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31. 发明授权

US06999851B2 Robot apparatus and motion controlling method therefor 失效
标题翻译：机器人装置及其运动控制方法
公开(公告)号：US06999851B2
公开(公告)日：2006-02-14
申请号：US10650421
申请日：2003-08-28
申请人： Keisuke Kato , Shinji Ishii
发明人： Keisuke Kato , Shinji Ishii
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , Y10S700/90
摘要： A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required. Therefore, the reflex control systems which correspond to an intermediate hierarchy operate in a high speed cycle to respond at a high speed to the external force to absorb a deviation caused by the disturbance.
摘要翻译：一种用于机器人装置的机器人装置和运动控制方法，其中可以在降低控制装置的计算量和集中的计算负荷的同时高速执行反射运动等。机器人具有具有分级结构的控制结构，包括对应于大脑的高阶中心计算部分，对应于椎骨的反射系统控制部分，以及对应于肌肉的伺服控制系统和致动器。从限制到功耗等，上限中心计算部的控制周期的速度的增加是有限的。作用于机体的外力是高频带的干扰输入，需要非常高的速度控制系统。因此，对应于中间层次的反射控制系统在高速循环中以高速度对外力进行反应以吸收由扰动引起的偏差。

32. 发明授权

US06774599B2 Servo actuator and position sensor 失效
标题翻译：伺服驱动器和位置传感器
公开(公告)号：US06774599B2
公开(公告)日：2004-08-10
申请号：US10332739
申请日：2003-01-10
申请人： Shinji Ishii
发明人： Shinji Ishii
IPC分类号： G05B106
CPC分类号： H02K29/08 , G05B19/02 , G05B2219/37019 , G05B2219/37483 , H02P6/16
摘要： In an actuator having an integrated drive circuit, a switching current flowing in a coil within the actuator is included in a position sensor signal of the actuator. According to the present invention, by arranging a detection circuit which performs sampling in synchronization with noise, a rotational position which does not include higher harmonic waves can be detected even if the switching noise in a motor coil current in the actuator itself is generated. Consequently, elimination of the influence of the noise allows posture and position control with less vibration to be realized.
摘要翻译：在具有集成驱动电路的致动器中，在致动器内的线圈中流动的开关电流被包括在致动器的位置传感器信号中。根据本发明，通过配置与噪声同步进行采样的检测电路，即使产生了致动器本身的电动机线圈电流的开关噪声，也可以检测不包括高次谐波的旋转位置。因此，消除噪声的影响能够实现具有较少振动的姿态和位置控制。

33. 发明授权

US06696809B2 Robot, servo circuit, actuator, robot control method, and actuator driving method 失效
标题翻译：机器人，伺服电路，执行器，机器人控制方法和执行器驱动方法
公开(公告)号：US06696809B2
公开(公告)日：2004-02-24
申请号：US10032723
申请日：2001-10-27
申请人： Shinji Ishii , Yoshihiro Kuroki
发明人： Shinji Ishii , Yoshihiro Kuroki
IPC分类号： G05B1304
CPC分类号： B62D57/032 , B25J9/1638 , G05B2219/40358 , G05B2219/41381
摘要： Based on a control object, a result of the detection of driving of an actuator and a response from a standard mathematical model of the actuator, the actuator is controlled, or in a servo system that controls the angle of a joint, etc., the control value is corrected so that the response from the thing to be driven and the response from the model of the thing to be driven are set to coincide with each other, and also based on a result of the correction of the control value, at least the moment of inertia of the thing to be driven is detected. Thereby, the moment of inertia of the driver and the like can be detected in real-time without providing a special sensor.
摘要翻译：基于控制对象，执行器的驱动检测和来自致动器的标准数学模型的响应的结果，致动器被控制，或者在控制关节角度等的伺服系统中校正控制值，使得要驱动的物体的响应和要驱动的物体的模型的响应被设置为彼此一致，并且还基于控制值的校正的结果，至少检测被驱动物体的惯性矩。因此，可以实时地检测驾驶员的惯性矩而不设置特殊的传感器。

34. 发明授权

US06472839B1 Robot, servo circuit, actuator, robot control method, and actuator control method 失效
标题翻译：机器人，伺服电路，执行器，机器人控制方法和执行器控制方法
公开(公告)号：US06472839B1
公开(公告)日：2002-10-29
申请号：US09701396
申请日：2001-01-19
申请人： Shinji Ishii , Yoshihiro Kuroki
发明人： Shinji Ishii , Yoshihiro Kuroki
IPC分类号： B25J900
CPC分类号： B62D57/032 , B25J9/1638 , G05B2219/40358 , G05B2219/41381
摘要： Based on a control object, a result of the detection of driving of an actuator and a response from a standard mathematical model of the actuator, the actuator is controlled, or in a servo system that controls the angle of a joint, etc., the control value is corrected so that the response from the thing to be driven and the response from the model of the thing to be driven are set to coincide with each other, and also based on a result of the correction of the control value, at least the moment of inertia of the thing to be driven is detected. Thereby, the moment of inertia of the driver and the like can be detected in real-time without providing a special sensor.
摘要翻译：基于控制对象，执行器的驱动检测和来自致动器的标准数学模型的响应的结果，致动器被控制，或者在控制关节角度等的伺服系统中校正控制值，使得要驱动的物体的响应和要驱动的物体的模型的响应被设置为彼此一致，并且还基于控制值的校正的结果，至少检测被驱动物体的惯性矩。因此，可以实时地检测驾驶员的惯性矩而不设置特殊的传感器。

35. 发明授权

US06175850B1 Scheme for carrying out modular calculations based on redundant binary calculation 失效
标题翻译：基于冗余二进制计算的模块化计算方案
公开(公告)号：US06175850B1
公开(公告)日：2001-01-16
申请号：US09017520
申请日：1998-02-02
申请人： Shinji Ishii , Kiyoto Tanaka , Katsuichi Oyama
发明人： Shinji Ishii , Kiyoto Tanaka , Katsuichi Oyama
IPC分类号： G06F738
CPC分类号： G06F7/723 , G06F7/72 , G06F2207/7223
摘要： A scheme for carrying out modular calculations which is capable of carrying out modular calculations using redundant binary calculation even when a number of bits of the mantissa (dividend) is larger than a number of bits of the modulus (divisor). In this scheme, the divisor c in the divisor register is left shifted by (i−j) digits when a number of digits j of the divisor c is less than a number of digits i that can be stored in the divisor register, and the modular reduction a mod c is calculated up to (i−j)-th decimal place using the dividend a and the left shifted divisor c. Alternatively, the divisor c given in h-ary notation in the divisor register is left shifted by (i−j) digits when a number of digits j of the divisor c is less than a number of digits i that can be stored in the divisor register, while the dividend a given in h-ary notation in the dividend register is left shifted by (k−l) digits when a number of digits l of the dividend a is less than a number of digits k that can be stored in the dividend register, where k≧i. Then, the modular reduction a mod c is calculated up to a digit of [(k−l)−(i−j)]-th power of h using the left shifted dividend a and the left shifted divisor c to obtain a remainder, and this remainder is right shifted by (k−l) digits.
摘要翻译：即使当尾数（余数）的位数大于模数（除数）的比特数时，也可以进行使用冗余二进制计算的模块化计算的模块化计算的方案。在该方案中，当除数c的数字j小于可存储在除数寄存器中的数字i的数量时，除数寄存器中的除数c被移位（ij），并且模块化减少使用派息a和左偏移除数c，计算出高达（ij）小数位的mod c。或者，当除数c的数字j小于可以存储在除数寄存器中的数字i的数量i时，除数寄存器中用h-ary符号给出的除数c由（ij）位移动，而当股息a的数字l的数字小于可以存储在股息登记册中的数字k数量时，在红利寄存器中以h-ary符号给出的红利被移位（kl）位，其中 k> = i。然后，使用左偏移除数a和左移位除数c计算出模数减少模mod至高达[（kl） - （ij）]次幂的数字，以获得余数，该余数为右移（kl）位数。

36. 发明授权

US09700691B2 Flavor inhalation pipe 有权
公开(公告)号：US09700691B2
公开(公告)日：2017-07-11
申请号：US13592430
申请日：2012-08-23
申请人： Tomoichi Watanabe , Shinji Ishii
发明人： Tomoichi Watanabe , Shinji Ishii
IPC分类号： A61M15/06 , A24F47/00 , A61M15/08
CPC分类号： A61M15/06 , A24F47/002 , A61M15/08
摘要： A flavor inhalation pipe includes a hollow cylindrical pipe body (10), a tobacco cartridge (12) accommodated, as a flavor generation cartridge, in the pipe body (10), a mouthpiece (30) coupled to the tobacco cartridge (12) and projecting from the pipe body (10), and a coupling device (40) coupling the pipe body (10) and the mouthpiece (30) to each other. The coupling device (40) has a coupling position in which the mouthpiece (30) is pressed against the pipe body (10) with a predetermined urging force to elastically coupled the two, and a release position which is assumed after the mouthpiece (30) in the coupling position is pushed into the pipe body (10) and then rotated and in which the coupling of the mouthpiece (30) to the pipe body (10) is released.

37. 发明授权

US08014923B2 Travel device 有权
标题翻译：旅行装置
公开(公告)号：US08014923B2
公开(公告)日：2011-09-06
申请号：US12692221
申请日：2010-01-22
申请人： Shinji Ishii , Ikuo Yamano
发明人： Shinji Ishii , Ikuo Yamano
IPC分类号： B62D37/00
CPC分类号： B62D61/00 , B62D51/005 , B62D51/02
摘要： A travel device includes a plurality of wheels disposed parallel to one another, a step plate mounted between the wheels, a handle mounted to the step plate, and a driving motor that allows the step plate and handle to tilt in a roll axis direction. The device further includes a control unit that drives the motor so as to maintain the step plate horizontal or the handle vertical. The device also includes a measurement unit that measures a shift operation of the step plate or the handle. The plurality of wheels may change direction based on the value determined by the measuring unit.
摘要翻译：行走装置包括彼此平行设置的多个车轮，安装在车轮之间的台板，安装到台板的手柄以及允许台板和手柄沿辊轴方向倾斜的驱动电机。该装置还包括控制单元，该控制单元驱动马达以便将台阶板水平或手柄垂直地保持。该装置还包括测量步进板或手柄的换档操作的测量单元。多个轮可以基于由测量单元确定的值来改变方向。

38. 发明申请

US20090152264A1 ASSEMBLY TYPE BOX-SHAPED BODY AND PLATE MATERIAL CONNECTION STRUCTURE 有权
标题翻译：组装型箱体形状和板材连接结构
公开(公告)号：US20090152264A1
公开(公告)日：2009-06-18
申请号：US12067580
申请日：2006-09-21
申请人： Kazuhisa Nakayama , Fumio Nakayama , Shinji Ishii
发明人： Kazuhisa Nakayama , Fumio Nakayama , Shinji Ishii
IPC分类号： B65D6/24
CPC分类号： B65D19/16 , B65D19/18 , B65D2519/00587 , B65D2519/00606 , B65D2519/00661 , B65D2519/00711 , B65D2519/0098
摘要： [Objective] To provide a box that allows easy tasks involved in assembling and disassembling and a novel plate material connecting structure adapted thereto.[Means to solve the problem] An assembly box comprises: a frame 1 (or 10) that is rectangular as seen from the top and whose four sides are formed from plate materials 11a and the like which are square as seen from the front; and a base 2 that has a placement plane 2a for the frame 1 and guides 21 and the like for supporting the plate materials constituting the frame 1 on the placement plane 2a. A first connecting part 111 and a second connecting part 122 (or a first connecting part 121 and a second connecting part 112) are positioned at corners of the frame 1 and have each a detachable locking mechanism. The locking mechanism is configured to separate two connected plate materials by inclining either one of the plate materials at a predetermined or larger angle with reference to the plate material connecting part.
摘要翻译： [目的]提供一种能够容易地组装和拆卸的任务的盒子，以及与其适配的新颖的板材连接结构。解决问题的手段一种组装箱包括：框架1（或10），其从顶部看是矩形的，并且其四边由从前面看是正方形的板材11a等形成; 以及具有用于框架1的放置平面2a和用于将构成框架1的板材支撑在放置平面2a上的引导件21等的基座2。第一连接部分111和第二连接部分122（或第一连接部分121和第二连接部分112）位于框架1的拐角处并且具有可拆卸的锁定机构。锁定机构构造成通过相对于板材连接部分以预定或更大的角度倾斜任一个板材来分离两个连接的板材料。

39. 发明申请

US20080290827A1 Motor control apparatus and motor control method 失效
标题翻译：电机控制装置及电机控制方式
公开(公告)号：US20080290827A1
公开(公告)日：2008-11-27
申请号：US12076895
申请日：2008-03-25
申请人： Shinji Ishii
发明人： Shinji Ishii
IPC分类号： H02P27/00 , H03K5/156
CPC分类号： H02P21/0003 , H02P21/22
摘要： Size and weight reduction of a motor-driven vehicle, robot or the like is achieved. A current command Iref from a speed feedback gain is supplied to each of circuits with coefficients of sin(θm), sin(θm+2π/3) and sin(θm−2π/3) to generate three-phase signals. The three-phase signals are respectively supplied to current control gains through adder-subtracters. Further, signals from motor constants are added together by an adder to produce motor torque. Furthermore, coil voltages output from adders pass through diodes and are then added together by an adder, and the signal is supplied to a regenerative voltage determiner. When a regenerative voltage becomes excessive, in-phase current Idc is supplied through a regeneration control gain to adder-subtracters.
摘要翻译：实现了电动车辆，机器人等的尺寸和重量的减小。将具有速度反馈增益的电流指令Iref提供给具有sin（tam），sin（tam + 2pi / 3）和sin（atam-2pi / 3）的系数的每个电路以产生三相信号。三相信号通过加减法器分别提供给电流控制增益。此外，通过加法器将来自电动机常数的信号相加在一起以产生电动机转矩。此外，从加法器输出的线圈电压通过二极管，然后由加法器相加在一起，并将该信号提供给再生电压确定器。当再生电压变得过大时，通过再生控制增益将同相电流Idc提供给加减法器。

40. 发明授权

US07363993B2 Traveling apparatus and method for controlling thereof 有权
标题翻译：行走装置及其控制方法
公开(公告)号：US07363993B2
公开(公告)日：2008-04-29
申请号：US10980604
申请日：2004-11-03
申请人： Shinji Ishii
发明人： Shinji Ishii
IPC分类号： B60K1/00 , B62D61/00
CPC分类号： B62D61/00 , A63C17/08 , A63C17/12 , B60L15/20 , B60L2200/16 , B60L2200/24 , B60L2220/46 , B60L2240/22 , B60L2240/423 , B60L2260/34 , B60L2270/145 , B62D37/00 , B62K11/007 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： A traveling apparatus suitable for use in a two-wheeled traveling vehicle on which a man rides, and a method for controlling thereof, are provided. An abrupt turn, which can make a rider fall down, is prevented, and stable traveling is obtained without fail. Specifically, the apparatus and method efficiently charge regenerative energy that is generated when decelerating or traveling on a downward slope. The apparatus and method include motors for driving a plurality of wheels independently, a chassis for connecting the plurality of wheels, in which sensors for detecting a shift of barycenter of a rider are provided, and a controller for restricting a rotational velocity of each of the plurality of wheels to a predetermined limited value, wherein turning is performed in accordance with the shift of a barycentric position.
摘要翻译：本发明提供一种适用于男子骑乘的两轮行驶车辆的行驶装置及其控制方法。可以防止可以使骑手跌倒的突然转弯，并且不会发生稳定的行驶。具体地，该装置和方法有效地充电在向下斜坡上减速或行进时产生的再生能量。该装置和方法包括用于独立地驱动多个车轮的电动机，用于连接多个车轮的底盘，其中设置有用于检测骑车人重心的移动的传感器，以及用于限制驾驶员的转速的控制器多个轮到预定的有限值，其中根据重心位置的偏移执行转向。

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