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1. 发明授权

US06710483B2 Actuator capable of revolving 失效
标题翻译：执行器能旋转
公开(公告)号：US06710483B2
公开(公告)日：2004-03-23
申请号：US09910486
申请日：2001-07-20
申请人： Tomohiro Ota , Katsuhiro Hirata , Hitoshi Kitano , Yoshikazu Shikata
发明人： Tomohiro Ota , Katsuhiro Hirata , Hitoshi Kitano , Yoshikazu Shikata
IPC分类号： H02K4106
CPC分类号： H02K7/14 , H02K1/02 , H02K16/02 , H02K41/0354 , H02K41/06 , H02K99/00 , H02K2201/18
摘要： A revolution type actuator having a movable member performing a revolution motion includes a movable member capable of revolving with respect to a fixed member, a plurality of conducting paths which are provided on a face parallel to a trajectory face of the above-mentioned revolution motion and through which currents flow in mutually intersecting directions, power supply which flows currents having different phases through the above-mentioned plurality of conducting paths, and a magnetic field generator which forms a magnetic field perpendicular to the above-mentioned conducting path, in which the above-mentioned movable member revolves due to an electromagnetic force generated by an interaction between a current flowing through said conducting path and a magnetic field generated by the above-mentioned magnetic field generator. By this configuration, it is possible to obtain a revolution motion directly as an output without using an output transforming mechanism and also accommodate a high-speed rotation because in principle there is no variation in the magnetic gap between the movable element and the fixed element.
摘要翻译：具有执行旋转运动的可动部件的旋转型致动器包括能够相对于固定部件旋转的可动部件，设置在平行于上述旋转运动的轨迹面的面上的多个导电路径，电流在相互交叉的方向上流动，通过上述多个导电路径流过具有不同相位的电流的电源，以及形成与上述导电路径垂直的磁场的磁场发生器，其中上述由于由流过所述导电路径的电流和由上述磁场发生器产生的磁场之间的相互作用产生的电磁力，所述可动构件旋转。通过这种构造，可以直接获得作为输出的旋转运动而不使用输出变换机构，并且也可以适应高速旋转，因为原则上可移动元件和固定元件之间的磁隙没有变化。

2. 发明授权

US07684894B2 Autonomously moving robot 有权
标题翻译：自动移动机器人
公开(公告)号：US07684894B2
公开(公告)日：2010-03-23
申请号：US10549110
申请日：2004-03-12
申请人： Tatsuo Sakai , Tomoharu Nakahara , Hitoshi Kitano , Yukihiko Kitano , Tsuyoshi Yamane , Hiroyuki Fujii
发明人： Tatsuo Sakai , Tomoharu Nakahara , Hitoshi Kitano , Yukihiko Kitano , Tsuyoshi Yamane , Hiroyuki Fujii
IPC分类号： G06F19/00
CPC分类号： G05D1/0246
摘要： An autonomously moving robot that drives while evading an obstacle by an environment information acquisitioner. The information acquisitioner includes an imager that takes an image of a circumference on a driving route, an image recognition processor that extracts an area having a property relating to a region of a human body, a ranger that measures a range and an orientation to an object existing in the circumference on the driving route, a range information analyzer that obtains a shape of the object, and an environment recognizer that recognizes the environment information on the driving route. The environment recognizer compares the area extracted in the image recognition processor with the object recognized in the range information analyzer, and recognizes the object as a person when both of them agree with each other.
摘要翻译：一种自动移动的机器人，在环境信息采集器避开障碍物的同时驱动。该信息获取装置包括拍摄驾驶路线周围的图像的图像摄像机，提取与人体的区域有关的属性的区域的图像识别处理器，测量对象的范围和取向的游标者存在于驾驶路线的圆周上，获取对象的形状的范围信息分析器和识别驾驶路线的环境信息的环境识别器。环境识别器将图像识别处理器中提取的区域与范围信息分析器中识别的对象进行比较，并且当对象彼此一致时将该对象识别为人。

3. 发明申请

US20060184274A1 Autonomously moving robot 有权
标题翻译：自动移动机器人
公开(公告)号：US20060184274A1
公开(公告)日：2006-08-17
申请号：US10549110
申请日：2004-03-12
申请人： Tatsuo Sakai , Tomoharu Nakahara , Hitoshi Kitano , Yukihiko Kitano , Tsuyoshi Yamane , Hiroyuki Fujii
发明人： Tatsuo Sakai , Tomoharu Nakahara , Hitoshi Kitano , Yukihiko Kitano , Tsuyoshi Yamane , Hiroyuki Fujii
IPC分类号： G06F19/00
CPC分类号： G05D1/0246
摘要： An autonomously moving robot drives while evading an obstacle by recognizing the obstacle and self-location by an environment information acquisitioner. The information acquisitioner comprises an imager that takes an image of a circumference on a driving route, an image recognition processor that extracts an area having a property relating to a region of a human body by arithmetically processing the photographed image, a ranger that measures a range and an orientation to an object existing in the circumference on the driving route, a range information analyzer that obtains a shape of the object by arithmetically processing the obtained range information and recognizing that the object is a candidate of a person, and an environment recognizer that recognizes the environment information on the driving route. The environment recognizer compares an orientation of an area having the property extracted in the image recognition processor with an orientation of the object recognized as the candidate of a person in the range information analyzer, and recognize the object as a person when both of them agree with reach other. Thereby, the autonomously moving robot drives safely and smoothly corresponding to the obstacle by judging what the obstacle is.
摘要翻译：自动移动机器人通过识别环境信息获取器的障碍物和自身位置来避开障碍物。信息获取器包括拍摄驾驶路线上的圆周图像的图像摄像机，通过对拍摄图像进行算术处理来提取与人体的区域有关的属性的区域的图像识别处理器，测量范围以及对于存在于驾驶路线上的圆周中的物体的取向，范围信息分析器，其通过对获得的范围信息进行算术处理并且识别出该对象是人的候选者来获得对象的形状;以及环境识别器，识别驾驶路线上的环境信息。环境识别器将具有在图像识别处理器中提取的属性的区域的方位与在范围信息分析器中被识别为人的候选的对象的方位进行比较，并且当两者都同意时将该对象识别为人到达其他因此，通过判断障碍物是什么，自主运动的机器人能够安全平稳地对应于障碍物。

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