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1. 发明授权

US07570005B2 Wheeled moving robot 有权
标题翻译：轮式移动机器人
公开(公告)号：US07570005B2
公开(公告)日：2009-08-04
申请号：US12128663
申请日：2008-05-29
申请人： Hideaki Hashimoto , Takafumi Sonoura
发明人： Hideaki Hashimoto , Takafumi Sonoura
IPC分类号： B25J5/00
CPC分类号： B25J5/007
摘要： A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.
摘要翻译：一种包括主体的轮式移动机器人; 至少设置在所述主体的相对侧并且构造成移动所述主体的轮; 致动器，其构造成产生使所述车轮旋转的转矩; 检测器，其被配置为检测当所述轮由所述致动器旋转时所述主体是否移动; 以及补偿单元，被配置为执行辅助运动，其作为检测器的检测结果将主体的前面或后部推向地板。

2. 发明申请

US20070132419A1 WHEELED MOVING ROBOT 有权
标题翻译：车轮移动机器人
公开(公告)号：US20070132419A1
公开(公告)日：2007-06-14
申请号：US11554889
申请日：2006-10-31
申请人： Hideaki Hashimoto , Takafumi Sonoura
发明人： Hideaki Hashimoto , Takafumi Sonoura
IPC分类号： B25J5/00
CPC分类号： B25J5/007
摘要： A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.
摘要翻译：一种包括主体的轮式移动机器人; 至少设置在所述主体的相对侧并且构造成移动所述主体的轮; 致动器，其构造成产生使所述车轮旋转的转矩; 检测器，其被配置为检测当所述轮由所述致动器旋转时所述主体是否移动; 以及补偿单元，被配置为执行辅助运动，其作为检测器的检测结果将主体的前面或后部推向地板。

3. 发明申请

US20080231222A1 WHEELED MOVING ROBOT 有权
标题翻译：车轮移动机器人
公开(公告)号：US20080231222A1
公开(公告)日：2008-09-25
申请号：US12128663
申请日：2008-05-29
申请人： HIDEAKI HASHIMOTO , Takafumi Sonoura
发明人： HIDEAKI HASHIMOTO , Takafumi Sonoura
IPC分类号： B62D61/12
CPC分类号： B25J5/007
摘要： A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.
摘要翻译：一种包括主体的轮式移动机器人; 至少设置在所述主体的相对侧并且构造成移动所述主体的轮; 致动器，其构造成产生使所述车轮旋转的转矩; 检测器，其被配置为检测当所述轮由所述致动器旋转时所述主体是否移动; 以及补偿单元，被配置为执行辅助运动，其作为检测器的检测结果将主体的前面或后部推向地板。

4. 发明申请

US20080219676A1 Transmitting device, receiving device, and optical communication method 审中-公开
标题翻译：发射装置，接收装置和光通信方法
公开(公告)号：US20080219676A1
公开(公告)日：2008-09-11
申请号：US12071590
申请日：2008-02-22
申请人： Seiji Tokura , Hideaki Hashimoto , Fumio Ozaki , Hirokazu Sato , Kaoru Suzuki , Takafumi Sonoura
发明人： Seiji Tokura , Hideaki Hashimoto , Fumio Ozaki , Hirokazu Sato , Kaoru Suzuki , Takafumi Sonoura
IPC分类号： H04B10/00 , H04B10/04 , H04B10/06
CPC分类号： H04B10/1149 , H04B10/116
摘要： A receiving device includes a light-receiving unit receiving a light transmitted from a light source, luminance of the light changing corresponding to an information, the light-receiving unit having a plurality of light-receiving elements detecting the light repeatedly at times different from one another, and a decoding unit decoding a light-receiving signal outputted from the light-receiving unit into the information.
摘要翻译：接收装置包括接收从光源发射的光的光接收单元，与信息相对应的光变化的亮度，所述光接收单元具有多个光接收元件，在多个光接收元件之间反复检测不同于一个的光以及解码单元，将从光接收单元输出的光接收信号解码为信息。

5. 发明授权

US07397214B2 Wheeled moving robot 有权
标题翻译：轮式移动机器人
公开(公告)号：US07397214B2
公开(公告)日：2008-07-08
申请号：US11554889
申请日：2006-10-31
申请人： Hideaki Hashimoto , Takafumi Sonoura
发明人： Hideaki Hashimoto , Takafumi Sonoura
IPC分类号： B25J5/00
CPC分类号： B25J5/007
摘要： A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.
摘要翻译：一种包括主体的轮式移动机器人; 至少设置在所述主体的相对侧并且构造成移动所述主体的轮; 致动器，其构造成产生使所述车轮旋转的转矩; 检测器，其被配置为检测当所述轮由所述致动器旋转时所述主体是否移动; 以及补偿单元，被配置为执行辅助运动，其作为检测器的检测结果将主体的前面或后部推向地板。

6. 发明申请

US20080193009A1 Tracking method and tracking apparatus 有权
标题翻译：跟踪方法和跟踪装置
公开(公告)号：US20080193009A1
公开(公告)日：2008-08-14
申请号：US12010765
申请日：2008-01-29
申请人： Takafumi Sonoura
发明人： Takafumi Sonoura
IPC分类号： G06K9/00 , G01S5/00
CPC分类号： G01S5/12 , G01S5/0294 , G06K9/46
摘要： According to an embodiment of the present invention, a tracking method includes detecting a mobile unit within a space, tracking the detected mobile unit, making a position determination of the mobile unit to be tracked to obtain positional data, and making a movement prediction of the mobile unit, based on a high frequency component of positional data.
摘要翻译：根据本发明的实施例，跟踪方法包括检测空间内的移动单元，跟踪检测到的移动单元，进行跟踪移动单元的位置确定以获得位置数据，以及进行移动单元的移动预测移动单元，基于位置数据的高频分量。

7. 发明授权

US08571301B2 Alignment method and examination apparatus 失效
标题翻译：校准方法和检查装置
公开(公告)号：US08571301B2
公开(公告)日：2013-10-29
申请号：US13035360
申请日：2011-02-25
申请人： Takafumi Sonoura
发明人： Takafumi Sonoura
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： G01N21/956 , G01N2021/95676 , G06T7/001 , G06T7/337 , G06T2207/30148
摘要： According to one embodiment, an alignment method includes setting a local area from an alignment target area, the local area being an execution target area of local alignment to be performed with precision equal to or higher than required alignment precision; performing the local alignment between a pattern image of an examination target and a reference pattern image of an examination reference, in the local area, to obtain a shift amount that is a result of local alignment; and shifting a whole of the reference pattern image by using the shift amount.
摘要翻译：根据一个实施例，一种对准方法包括从对准目标区域设置局部区域，所述局部区域是要执行精度等于或高于所需对准精度的局部对准的执行目标区域; 在局部区域中执行检查对象的图案图像与检查基准的参考图案图像之间的局部对准，以获得作为局部对准结果的移位量; 并且通过使用移位量来移动整个参考图案图像。

8. 发明申请

US20120076410A1 ALIGNMENT METHOD AND EXAMINATION APPARATUS 失效
标题翻译：对准方法和检查装置
公开(公告)号：US20120076410A1
公开(公告)日：2012-03-29
申请号：US13035360
申请日：2011-02-25
申请人： Takafumi Sonoura
发明人： Takafumi Sonoura
IPC分类号： G06K9/32 , G06K9/34
CPC分类号： G01N21/956 , G01N2021/95676 , G06T7/001 , G06T7/337 , G06T2207/30148
摘要： According to one embodiment, an alignment method includes setting a local area from an alignment target area, the local area being an execution target area of local alignment to be performed with precision equal to or higher than required alignment precision; performing the local alignment between a pattern image of an examination target and a reference pattern image of an examination reference, in the local area, to obtain a shift amount that is a result of local alignment; and shifting a whole of the reference pattern image by using the shift amount.
摘要翻译：根据一个实施例，一种对准方法包括从对准目标区域设置局部区域，所述局部区域是要执行精度等于或高于所需对准精度的局部对准的执行目标区域; 在局部区域中执行检查对象的图案图像与检查基准的参考图案图像之间的局部对准，以获得作为局部对准结果的移位量; 并且通过使用移位量来移动整个参考图案图像。

9. 发明授权

US07680667B2 Interactive robot, speech recognition method and computer program product 有权
标题翻译：互动机器人，语音识别方法和计算机程序产品
公开(公告)号：US07680667B2
公开(公告)日：2010-03-16
申请号：US11311429
申请日：2005-12-20
申请人： Takafumi Sonoura , Kaoru Suzuki
发明人： Takafumi Sonoura , Kaoru Suzuki
IPC分类号： G10L15/00 , G10L21/00 , G05B19/19 , B25J5/00 , B25J9/18
CPC分类号： G10L15/26
摘要： An interactive robot capable of speech recognition includes a sound-source-direction estimating unit that estimates a direction of a sound source for target voices which are required to undergo speech recognition; a moving unit that moves the interactive robot in the sound-source direction; a target-voice acquiring unit that acquires the target voices at a position after moving; and a speech recognizing unit that performs speech recognition of the target voices.
摘要翻译：能够进行语音识别的交互式机器人包括：声源方向估计部，对要进行语音识别的目标声音的声源的方向进行推定; 移动单元，其使所述交互式机器人沿所述声源方向移动; 目标语音获取单元，其在移动之后的位置获取目标语音; 以及执行目标语音的语音识别的语音识别单元。

10. 发明授权

US07489255B2 Self-position identification apparatus and self-position identification method 有权
标题翻译：自身位置识别装置和自身位置识别方法
公开(公告)号：US07489255B2
公开(公告)日：2009-02-10
申请号：US11154570
申请日：2005-06-17
申请人： Takafumi Sonoura
发明人： Takafumi Sonoura
IPC分类号： G01C21/26
CPC分类号： G01S15/89 , G01S15/931 , G05D1/0246 , G05D1/0255 , G05D1/0272
摘要： A position identification apparatus includes a storage section storing a position-unique information database containing, each position on a field and unique information generated from the signal strength of the reflected wave at the position in association with each other, an ultrasonic transmission section originating an ultrasonic wave assigned identification information, an ultrasonic reception section receiving the reflected wave of the ultrasonic wave, a unique information generation section generating signal unique information from the reflected wave, and a position identification section making a comparison between the signal unique information generated by the unique information generation section and the unique information included in the position-unique information database and identifying the current position.
摘要翻译：一种位置识别装置，包括：存储部，其存储位置信息数据库，该数据库包含场中的每个位置以及由所述位置处的反射波的信号强度生成的唯一信息;源自超声波的超声波发送部波分配识别信息，接收超声波的反射波的超声波接收部分，从反射波产生信号唯一信息的唯一信息产生部分，以及由唯一信息产生的信号唯一信息之间的比较的位置识别部分生成部分和位置唯一信息数据库中包含的唯一信息，并识别当前位置。

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