22 , G06F13/376
CPC分类号： H04L12/40032 , G01L1/142 , G01L1/146 , G01L5/228 , G06F13/376 , H04L12/40013
摘要： A touch sensor system includes buses, a plurality of touch sensor devices disposed on the buses, and an information integrating device that is connected to all the buses and integrates information from the touch sensor device. The touch sensor device includes a sensor unit and a signal processing unit that transmits a sensor data signal generated by processing an analog sensor signal to the information integrating device through the bus. The signal processing unit includes a digital converting unit, a threshold evaluating unit that gives a start permission of the signal process when a sensor value exceeds a preset threshold, an ID adding unit that adds a transmitter identification number to the sensor signal, and a data transmitting unit that outputs the sensor data signal to a signal line of the bus. Fast responses are made possible without increasing the amount of data and host processing load while including many touch sensor elements.
摘要翻译：触摸传感器系统包括总线，布置在总线上的多个触摸传感器装置，以及连接到所有总线并且集成来自触摸传感器装置的信息的信息集成装置。触摸传感器装置包括传感器单元和信号处理单元，该单元通过总线将通过处理模拟传感器信号而产生的传感器数据信号发送到信息集成装置。信号处理单元包括：数字转换单元，当传感器值超过预设阈值时给出信号处理开始许可的阈值评估单元;将传感器信号加上发射机标识号的ID添加单元，以及数据发送单元，其将传感器数据信号输出到总线的信号线。快速响应是可能的，而不增加数据量和主机处理负载，同时包括许多触摸传感器元件。

20. 发明授权

US08823114B2 Sensor device having electrode draw-out portions through side of substrate 有权
标题翻译：传感器装置具有通过衬底侧的电极引出部分
公开(公告)号：US08823114B2
公开(公告)日：2014-09-02
申请号：US13502083
申请日：2010-10-13
申请人： Shuji Tanaka , Masayoshi Esashi , Masanori Muroyama , Sakae Matsuzaki , Mitsutoshi Makihata , Yutaka Nonomura , Motohiro Fujiyoshi , Takahiro Nakayama , Ui Yamaguchi , Hitoshi Yamada
发明人： Shuji Tanaka , Masayoshi Esashi , Masanori Muroyama , Sakae Matsuzaki , Mitsutoshi Makihata , Yutaka Nonomura , Motohiro Fujiyoshi , Takahiro Nakayama , Ui Yamaguchi , Hitoshi Yamada
IPC分类号： H01L29/84 , H01L23/48 , G01L5/22 , G01L1/14 , B81C1/00 , H01L23/00 , H01L23/10
CPC分类号： B81C1/00238 , B81B2201/0264 , B81B2207/012 , B81C2201/019 , B81C2203/032 , B81C2203/0792 , G01L1/146 , G01L1/148 , G01L5/228 , H01L23/10 , H01L24/04 , H01L24/29 , H01L24/32 , H01L24/82 , H01L24/94 , H01L2924/01004 , H01L2924/01006 , H01L2924/01013 , H01L2924/01023 , H01L2924/01029 , H01L2924/01033 , H01L2924/01057 , H01L2924/01078 , H01L2924/01079 , H01L2924/01082 , H01L2924/014 , H01L2924/09701 , H01L2924/14 , H01L2924/1461 , H01L2924/15787 , H01L2924/15788 , H01L2924/19041 , H01L2924/30105 , H01L2924/3011 , H01L2924/3025 , H01L2924/3512 , H01L2924/00
摘要： Provided is a technique for packaging a sensor structure having a contact sensing surface and a signal processing LSI that processes a sensor signal. The sensor structure has the contact sensing surface and sensor electrodes. The signal processing integrated circuit is embedded in a semiconductor substrate. The sensor structure and the semiconductor substrate are bonded by a bonding layer, forming a sensor device as a single chip. The sensor electrodes and the integrated circuit are sealed inside the sensor device, and the sensor electrodes and external terminals of the integrated circuit are led out to the back surface of the semiconductor substrate through a side surface of the semiconductor substrate.
摘要翻译：提供了一种用于封装具有接触感测表面的传感器结构和处理传感器信号的信号处理LSI的技术。传感器结构具有接触感应表面和传感器电极。信号处理集成电路嵌入在半导体衬底中。传感器结构和半导体衬底通过接合层粘接，形成传感器装置作为单个芯片。传感器电极和集成电路密封在传感器装置的内部，并且集成电路的传感器电极和外部端子通过半导体衬底的侧表面被引出到半导体衬底的背面。

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