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1. 发明授权

US09766604B2 Control device, control method, computer program product, and robot control system 有权
公开(公告)号：US09766604B2
公开(公告)日：2017-09-19
申请号：US14234658
申请日：2012-07-25
申请人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
发明人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
IPC分类号： G06F3/048 , G05B15/02 , G05D1/00 , G06F3/0484
CPC分类号： G05B15/02 , G05B2219/40099 , G05B2219/40123 , G05B2219/40409 , G05B2219/40411 , G05D1/0038 , G05D2201/0217 , G06F3/04842
摘要： A control system, method and computer program product cooperate to assist control for an autonomous robot. The system includes a communications interface that exchanges information with the autonomous robot (22). A user interface displays a scene of location in which the autonomous robot (22) is positioned, and also receives an indication of a user selection of a user selected area within the scene. The communications interface transmits an indication of said user selected area to the autonomous robot (22) for further processing of the area by said autonomous robot (22).

2. 发明授权

US09067315B2 Display control device, display control method, computer program product, and communication system 有权
标题翻译：显示控制装置，显示控制方式，计算机程序产品和通讯系统
公开(公告)号：US09067315B2
公开(公告)日：2015-06-30
申请号：US14233536
申请日：2012-07-25
申请人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
发明人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
IPC分类号： G06F7/00 , G05B15/00 , G05B19/00 , B25J9/00 , B25J13/08 , B25J9/16 , B25J5/00
CPC分类号： B25J9/1664 , B25J5/007 , B25J9/0003 , B25J9/16 , B25J9/1661 , B25J9/1697 , B25J13/06 , B25J13/08 , B25J13/084 , G05B2219/40099 , G05B2219/40123 , G05B2219/40409 , G05B2219/40411 , Y10S901/01
摘要： A control system, a control method and a non-transitory computer readable storage medium cooperate to assist control for an autonomous robot. An interface receives recognition information from an autonomous robot (22), said recognition information including candidate target objects to interact with the autonomous robot (22). A display control unit (42) causes a display image to be displayed on a display of candidate target objects, wherein at least two of the candidate target objects are displayed with an associated indication of a target object score.
摘要翻译：控制系统，控制方法和非暂时计算机可读存储介质协作以协助自主机器人的控制。接口从自主机器人（22）接收识别信息，所述识别信息包括与自主机器人（22）交互的候选目标对象。显示控制单元（42）使得显示图像显示在候选目标对象的显示上，其中至少两个候选目标对象被显示与目标对象分数的相关联的指示。

3. 发明申请

US20140200714A1 DISPLAY CONTROL DEVICE, DISPLAY CONTROL METHOD, COMPUTER PROGRAM PRODUCT, AND COMMUNICATION SYSTEM 有权
标题翻译：显示控制装置，显示控制方法，计算机程序产品和通信系统
公开(公告)号：US20140200714A1
公开(公告)日：2014-07-17
申请号：US14233536
申请日：2012-07-25
申请人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
发明人： Kenta Kawamoto , Yoshiaki Iwai , Satoru Shimizu
IPC分类号： B25J9/00 , B25J5/00 , B25J9/16
CPC分类号： B25J9/1664 , B25J5/007 , B25J9/0003 , B25J9/16 , B25J9/1661 , B25J9/1697 , B25J13/06 , B25J13/08 , B25J13/084 , G05B2219/40099 , G05B2219/40123 , G05B2219/40409 , G05B2219/40411 , Y10S901/01
摘要： A control system, a control method and a non-transitory computer readable storage medium cooperate to assist control for an autonomous robot. An interface receives recognition information from an autonomous robot (22), said recognition information including candidate target objects to interact with the autonomous robot (22). A display control unit (42) causes a display image to be displayed on a display of candidate target objects, wherein at least two of the candidate target objects are displayed with an associated indication of a target object score.
摘要翻译：控制系统，控制方法和非暂时计算机可读存储介质协作以协助自主机器人的控制。接口从自主机器人（22）接收识别信息，所述识别信息包括与自主机器人（22）交互的候选目标对象。显示控制单元（42）使得显示图像显示在候选目标对象的显示上，其中至少两个候选目标对象被显示与目标对象分数的相关联的指示。

4. 发明授权

US08751048B2 Robot device, method of controlling the same, computer program, and robot system 有权
标题翻译：机器人装置，控制方法，计算机程序和机器人系统
公开(公告)号：US08751048B2
公开(公告)日：2014-06-10
申请号：US13545628
申请日：2012-07-10
申请人： Satoru Shimizu , Kenta Kawamoto , Yoshiaki Iwai
发明人： Satoru Shimizu , Kenta Kawamoto , Yoshiaki Iwai
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
摘要翻译：本发明提供一种机器人装置，其包括用于输入周围图像的图像输入单元，用于从输入图像检测物体的目标物体检测单元，用于检测物体的位置的物体位置检测单元，用于检测物体的位置的环境信息获取单元，获取对象的位置的周围环境信息;最佳姿势获取单元，用于获取与所述对象的周围环境信息相对应的最佳姿势;对象姿势检测单元，用于从所述输入图像检测所述对象的当前姿势; 对象姿势比较单元，用于将对象的当前姿势与对象的最佳姿势进行比较;以及对象姿势校正单元，用于当对象姿势比较单元确定在对象姿势比较单元之间存在预定的差异或更大时，校正对象的姿势目前的姿势和最佳姿势。

5. 发明申请

US20110245974A1 ROBOT DEVICE, METHOD OF CONTROLLING ROBOT DEVICE, AND PROGRAM 有权
标题翻译：机器人装置，控制机器人装置的方法和程序
公开(公告)号：US20110245974A1
公开(公告)日：2011-10-06
申请号：US13043897
申请日：2011-03-09
申请人： Kenta KAWAMOTO , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
发明人： Kenta KAWAMOTO , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
IPC分类号： B25J19/04
CPC分类号： B25J9/1664
摘要： There is provided a robot device including an instruction acquisition unit that acquires an order for encouraging a robot device to establish joint attention on a target from a user, a position/posture estimation unit that estimates a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order, and a target specifying unit that specifies a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction.
摘要翻译：提供了一种机器人装置，其包括：指示获取单元，其获取用于鼓励机器人装置从用户对目标建立共同关注的顺序;估计光学指示装置的位置和姿势的位置/姿势估计单元，由用户操作以响应于所述顺序的获取来指示所述目标的目标;以及目标指定单元，其基于所述位置的估计结果来指定所述射束指示的目标的方向，以及姿势，并基于方向的指定结果在表示周围环境的环境地图上指定目标。

6. 发明授权

US08880222B2 Robot device, method of controlling robot device, and program 有权
标题翻译：机器人装置，机器人装置的控制方法和程序
公开(公告)号：US08880222B2
公开(公告)日：2014-11-04
申请号：US13043897
申请日：2011-03-09
申请人： Kenta Kawamoto , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
发明人： Kenta Kawamoto , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1664
摘要： There is provided a robot device including an instruction acquisition unit that acquires an order for encouraging a robot device to establish joint attention on a target from a user, a position/posture estimation unit that estimates a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order, and a target specifying unit that specifies a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction.
摘要翻译：提供了一种机器人装置，其包括：指示获取单元，其获取用于鼓励机器人装置从用户对目标建立共同关注的顺序;估计光学指示装置的位置和姿势的位置/姿势估计单元，由用户操作以响应于所述顺序的获取来指示所述目标的目标;以及目标指定单元，其基于所述位置的估计结果来指定所述射束指示的目标的方向，以及姿势，并基于方向的指定结果在表示周围环境的环境地图上指定目标。

7. 发明授权

US08972054B2 Robot apparatus, information providing method carried out by the robot apparatus and computer storage media 有权
标题翻译：机器人装置，由机器人装置和计算机存储介质执行的信息提供方法
公开(公告)号：US08972054B2
公开(公告)日：2015-03-03
申请号：US13070138
申请日：2011-03-23
申请人： Hirokazu Shirado , Masakuni Nagano , Wataru Kokubo , Yoshiaki Iwai , Satoru Shimizu
发明人： Hirokazu Shirado , Masakuni Nagano , Wataru Kokubo , Yoshiaki Iwai , Satoru Shimizu
IPC分类号： B25J13/00 , G05D1/02 , G06K9/00 , A61B5/11 , A61H3/06 , G01S19/14
CPC分类号： G05D1/0274 , A61B5/1112 , A61B5/1113 , A61H3/06 , B25J11/009 , G01S19/14 , G05D1/0238 , G05D1/0246 , G05D2201/0206 , G06K9/00335 , G06K9/00771
摘要： A robot apparatus, method and computer program storage device use a memory that stores cueing point information and user information to assist a user in an external environment. The cueing points are distributed within an environmental map held by the robot apparatus, and when the user is detected by the robot apparatus as approaching a predetermined region within the external environment classified as a cueing point, the robot apparatus reacts by providing a cue to the user. The cue may user-specific, or optionally provided based on a level of care required by the user.
摘要翻译：机器人装置，方法和计算机程序存储装置使用存储提示点信息和用户信息以在外部环境中帮助用户的存储器。提示点分布在由机器人装置保持的环境地图中，并且当机器人装置检测到用户接近分类为提示点的外部环境中的预定区域时，机器人装置通过向机器人装置提供提示来进行反应用户。提示可以是用户特定的，或者可选地基于用户所要求的关注级别来提供。

8. 发明授权

US09242599B2 Vehicle approach alert device for saddle-ridden electric vehicle 有权
标题翻译：鞍式电动车辆车辆接近报警装置
公开(公告)号：US09242599B2
公开(公告)日：2016-01-26
申请号：US14001635
申请日：2012-02-03
申请人： Satoru Shimizu , Masahiro Akiba , Ryuji Akiba , Kazuhiko Tanaka
发明人： Satoru Shimizu , Masahiro Akiba , Ryuji Akiba , Kazuhiko Tanaka
IPC分类号： B60Q1/00 , B60Q5/00 , B62J3/00 , G10K9/22 , G10K11/00
CPC分类号： B60Q5/008 , B60L2270/42 , B60Q1/0017 , B62J3/00 , B62K2202/00 , B62K2204/00 , G10K9/22 , G10K11/004
摘要： A vehicle approach alert device for a saddle-ridden electric vehicle is a vehicle approach alert device for a saddle-ridden electric vehicle that is provided with a sound emitter that is attached on the vehicle body of a saddle-ridden electric vehicle having an electric motor in a power engine, and that emits an alert sound to a surrounding area for notifying the surrounding area of approach of the saddle-ridden electric vehicle, such that sound emission of the sound emitter is controlled, and the sound emitter is arranged so that the direction of sound emission is oriented diagonally downward and forward of the saddle-ridden electric vehicle.
摘要翻译：用于骑马式电动车辆的车辆接近警报装置是用于骑乘式电动车辆的车辆接近警报装置，其具有安装在具有电动马达的骑马式电动车辆的车体上的发声器在电力发动机中，向周围区域发出警报声音，以通知骑乘式电动车辆的周边区域，使得发声器的声音发射被控制，并且发声器被布置成使得发声方向朝向骑马式电动汽车的向下和向前方向。

9. 发明授权

US08573590B2 Sheet finisher and image forming system provided therewith 有权
标题翻译：装订机和成像系统
公开(公告)号：US08573590B2
公开(公告)日：2013-11-05
申请号：US12644548
申请日：2009-12-22
申请人： Satoru Shimizu , Zen Kayaba
发明人： Satoru Shimizu , Zen Kayaba
IPC分类号： B65H31/00
CPC分类号： B65H37/04 , B65H31/00 , B65H2405/1113 , B65H2405/22 , B65H2801/27
摘要： In a sheet finisher which receives a sheet from an image forming apparatus, conducts a sheet finishing onto the sheet and feeds out the sheet, the sheet finisher includes: a stacking section which stores temporarily one or more sheets; and a sheet finishing section which conducts the sheet finishing onto the sheet stored in the stacking section. The stacking section having a first guide member which forms a stacking surface to guide the sheet, and a second guide member which faces the first guide member and is spaced apart from the first guide member by a predetermined distance, and is provided obliquely from a horizontal direction, and the stacking surface formed by at least a part of the first guide member, is formed to be curved in a direction perpendicular to a sheet conveyance direction.
摘要翻译：在从图像形成装置接收片材的片材整理器中，将片材整理导入片材并送出片材，片材整理器包括：临时存储一个或多个片材的堆叠部分; 以及将片材精加工到存储在堆叠部中的片材上的片材整理部。所述堆叠部分具有形成用于引导所述片材的层叠表面的第一引导部件和与所述第一引导部件相对并与所述第一引导部件间隔开预定距离的第二引导部件，方向和由第一引导构件的至少一部分形成的堆叠表面形成为在与片材输送方向垂直的方向上弯曲。

10. 发明授权

US08095479B2 Plant control apparatus and method having functions of determining appropriate learning constraint conditions 有权
标题翻译：具有确定适当的学习约束条件的功能的植物控制装置和方法
公开(公告)号：US08095479B2
公开(公告)日：2012-01-10
申请号：US11624416
申请日：2007-01-18
申请人： Takaaki Sekiai , Satoru Shimizu , Eiichi Kaminaga , Akihiro Yamada , Yoshiharu Hayashi , Naohiro Kusumi , Masayuki Fukai
发明人： Takaaki Sekiai , Satoru Shimizu , Eiichi Kaminaga , Akihiro Yamada , Yoshiharu Hayashi , Naohiro Kusumi , Masayuki Fukai
IPC分类号： G06F15/18
CPC分类号： G05B13/048
摘要： There is provided a control apparatus including a function of generating an operation signal applied to a control subject and a model that simulates characteristics of the control subject, a function of receiving an evaluation value signal calculated based on a measurement signal obtained by applying the operation signal to the control subject and the model, and a function of learning to generate the operation signal such that an expected value of the sum of the evaluation value signals obtained from a present state to a future state is either maximum or minimum in which the evaluation value signal calculated based on the measurement signal from the model is calculated by adding a first evaluation value obtained based on a deviation between the measurement signal obtained from the model and a setpoint value, and a second evaluation value obtained based on a difference in characteristics between the model and the control subject.
摘要翻译：提供了一种控制装置，包括产生施加到控制对象的操作信号和模拟控制对象的特性的模型的功能，接收基于通过应用操作信号而获得的测量信号计算的评估值信号的功能控制主体和模型的功能，以及学习生成操作信号的功能，使得从当前状态到未来状态获得的评估值信号的和的期望值是最大值或最小值，其中评估值通过添加基于从模型获得的测量信号与设定值之间的偏差获得的第一评估值和基于来自模型的特性差异获得的第二评估值来计算基于来自模型的测量信号计算的信号模型和控制科目。

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