专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US09116521B2 Autonomous moving device and control method thereof 有权
标题翻译：自动移动装置及其控制方法
公开(公告)号：US09116521B2
公开(公告)日：2015-08-25
申请号：US14131046
申请日：2011-07-15
申请人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
发明人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC分类号： G01C22/00 , G05D1/00 , G05D1/02
CPC分类号： G05D1/0088 , G05D1/02 , G05D1/024 , G05D2201/0206 , G05D2201/0217
摘要： An autonomous moving device includes a travel unit with a wheel driven by a motor and an upper body including an environment-recognition sensor that detects an obstacle in a traveling direction. The upper body includes means that recognize device and obstacle positions, means that evaluates avoidance capability, and means that obtains priority of collision avoidance of an estimated passage area of the obstacle. The upper body further includes a control unit that moves the travel unit to an area where an estimated passage area of an obstacle whose priority of collision avoidance is high that does not overlap an area where the travel unit is located and which is an area where collision can be avoided even if an area where an estimated passage area of an obstacle whose priority of collision avoidance is low overlaps the area where the travel unit is located.
摘要翻译：自主移动装置包括具有由马达驱动的轮的行进单元和包括检测行进方向的障碍物的环境识别传感器的上身。上身包括识别装置和障碍物位置的装置，评估避免能力的手段，以及获得障碍物估计通过区域的避碰的优先级的手段。上身还包括一个控制单元，该移动单元将行驶单元移动到与碰撞避免的优先级高的障碍物的估计通过区域不与旅行单元所在的区域重叠的区域，并且是碰撞区域即使防止碰撞优先的障碍物的估计通过面积与行进单元所在的区域重叠的区域也可以避免。

2. 发明授权

US09016158B2 Head structure of robot, and driving method for the head 有权
标题翻译：机头的头部结构，头部的驱动方法
公开(公告)号：US09016158B2
公开(公告)日：2015-04-28
申请号：US14114817
申请日：2011-05-25
申请人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
发明人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
IPC分类号： F16H19/08 , B25J17/00 , A63H13/00 , A63H3/20 , A63H11/00
CPC分类号： F16H19/08 , A63H3/20 , A63H11/00 , A63H13/00 , B25J17/00 , Y10S901/23 , Y10S901/26 , Y10T74/18568 , Y10T74/20311 , Y10T74/20317 , Y10T74/20323 , Y10T74/20341
摘要： A head structure of a robot according to the invention includes a first motor and a second motor so supported side by side within a head of the robot that output shafts are positioned coaxially with each other; a left elastic frame that is so driven by the first motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending in a perpendicular direction from the output shaft is supported by a trunk of the robot; and a right elastic frame that is so driven by the second motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending side by side with the left elastic frame from the output shaft is supported by the trunk.
摘要翻译：根据本发明的机器人的头部结构包括第一电动机和第二电动机，其并联地支撑在机器人的头部内，输出轴彼此同轴地定位; 由第一电动机驱动的左侧弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端从输出轴沿垂直方向延伸，由该主体支撑机器人; 以及由第二电动机驱动的一个右弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端与来自输出轴的左弹性框架并排地延伸由树干。

3. 发明申请

US20150105906A1 AUTONOMOUS MOBILE DEVICE, AUTONOMOUS MOVEMENT SYSTEM, AND AUTONOMOUS MOVEMENT METHOD 有权
标题翻译：自动移动装置，自动运动系统和自动运动方法
公开(公告)号：US20150105906A1
公开(公告)日：2015-04-16
申请号：US14396887
申请日：2012-04-26
申请人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
发明人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05D1/024 , Y10S901/01 , Y10S901/40 , Y10S901/46
摘要： An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.
摘要翻译：提供了具有障碍物回避能力的自主移动装置，自主运动系统和自主运动方法。自主移动装置包括回避模式确定单元，用于根据相对于自主移动装置的自主运动装置以外的移动障碍物的运动状态来确定本地装置的行驶模式; 以及行驶控制器，用于使自动移动装置根据由避免模式确定单元确定的行驶模式行进。根据与移动障碍物的相对速度来选择回避模式之一。

4. 发明申请

US20140379198A1 Mobile Object 审中-公开
标题翻译：移动对象
公开(公告)号：US20140379198A1
公开(公告)日：2014-12-25
申请号：US14364495
申请日：2011-12-12
申请人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
发明人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
IPC分类号： B62D57/032 , G05D1/02
CPC分类号： B62D57/032 , B62K11/007 , B62K17/00 , G05D1/0231 , Y10S901/01 , Y10S901/47
摘要： The present invention provides a mobile object capable of stable movement and jumping. The mobile object includes two moving means attached to left and right sides under a body; a sensor to detect attitude of the body; a controller to receive information from the sensor and perform calculation; two telescopic actuators attached between the body and the two moving means and configured to generate vertical forces; a rotary actuator provided at the center of the two telescopic actuators and configured to rotate around a moving direction of the body; a roll link connected with an output part of the rotary actuator; two suspensions connecting left and right ends of the roll link and the moving means; and foot frames attached between the suspensions and the moving means, wherein the controller controls the rotary actuator so that the sensor detects a target tilt angle and a target angular velocity of the body.
摘要翻译：本发明提供能够稳定地移动和跳跃的移动体。移动物体包括附接到身体下方的左侧和右侧的两个移动装置; 用于检测身体姿态的传感器; 控制器，用于从传感器接收信息并执行计算; 两个伸缩式致动器附接在主体和两个移动装置之间，并被构造成产生垂直力; 旋转致动器，设置在所述两个伸缩式致动器的中心并且构造成绕所述主体的移动方向旋转; 与所述旋转致动器的输出部连接的滚动连杆; 连接辊连杆的左右端的两个悬架和移动装置; 以及安装在所述悬架和所述移动装置之间的脚架，其中所述控制器控制所述旋转致动器，使得所述传感器检测到所述身体的目标倾斜角度和目标角速度。

5. 发明授权

US09235895B2 Method for estimating direction of person standing still 有权
标题翻译：估计人员静止方向的方法
公开(公告)号：US09235895B2
公开(公告)日：2016-01-12
申请号：US14364927
申请日：2011-12-13
申请人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
发明人： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC分类号： G06T7/00 , G06K9/00 , G01B11/14 , G01P13/02
CPC分类号： G06T7/0042 , G01B11/14 , G01P13/02 , G06K9/00362 , G06T7/73 , G06T2207/10012 , G06T2207/10024 , G06T2207/30196 , G06T2207/30248
摘要： The invention is directed to detecting a boundary position between a foot and a lower leg of a person in an image acquired by an imaging unit, the boundary position being a substantial boundary part, in a lower limb, between the foot, which is a part from a malleolus to a tip part, and the lower leg; detecting a feature quantity that makes it possible to classify a ground and a part other than the ground in the image; setting, in a peripheral region around the boundary position, a plurality of local regions having positional information and/or direction information relative to the boundary position, and determining whether each of the local regions is the ground or the part other than the ground by using the feature quantity unique to the ground; determining a foot region from the local region determined as the part other than the ground; and estimating a direction of the foot of the person from the local region classified as the foot region and from the information.
摘要翻译：本发明旨在检测由成像单元获取的图像中的人的脚和小腿之间的边界位置，边界位置是下肢中的实质边界部分，脚之间是部分从踝部到尖部，以及小腿; 检测能够对图像中的地面和地面以外的部分进行分类的特征量; 在边界位置周围的周边区域中设置多个具有相对于边界位置的位置信息和/或方向信息的局部区域，并且通过使用以下方式来确定每个局部区域是地面还是地面以外的部分地面独特的特征量; 确定从所述局部区域确定为所述地面以外的部分的足部区域; 以及从所述信息中估计从所述局部区域分类为所述足部区域的所述人的脚的方向。

6. 发明授权

US09108665B2 Moving mechanism 有权
标题翻译：移动机制
公开(公告)号：US09108665B2
公开(公告)日：2015-08-18
申请号：US14378664
申请日：2012-03-05
申请人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
发明人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
IPC分类号： B62D7/02 , B62D6/00 , B62D5/04 , B60G11/04 , B60G11/14
CPC分类号： B62D7/02 , B60B33/0052 , B60B33/026 , B60B33/045 , B60G3/01 , B60G11/14 , B60G2200/44 , B60G2200/46 , B60G2204/4232 , B62D5/0418 , B62D6/002 , B62D7/08 , B62D7/1509 , Y02T10/86
摘要： The moving mechanism is capable of separating an orientation of a vehicle body from a traveling direction. In addition, the moving mechanism has a low center of gravity and is capable of reducing its weight. A moving body includes a vehicle body, steering actuators, right and left steering hubs, vehicle wheel actuators, and vehicle wheels. The steering actuators are disposed on the right and left sides of the vehicle body and drivable around a vertical axis. The right and left steering hubs are driven by the steering actuators. The vehicle wheel actuators are fixed to the steering hubs. The vehicle wheels are driven by the vehicle wheel actuators and are disposed in an inclined manner with respect to a vertical direction.
摘要翻译：移动机构能够将车体的行进方向与行驶方向分离。此外，移动机构具有低的重心，并且能够减轻其重量。移动体包括车身，转向致动器，左右转向轮毂，车轮致动器和车轮。转向致动器设置在车身的左侧和左侧，并可绕垂直轴驱动。左右转向轮毂由转向执行器驱动。车轮执行机构固定在转向轮毂上。车轮由车轮致动器驱动，并相对于垂直方向以倾斜的方式设置。

7. 发明申请

US20140114559A1 Inverted Pendulum Type Moving Body Having Velocity Planning Device 有权
标题翻译：倒立摆式移动体具有速度规划装置
公开(公告)号：US20140114559A1
公开(公告)日：2014-04-24
申请号：US14125192
申请日：2011-07-13
申请人： Ryosuke Nakamura , Azusa Amino , Taishi Ueda
发明人： Ryosuke Nakamura , Azusa Amino , Taishi Ueda
IPC分类号： B62K3/00
CPC分类号： B62K3/007 , B60L3/0007 , B60L3/0015 , B60L15/20 , B60L2200/16 , B60L2240/12 , B60L2240/20 , B62B1/10 , B62B5/0069 , B62B2301/00 , B62K11/007 , G05D1/024 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention provides an inverted pendulum-type moving body having a pair of wheels suspended from the moving body, using a floor as a traveling plane, and is provided on the same plane vertical to its travelling direction, a driving mechanism for rotating these wheels, posture measurement means for measuring an inclination angular velocity of its upper body that a straight line connecting a center-of-gravity position of a body of the moving body and an axle of the one pair of wheels makes with a vertical direction, and a mechanism control part for maintaining an inverted state of the moving body by controlling the driving mechanism, by having a velocity planning device for performing a movement plan so that the upper body angular velocity and the upper body angle may be in a relationship of quadratic function when a velocity change is needed.
摘要翻译：本发明提供一种倒立摆式移动体，其具有从移动体悬挂的一对轮，使用地板作为行进平面，并且设置在与行进方向垂直的同一平面上，用于使这些轮旋转的驱动机构姿势测量装置，用于测量其上身的倾斜角速度，连接所述移动体的身体的重心位置和所述一对车轮的轴线的直线与垂直方向相连;以及机构控制部，其通过控制驱动机构来维持移动体的反转状态，具有用于执行移动计划的速度计算装置，使得上身角速度和上身角度可以是二次函数的关系，当需要一个速度变化。

8. 发明申请

US20140060224A1 HEAD STRUCTURE OF ROBOT, AND DRIVING METHOD FOR THE HEAD 有权
标题翻译：机器人的头部结构和头部的驱动方法
公开(公告)号：US20140060224A1
公开(公告)日：2014-03-06
申请号：US14114817
申请日：2011-05-25
申请人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
发明人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
IPC分类号： F16H19/08
CPC分类号： F16H19/08 , A63H3/20 , A63H11/00 , A63H13/00 , B25J17/00 , Y10S901/23 , Y10S901/26 , Y10T74/18568 , Y10T74/20311 , Y10T74/20317 , Y10T74/20323 , Y10T74/20341
摘要： A head structure of a robot according to the invention includes a first motor and a second motor so supported side by side within a head of the robot that output shafts are positioned coaxially with each other; a left elastic frame that is so driven by the first motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending in a perpendicular direction from the output shaft is supported by a trunk of the robot; and a right elastic frame that is so driven by the second motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending side by side with the left elastic frame from the output shaft is supported by the trunk.
摘要翻译：根据本发明的机器人的头部结构包括第一电动机和第二电动机，其并联地支撑在机器人的头部内，输出轴彼此同轴地定位; 由第一电动机驱动的左侧弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端从输出轴沿垂直方向延伸，由该主体支撑机器人; 以及由第二电动机驱动的一个右弹性框架，其一端被安装成能够围绕输出轴旋转，并且其另一端与来自输出轴的左弹性框架并排地延伸由树干。

9. 发明授权

US09588518B2 Autonomous mobile apparatus, control device, and autonomous mobile method 有权
标题翻译：自主移动装置，控制装置和自主移动方式
公开(公告)号：US09588518B2
公开(公告)日：2017-03-07
申请号：US14401615
申请日：2012-05-18
申请人： Ryosuke Nakamura , Azusa Amino , Taishi Ueda
发明人： Ryosuke Nakamura , Azusa Amino , Taishi Ueda
IPC分类号： G05D1/00 , G05D1/02 , B25J5/00
CPC分类号： G05D1/021 , B25J5/007 , G05D1/024
摘要： A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.
摘要翻译：即使在拥挤的环境中也能够提供平稳的移动的控制装置。控制装置包括：运动处理部，其生成与自主移动装置（1）的移动有关的信息的移动计划; 移动控制部（21），其根据由所述移动处理部（101）生成的移动计划移动所述自主移动装置（1）。拥挤度估计部（102），计算自主移动装置（1）的移动方向的拥挤度; 当自主移动装置（1）的正面的拥挤度为规定值以上时，估计移动障碍物的视野的视野估计部（103）以及使用注意呼叫装置（15）来引起注意的注意呼叫控制部（104）进入所述估计的视野。

10. 发明申请

US20150027801A1 MOVING BODY 有权
标题翻译：移动身体
公开(公告)号：US20150027801A1
公开(公告)日：2015-01-29
申请号：US14378664
申请日：2012-03-05
申请人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
发明人： Azusa Amino , Ryosuke Nakamura , Taishi Ueda
IPC分类号： B62D7/02 , B62D6/00 , B60G11/14 , B62D5/04
CPC分类号： B62D7/02 , B60B33/0052 , B60B33/026 , B60B33/045 , B60G3/01 , B60G11/14 , B60G2200/44 , B60G2200/46 , B60G2204/4232 , B62D5/0418 , B62D6/002 , B62D7/08 , B62D7/1509 , Y02T10/86
摘要： The moving mechanism is capable of separating an orientation of a vehicle body from a traveling direction. In addition, the moving mechanism has a low center of gravity and is capable of reducing its weight. A moving body includes a vehicle body, steering actuators, right and left steering hubs, vehicle wheel actuators, and vehicle wheels. The steering actuators are disposed on the right and left sides of the vehicle body and drivable around a vertical axis. The right and left steering hubs are driven by the steering actuators. The vehicle wheel actuators are fixed to the steering hubs. The vehicle wheels are driven by the vehicle wheel actuators and are disposed in an inclined manner with respect to a vertical direction.
摘要翻译：移动机构能够将车体的行进方向与行驶方向分离。此外，移动机构具有低的重心，并且能够减轻其重量。移动体包括车身，转向致动器，左右转向轮毂，车轮致动器和车轮。转向致动器设置在车身的左侧和左侧，并可绕垂直轴驱动。左右转向轮毂由转向执行器驱动。车轮执行机构固定在转向轮毂上。车轮由车轮致动器驱动，并相对于垂直方向以倾斜的方式设置。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式