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1. 发明授权

US5970433A Laser obstacle detection method and sensor 失效
标题翻译：激光障碍物检测方法和传感器
公开(公告)号：US5970433A
公开(公告)日：1999-10-19
申请号：US799484
申请日：1997-02-12
申请人： Koji Oka , Masujiro Hisatani , Hiroshi Imajo , Toru Takehara
发明人： Koji Oka , Masujiro Hisatani , Hiroshi Imajo , Toru Takehara
IPC分类号： G01V8/14 , G01J1/02 , G01S7/481 , G01S17/02 , G01S17/93 , G02B26/10 , G05D1/02 , G01C3/00
CPC分类号： G01S17/936 , G01S7/4811 , G01S7/4816 , G01S7/4817 , G01S7/4873 , G02B26/105 , G05D1/024 , G05D1/0272
摘要： A sensor detects the presence or the absence of an obstacle by radiating a laser beam to the outside of a casing through a light projecting mirror and by letting the reflected light from an obstacle enter a light receiving element through a light receiving mirror. A light projecting window with a light projecting mirror positioned and a light receiving window with a light receiving mirror are positioned in the casing with a space therebetween to prevent reflected light from directly entering the light projecting window. The mirrors are attached to a rotation shaft of a motor, or rotation shafts of motors, synchronously rotatable provided between both mirrors. The optical axis of light radiated to the outside of the casing is set to face in a higher direction than horizontal to radiate in a cone-shaped form. By comparing a received light signal from a light receiving circuit to an output signal from a circuit for a previously set threshold, which has a correlation between detected distance and light intensity, a light receiving trigger is output. The distance is calculated when a signal is greater than the threshold. The presence or the absence of an obstacle is determined by the detection of reflected light intensity. This laser obstacle detection method and sensor, which can be used on an automated guided vehicle (AGV), will not misdetect rainfall as an obstacle.
摘要翻译：传感器通过通过光投射镜将激光束照射到壳体的外部并通过使来自障碍物的反射光通过光接收反射镜进入光接收元件来检测障碍物的存在或不存在。具有投光镜的投光窗和具有受光镜的光接收窗位于壳体内，其间具有间隔，以防止反射光直接进入投光窗。反射镜附接到电动机的旋转轴或电动机的旋转轴，其可在两个反射镜之间同时旋转。辐射到壳体外部的光的光轴被设定成比水平方向更高的方向以锥形形式辐射。通过将来自光接收电路的接收光信号与来自电路的输出信号进行比较，对于先前设定的阈值，其具有检测到的距离和光强度之间的相关性，则输出光接收触发。当信号大于阈值时计算距离。障碍物的存在或不存在通过反射光强度的检测来确定。这种可用于自动导引车辆（AGV）的激光障碍物检测方法和传感器不会将雨水误认为障碍。

2. 发明申请

US20110137458A1 CLEANING ROBOT SYSTEM AND METHOD OF CONTROLLING SAME 失效
标题翻译：清洁机器人系统及其控制方法
公开(公告)号：US20110137458A1
公开(公告)日：2011-06-09
申请号：US12737758
申请日：2009-11-20
申请人： Masujiro Hisatani , Hirotaka Oohashi , Kounosuke Oku , Jun Tsukada , Toru Takehara
发明人： Masujiro Hisatani , Hirotaka Oohashi , Kounosuke Oku , Jun Tsukada , Toru Takehara
IPC分类号： B25J13/00
CPC分类号： B25J5/00 , B08B1/00 , B08B3/024 , F24S30/452 , F24S40/20 , F24S2023/87 , F24S2023/874 , H02S40/10 , Y02E10/40
摘要： Provided is a cleaning robot system and a method of controlling the same for economically cleaning, with high workability, plate-shaped members, such as solar cell panels and reflecting mirrors used in photovoltaic power generation and solar thermal power generation systems. A cleaning robot system (1) for cleaning planar or curved plate-shaped members (4a), (4b) that are panels for photovoltaic power generation or reflecting mirrors for solar thermal power generation includes: a large number of cleaning robots (2) each having a function to travel on each of the plate-shaped members (4) which are to be cleaned and a function to clean the plate-shaped members (4); and an arranging robot (3) having a conveying function to move any of the cleaning robots (2) from a first one (4a) of the plate-shaped members to a second one (4b) of the plate-shaped members. Each of the cleaning robots (2) has a suction mechanism for performing cleaning while attaching onto one of the plate-shaped members (4), and the large number of cleaning robots (2) and a smaller number of the arranging robots (3) than that of the cleaning robots (2) cooperate together to clean the plate-shaped members (4) placed in a photovoltaic power generation or solar thermal power generation plant.
摘要翻译：提供了一种清洁机器人系统及其控制方法，其具有高的可加工性，诸如太阳能电池板和用于光伏发电和太阳能发电系统的反射镜的板状部件的经济清洁。一种用于清洁用于太阳能热发电的光伏发电或反射镜的面板的平面或弯曲板状构件（4a），（4b）的清洁机器人系统（1），包括：大量清洁机器人（2）具有在要被清洁的每个板状构件（4）上行进的功能和清洁板状构件（4）的功能; 以及排列机器人（3），其具有将所述清洁机器人（2）中的任一个从所述板状构件的第一个（4a）移动到所述板状构件的第二个（4b）的输送功能。每个清洁机器人（2）具有用于在附着到其中一个板状构件（4）上的情况下执行清洁的抽吸机构，以及大量清洁机器人（2）和较少数量的排列机器人（3）与清洁机器人（2）的配合一起清洁放置在光伏发电或太阳能热发电厂中的板状部件（4）。

3. 发明授权

US08046101B2 Cleaning robot system and method of controlling same 失效
标题翻译：清洁机器人系统及其控制方法
公开(公告)号：US08046101B2
公开(公告)日：2011-10-25
申请号：US12737758
申请日：2009-11-20
申请人： Masujiro Hisatani , Hirotaka Oohashi , Kounosuke Oku , Jun Tsukada , Toru Takehara
发明人： Masujiro Hisatani , Hirotaka Oohashi , Kounosuke Oku , Jun Tsukada , Toru Takehara
IPC分类号： G05B19/418
CPC分类号： B25J5/00 , B08B1/00 , B08B3/024 , F24S30/452 , F24S40/20 , F24S2023/87 , F24S2023/874 , H02S40/10 , Y02E10/40
摘要： Provided is a cleaning robot system and a method of controlling the same for economically cleaning, with high workability, plate-shaped members, such as solar cell panels and reflecting mirrors used in photovoltaic power generation and solar thermal power generation systems. A cleaning robot system (1) for cleaning planar or curved plate-shaped members (4a), (4b) that are panels for photovoltaic power generation or reflecting mirrors for solar thermal power generation includes: a large number of cleaning robots (2) each having a function to travel on each of the plate-shaped members (4) which are to be cleaned and a function to clean the plate-shaped members (4); and an arranging robot (3) having a conveying function to move any of the cleaning robots (2) from a first one (4a) of the plate-shaped members to a second one (4b) of the plate-shaped members. Each of the cleaning robots (2) has a suction mechanism for performing cleaning while attaching onto one of the plate-shaped members (4), and the large number of cleaning robots (2) and a smaller number of the arranging robots (3) than that of the cleaning robots (2) cooperate together to clean the plate-shaped members (4) placed in a photovoltaic power generation or solar thermal power generation plant.
摘要翻译：提供了一种清洁机器人系统及其控制方法，其具有高的可加工性，诸如太阳能电池板和用于光伏发电和太阳能发电系统的反射镜的板状部件的经济清洁。一种用于清洁用于太阳能热发电的光伏发电或反射镜的面板的平面或弯曲板状构件（4a），（4b）的清洁机器人系统（1），包括：大量清洁机器人（2）具有在要被清洁的每个板状构件（4）上行进的功能和清洁板状构件（4）的功能; 以及排列机器人（3），其具有将所述清洁机器人（2）中的任一个从所述板状构件的第一个（4a）移动到所述板状构件的第二个（4b）的输送功能。每个清洁机器人（2）具有用于在附着到其中一个板状构件（4）上的情况下执行清洁的抽吸机构，以及大量清洁机器人（2）和较少数量的排列机器人（3）与清洁机器人（2）的配合一起清洁放置在光伏发电或太阳能热发电厂中的板状部件（4）。

4. 发明授权

US09114960B2 Crane safety device for preventing truck jostling and/or hatch cover detection 有权
标题翻译：起重机安全装置，用于防止卡车搅拌和/或舱盖检测
公开(公告)号：US09114960B2
公开(公告)日：2015-08-25
申请号：US12748354
申请日：2010-03-26
申请人： Henry King , Toru Takehara
发明人： Henry King , Toru Takehara
IPC分类号： G08B21/00 , B66C19/00 , B66C13/08 , B66C15/04 , B66C15/06 , B66C13/46
CPC分类号： B66C19/007 , B66C13/085 , B66C13/46 , B66C15/045 , B66C15/065 , B66C19/002
摘要： A safety device is disclosed for a gantry crane configured to lift containers from a truck driven chassis. The safety device estimates truck movement when the gantry crane lifts the container and sends an alert to avert lifting the truck when the container fails to decouple from the chassis. Motion sensors are disclosed that are configured to coupled to a trolley of a gantry crane and used to create an estimate of the front or back region near a container being lifted. A processor may use the motion sensor signals to avert lifting the truck and/or to avert an Optical Character Recognition (OCR) system reporting a container identification failure when a hatch cover is lifted off of a ship. In various embodiments, the processor may be included in the safety device and/or in the OCR system.
摘要翻译：公开了一种用于龙门起重机的安全装置，其构造成从卡车驱动的底盘提升集装箱。当龙门起重机抬起集装箱时，安全装置估计卡车运动，并且当集装箱未能从底盘分离时，发出警报以避免提升卡车。公开了运动传感器，其被配置为联接到台架式起重机的手推车，并且用于创建靠近被提升的容器附近的前部或后部区域的估计。处理器可以使用运动传感器信号来避免提升卡车和/或避免当舱盖从船上抬起时报告集装箱识别故障的光学字符识别（OCR）系统。在各种实施例中，处理器可以包括在安全装置和/或OCR系统中。

5. 发明申请

US20120029684A1 METHOD AND APPARATUS OF AUTOMATED OPTICAL CONTAINER CODE RECOGNITION WITH POSITIONAL IDENTIFICATION FOR A TRANSFER CONTAINER CRANE 审中-公开
标题翻译：自动光学容器代码识别方法和装置，用于传输容器起重机的位置识别
公开(公告)号：US20120029684A1
公开(公告)日：2012-02-02
申请号：US13160431
申请日：2011-06-14
申请人： Toru Takehara , Maxwell W. King , Chingyel Chung
发明人： Toru Takehara , Maxwell W. King , Chingyel Chung
IPC分类号： B66C13/46 , B66C13/18 , G06F19/00
CPC分类号： G06Q10/087 , B66C19/007 , G06K9/325 , G06K2209/01 , G06Q10/08 , G06Q50/30
摘要： A method and system providing a transfer container crane with container code recognition of a container identified by a container code to a container inventory management system is disclosed. The system and method are capable of performing these tasks without the use of non-standard container tagging.
摘要翻译：公开了一种方法和系统，其提供具有通过容器代码识别的容器的容器代码识别的容器起重机到容器库存管理系统。系统和方法能够执行这些任务而不使用非标准的容器标记。

6. 发明申请

US20110270488A1 EQUIPMENT MAINTENANCE AND MONITORING FOR CONTAINER YARDS 有权
标题翻译：集装箱设备维护和监控
公开(公告)号：US20110270488A1
公开(公告)日：2011-11-03
申请号：US13181353
申请日：2011-07-12
申请人： Henry King , Toru Takehara
发明人： Henry King , Toru Takehara
IPC分类号： G06F7/00
CPC分类号： B66C19/002 , B66C13/48 , B66C19/007 , B66F9/065 , B66F9/24 , G06Q10/08
摘要： A processor is disclosed that may be configured to receive a status report for a vehicle in a container yard and/or a status reporting device configured to monitor the vehicle. The processor may respond to the received status report by creating a system action request and/or a system log. The system action request may include a fault condition problem report and/or a maintenance schedule request for the vehicle and/or the status reporting device. The processor automates generating responses to the received status reports, providing a fundamental tool to reduce down time for vehicles and improve their support of container transfer operations in the container yard. The system action request, system log and/or system action may be products of the processor's operation. A computer readable memory and/or a server may be configured to deliver a report, program system and/or an installation package to the end user.
摘要翻译：公开了一种处理器，其可以被配置为在集装箱堆场和/或配置成监视车辆的状态报告装置中接收车辆的状态报告。处理器可以通过创建系统动作请求和/或系统日志来响应所接收的状态报告。系统动作请求可以包括针对车辆和/或状态报告装置的故障状况问题报告和/或维护计划请求。处理器自动生成对接收的状态报告的响应，为减少车辆停机时间和改进对集装箱堆场中集装箱转运操作的支持提供了基础工具。系统操作请求，系统日志和/或系统操作可以是处理器的操作的产物。计算机可读存储器和/或服务器可以被配置为向最终用户递送报告，程序系统和/或安装包。

7. 发明申请

US20100298968A1 QUAY CRANE HATCH COVER SAFETY SYSTEM 审中-公开
标题翻译：查询起重机盖安全系统
公开(公告)号：US20100298968A1
公开(公告)日：2010-11-25
申请号：US12784475
申请日：2010-05-20
申请人： Henry King , Toru Takehara
发明人： Henry King , Toru Takehara
IPC分类号： B66C15/06 , G06F19/00 , B66C19/00 , B65G67/60 , G06F15/00
CPC分类号： B66C15/045 , B66C15/065 , B66C19/002
摘要： A safety device and a processor are disclosed for a quay crane, both are configured to avert the hatch cover being lifted from a ship as a container on the hatch is lifted. A computer readable memory and server are disclosed that may provide the processor with a program system and/or installation package. Motion sensors are disclosed for use with the safety device that may contribute to estimating the movement of the hatch cover.
摘要翻译：公开了一种用于码头起重机的安全装置和处理器，两者都构造成在舱盖被提升时将从船上提升的舱口盖翻转。公开了一种可向处理器提供程序系统和/或安装包的计算机可读存储器和服务器。公开了与安全装置一起使用的运动传感器，其可以有助于估计舱口盖的运动。

8. 发明申请

US20100243593A1 METHOD AND APPARATUS FOR CRANE TOPPLE/COLLISION PREVENTION 审中-公开
标题翻译：用于起重机/碰撞预防的方法和装置
公开(公告)号：US20100243593A1
公开(公告)日：2010-09-30
申请号：US12748343
申请日：2010-03-26
申请人： Henry King , Toru Takehara
发明人： Henry King , Toru Takehara
IPC分类号： B66C15/06 , G06F19/00 , B66C1/10 , B66C15/00 , B66C19/00
CPC分类号： B66C15/065 , B66C13/46 , B66C13/48 , B66C15/045 , B66C19/007
摘要： Methods and apparatus are disclosed for a crane safety device configured to operate a processor estimating a trajectory for the crane, determining a potentially dangerous event in response to a yard estimate and the trajectory, and sending alert messages in response to the potentially dangerous event. The processor may further generate the yard estimate. The embodiments may include means for implementing these operations, sensors of the yard estimate to generate the yard estimate, computer readable devices and/or a server containing a program system to instruct a computer to at least partly operate the processor and/or an installation package to create the program system.
摘要翻译：公开了用于起重机安全装置的方法和装置，所述起重机安全装置被配置为操作估计起重机的轨迹的处理器，响应于货场估计和轨迹确定潜在的危险事件，以及响应于潜在的危险事件发送警报消息。处理器还可以产生码率估计。实施例可以包括用于实现这些操作的装置，用于生成场估计的院子传感器，计算机可读设备和/或包含程序系统的服务器，以指示计算机至少部分地操作处理器和/或安装包创建程序系统。

9. 发明授权

US07677857B2 Mobile cargo container scanning buffer crane 有权
标题翻译：移动货物集装箱扫描缓冲起重机
公开(公告)号：US07677857B2
公开(公告)日：2010-03-16
申请号：US10639957
申请日：2003-08-12
申请人： Toru Takehara , Kinya Ichimura , Sun Huan Huang , Philip Alexander Tam
发明人： Toru Takehara , Kinya Ichimura , Sun Huan Huang , Philip Alexander Tam
IPC分类号： B63B27/10
CPC分类号： G01V5/0008 , B66C19/002 , G01N23/046 , G01N2223/419
摘要： A mobile cargo container handling buffer crane having a bridge crane mounted thereon for transferring cargo containers between a ship and land transportation with an intermediate transfer position at which a suspended container can be noninvasively inspected by a longitudinally reciprocating container traversing nonintrusive inspection apparatus.
摘要翻译：一种移动货物集装箱处理缓冲起重机，其具有安装在其上的桥式起重机，用于在船舶和陆上运输之间转运货物集装箱，具有中间转移位置，悬挂的容器可以通过纵向往复运动的容器横穿非侵入性检查装置进行非侵入性检查。

10. 发明申请

US20090110283A1 METHOD AND APPARATUS FOR OPERATING, INTERFACING AND/OR MANAGING FOR AT LEAST ONE OPTICAL CHARACTERISTIC SYSTEM FOR CONTAINER HANDLERS IN A CONTAINER YARD 有权
标题翻译：用于集装箱处理器中至少一个光学特性系统的操作，接口和/或管理的方法和装置
公开(公告)号：US20090110283A1
公开(公告)日：2009-04-30
申请号：US12262125
申请日：2008-10-30
申请人： Henry King , Toru Takehara
发明人： Henry King , Toru Takehara
IPC分类号： G06K9/18
CPC分类号： G06Q10/087 , B65G1/137 , B65G63/004 , B65G2203/041 , B66F9/0755 , B66F9/186 , G06Q10/08
摘要： Methods and several apparatus embodiments are disclosed operating Optical Characteristic Systems (OCS) in a container storage and/or transfer yard supporting the automated recognition of container codes displayed on various sides of the containers being stored and/or transferred. At least one processor may initiate an operational process by an OCS mounted on a container handler to create an operational result, select the operational process based upon an operational schedule and communicate with at least one OCS to receive an image of a container being handled by the container handler to at least partly create a container code estimate for a container inventory management system. A program system directing at least one computer implementing these operations, and may reside in computer readable memory, an installation package and/or a download server. The computer readable memory may or may not be accessibly coupled to the computer.
摘要翻译：公开了在容器存储和/或转移场中操作光学特性系统（OCS）的方法和若干装置实施例，其支持在存储和/或传送的容器的各个侧面上显示的容器代码的自动识别。至少一个处理器可以通过安装在容器处理器上的OCS来启动操作过程以创建操作结果，基于操作时间表选择操作过程，并与至少一个OCS进行通信，以接收正在处理的容器的图像容器处理程序至少部分地为容器库存管理系统创建容器代码估计。指导至少一台执行这些操作的计算机的程序系统，并且可以驻留在计算机可读存储器，安装包和/或下载服务器中。计算机可读存储器可以或可以不被可访问地耦合到计算机。

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