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1. 发明授权

US4905652A Device for measuring a component of a gaseous mixture 失效
标题翻译：用于测量气体混合物的组分的装置
公开(公告)号：US4905652A
公开(公告)日：1990-03-06
申请号：US361717
申请日：1989-05-30
申请人： Toyohei Nakajima , Yasushi Okada , Toshiyuki Mieno , Nobuyuki Ohno
发明人： Toyohei Nakajima , Yasushi Okada , Toshiyuki Mieno , Nobuyuki Ohno
IPC分类号： F02D41/14 , G01N27/28 , G01N27/406 , G01N27/413 , G01N27/416 , G01N27/417
CPC分类号： G01N27/417 , G01N27/4065
摘要： A device for detecting and measuring the concentration of a gas in a mixture of gas such as oxygen in the exhaust gas of an internal combustion engine and circuits for using that measurement to control the air-fuel ratio supplied to the engine. The detecting device has two separate gas residence chamber with different diffusion resistance openings for each chamber and separate pairs of electrodes for each chamber whereby the measurement can be separately made in each chamber. The particular chamber selected for measurement may be done on the basis of whether the air-fuel ratio is lean or rich whereby a substantially linear reading results for all ratios or on the basis of the transition-state or steady-state operating condition of the engine to provide either more rapid or more accurate readings. Further, by using the cells from both chambers to compare their readings and standards, the actual readings can be corrected for abnormalties that may occur after a period of use or to indicate the detector has become defective.
摘要翻译：一种用于检测和测量内燃机的废气中的诸如氧的气体混合物中的气体的浓度的装置以及用于使用该测量来控制提供给发动机的空燃比的电路。检测装置具有两个单独的气体停留室，每个室具有不同的扩散阻力开口，并且每个室的单独的电极对，由此可以在每个室中单独制造测量。选择用于测量的特定室可以基于空燃比是贫还是富还是进行，由此对于所有比例都基本上线性读数，或者基于发动机的过渡状态或稳态运行状态以提供更快或更准确的读数。此外，通过使用来自两个腔室的细胞来比较它们的读数和标准，可以对使用期间可能发生的异常或者指示检测器变得有缺陷的异常来校正实际读数。

2. 发明授权

US08463437B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08463437B2
公开(公告)日：2013-06-11
申请号：US12329101
申请日：2008-12-05
申请人： Nobuyuki Ohno
发明人： Nobuyuki Ohno
IPC分类号： G05B19/18 , G05D1/02 , G06F19/00
CPC分类号： B25J9/1664 , B25J9/1674 , G05B2219/39246 , G05B2219/40517 , G05B2219/40629
摘要： A robot that is capable of traveling while moving an object such that the object and the robot itself will not step out of a predetermined area is provided. If a traveling requirement that the robot and the object remain within a pathway area is not met, then an action scheme of the robot is corrected so as to meet the traveling requirement. Then, the robot travels while moving the object according to the corrected action scheme, thus enabling the robot to travel while moving the object such that both the object and the robot do not step out of the pathway area.
摘要翻译：提供能够在移动物体的同时行进的机器人，使得物体和机器人本身不会超出预定区域。如果不满足机器人和物体保持在通路区域内的行驶要求，则校正机器人的动作方案以满足行驶要求。然后，机器人根据校正的动作方式移动物体，同时移动物体时使机器人行进，使得物体和机器人不会从路径区域中走出。

3. 发明申请

US20090148035A1 CONTROLLER OF MOBILE ROBOT 有权
标题翻译：手机机器人控制器
公开(公告)号：US20090148035A1
公开(公告)日：2009-06-11
申请号：US12329056
申请日：2008-12-05
申请人： Nobuyuki Ohno , Tadaaki Hasegawa
发明人： Nobuyuki Ohno , Tadaaki Hasegawa
IPC分类号： G06K9/00
CPC分类号： G06T7/20 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D2201/0211 , G05D2201/0217 , G06T2207/10016 , G06T2207/30252
摘要： A controller of a mobile robot that moves an object such that the position of a representative point of the object and the posture of the object follow a desired position and posture trajectory is provided. The desired posture trajectory of the object includes the desired value of the angular difference about a yaw axis between a reference direction, which is a direction orthogonal to the yaw axis of the object, and the direction of the moving velocity vector of the representative point of the object, defined by the desired position trajectory. The controller has a desired angular difference setting means which variably sets the desired value of the angular difference according to at least a required condition related to a movement mode of the object. This allows the object to be moved at a posture which meets the required condition of the movement mode.
摘要翻译：提供了移动机器人的控制器，其移动物体，使得物体的代表点的位置和物体的姿势遵循期望的位置和姿势轨迹。物体的期望的姿势轨迹包括在作为与物体的偏航轴正交的方向的参考方向与代表点的移动速度矢量的方向之间的偏转轴的角度差的期望值该对象由所需的位置轨迹定义。控制器具有期望的角度差设定装置，其根据至少与物体的移动模式有关的必要条件可变地设定角度差的期望值。这允许物体以满足移动模式的所需条件的姿势移动。

4. 发明申请

US20080133058A1 ROBOT, CONTROL METHOD THEREFOR AND CONTROL PROGRAM THEREFOR 有权
标题翻译：机器人，其控制方法及其控制程序
公开(公告)号：US20080133058A1
公开(公告)日：2008-06-05
申请号：US11948336
申请日：2007-11-30
申请人： Nobuyuki Ohno
发明人： Nobuyuki Ohno
IPC分类号： G05B15/02
CPC分类号： B25J9/1612 , G05B2219/39484 , G05B2219/39486 , G05B2219/39529 , Y10S294/902 , Y10S294/907
摘要： A robot or the like capable of checking by itself whether an object is properly grasped by a hand or not is provided.It is determined whether or not the position and posture of a handle (object) determined based on an image obtained by a camera (external information) and the position and posture of the handle in the case where the handle is assumed to be properly grasped, which are determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to determination that the external information and the internal information agree with each other, it is determined whether the handle is properly grasped or not based on a force detected by a six-axis force sensor provided on each hand.
摘要翻译：能够自行检查物体是否被手适当地掌握的机器人等。确定在假定正确抓握手柄的情况下，基于由照相机获得的图像（外部信息）确定的手柄（物体）的位置和姿势以及手柄的位置和姿势，基于旋转编码器的输出等（内部信息）从机器人的姿势确定的信号彼此一致。响应于外部信息和内部信息的确定，基于由每只手上提供的六轴力传感器检测到的力，确定手柄是否被适当地抓住。

5. 发明授权

US08483876B2 Controller of mobile robot 有权
标题翻译：移动机器人控制器
公开(公告)号：US08483876B2
公开(公告)日：2013-07-09
申请号：US12747094
申请日：2008-11-13
申请人： Nobuyuki Ohno
发明人： Nobuyuki Ohno
IPC分类号： B25J13/00 , G05D1/02
CPC分类号： G05D1/0246 , G05B2219/40088 , G05D1/027 , G05D1/0272 , G05D2201/0211 , G05D2201/0217
摘要： A controller for a mobile robot which carries out task of moving an object so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms is made to contact a portion adjacent to one end of the object, which variably sets the position of the representative point of the object in an object coordinate system when the object is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.
摘要翻译：一种用于移动机器人的控制器，其执行移动对象的任务，以使得物体的代表点的位置和物体的姿势遵循期望的位置轨迹和期望的姿势轨迹，在远端部分使臂部接触与物体的一端相邻的部分，当至少按照偏转轴方向观察物体时，将物体的代表点的位置可变地设定在物体坐标系中在期望的姿势轨迹中围绕偏转轴线改变期望姿势。通过这样做，执行适合于对象的期望姿势的改变模式的对象的移动。

6. 发明授权

US08204625B2 Gait creation device of leg-type mobile robot 有权
标题翻译：腿型移动机器人步态创造装置
公开(公告)号：US08204625B2
公开(公告)日：2012-06-19
申请号：US12096987
申请日：2006-10-31
申请人： Tadaaki Hasegawa , Nobuyuki Ohno
发明人： Tadaaki Hasegawa , Nobuyuki Ohno
IPC分类号： G05B19/04
CPC分类号： B62D57/032
摘要： A provisional desired motion trajectory of an object is determined based on a moving plan of the object. Then, it is determined whether a robot leg motion can satisfy a necessary requirement. The requirement is related to a position/posture relationship between the object and the robot, and a determination of whether the requirement can be satisfied is made at a future, predetermined step. A restrictive condition related to robot leg motion is satisfied at each step up to the predetermined number of steps. If the requirement is satisfied, then a desired gait is generated on the basis of the provisional desired motion trajectory. Otherwise, a desired gait is generated on the basis of a desired motion trajectory of the object according to a corrected moving plan.
摘要翻译：基于对象的移动计划来确定对象的临时期望运动轨迹。然后，确定机器人腿部运动是否能够满足必要的要求。该要求涉及物体与机器人之间的位置/姿势关系，并且在将来的预定步骤中确定是否满足要求。在每一步达到预定步数的步骤时，满足与机器人腿运动有关的限制条件。如果满足要求，则基于临时期望运动轨迹产生期望的步态。否则，根据校正的移动计划，基于物体的期望的运动轨迹产生期望的步态。

7. 发明授权

US08041457B2 Robot, control method therefor and control program therefor 有权
标题翻译：机器人，其控制方法及其控制程序
公开(公告)号：US08041457B2
公开(公告)日：2011-10-18
申请号：US11948336
申请日：2007-11-30
申请人： Nobuyuki Ohno
发明人： Nobuyuki Ohno
IPC分类号： G05D15/00
CPC分类号： B25J9/1612 , G05B2219/39484 , G05B2219/39486 , G05B2219/39529 , Y10S294/902 , Y10S294/907
摘要： A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.
摘要翻译：被配置为检查物体是否被手掌正确地抓住的机器人，确定基于由照相机获得的图像（外部信息）确定的手柄（物体）的位置和姿势以及手柄的位置和姿势基于旋转编码器的输出等（内部信息），从机器人的姿势判定手柄被适当地抓握的情况彼此一致。响应于外部信息和内部信息是否一致的确定，基于由设置在每只手上的六轴力传感器检测到的力来确定手柄是否被适当地抓握。

8. 发明授权

US08340823B2 Controller of mobile robot 有权
标题翻译：移动机器人控制器
公开(公告)号：US08340823B2
公开(公告)日：2012-12-25
申请号：US12329056
申请日：2008-12-05
申请人： Nobuyuki Ohno , Tadaaki Hasegawa
发明人： Nobuyuki Ohno , Tadaaki Hasegawa
IPC分类号： B25J9/10 , G05B19/04 , B25J5/00 , B62D57/032
CPC分类号： G06T7/20 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D2201/0211 , G05D2201/0217 , G06T2207/10016 , G06T2207/30252
摘要： A controller of a mobile robot that moves an object such that the position of a representative point of the object and the posture of the object follow a desired position and posture trajectory is provided. The desired posture trajectory of the object includes the desired value of the angular difference about a yaw axis between a reference direction, which is a direction orthogonal to the yaw axis of the object, and the direction of the moving velocity vector of the representative point of the object, defined by the desired position trajectory. The controller has a desired angular difference setting means which variably sets the desired value of the angular difference according to at least a required condition related to a movement mode of the object. This allows the object to be moved at a posture which meets the required condition of the movement mode.
摘要翻译：提供了移动机器人的控制器，其移动物体，使得物体的代表点的位置和物体的姿势遵循期望的位置和姿势轨迹。物体的期望的姿势轨迹包括在作为与物体的偏航轴正交的方向的参考方向与代表点的移动速度矢量的方向之间的偏转轴的角度差的期望值该对象由所需的位置轨迹定义。控制器具有期望的角度差设定装置，其根据至少与物体的移动模式有关的必要条件可变地设定角度差的期望值。这允许物体以满足移动模式的所需条件的姿势移动。

9. 发明申请

US20100268382A1 CONTROLLER OF MOBILE ROBOT 有权
标题翻译：手机机器人控制器
公开(公告)号：US20100268382A1
公开(公告)日：2010-10-21
申请号：US12747094
申请日：2008-11-13
申请人： Nobuyuki Ohno
发明人： Nobuyuki Ohno
IPC分类号： B25J13/00 , B25J5/00 , G05D1/02
CPC分类号： G05D1/0246 , G05B2219/40088 , G05D1/027 , G05D1/0272 , G05D2201/0211 , G05D2201/0217
摘要： A controller for a mobile robot 1 which carries out task of mobbing an object W so as to make a position of a representative point of the object W and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms 7, 7 is made to contact a portion Wb adjacent to one end of the object W, which variably sets the position of the representative point of the object W in an object coordinate system when the object W is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.
摘要翻译：一种用于移动机器人1的控制器，其执行移动对象W的任务，以使得对象W的代表点的位置和对象的姿势遵循期望的位置轨迹和期望的姿势轨迹，处于状态其中臂7,7的远端部分接触与物体W的一端相邻的部分Wb，当在物体W中观察物体W时，将物体W的代表点的位置可变地设定在物体坐标系中偏转轴方向，至少根据在期望的姿态轨迹中围绕偏转轴的期望姿势的变化。通过这样做，执行适合于对象的期望姿势的改变模式的对象的移动。

10. 发明授权

US08942847B2 Mobile apparatus and robot, and control system thereof 有权
标题翻译：移动装置和机器人及其控制系统
公开(公告)号：US08942847B2
公开(公告)日：2015-01-27
申请号：US13313318
申请日：2011-12-07
申请人： Nobuyuki Ohno , Makoto Sekiya
发明人： Nobuyuki Ohno , Makoto Sekiya
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/35148 , G05B2219/40428 , G05B2219/40475
摘要： Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2(k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2(k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2(k) is longer than a previous time interval or the like.
摘要翻译：考虑到受控对象的状态，提供了能够在时空坐标系中适当地搜索受控对象的期望轨迹的系统等。时空坐标系中的第一参考点q1（k）和第二参考点q2（k）之间的初始位置关系（k = 1）被设置为满足根据致动器的运动性能定义的第一条件当先前的轨迹候选tr（k-1）被确定为与对象轨迹tro接触时，第一参考点q1（k）和第二参考点q2（k）之间的当前位置关系（k> 1）时间空间坐标系中的k）设定为满足第一基准点q1（k）和第二基准点q2（k）之间的当前时间间隔比前一时间间隔等长的第二条件。

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