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1. 发明授权

US08442714B2 Autonomous mobile device, and control device and program product for the autonomous mobile device 有权
标题翻译：自主移动设备，以及用于自主移动设备的控制设备和程序产品
公开(公告)号：US08442714B2
公开(公告)日：2013-05-14
申请号：US12102635
申请日：2008-04-14
申请人： Yoshihiko Matsukawa , Soichiro Fujioka , Yuji Adachi , Toshio Inaji
发明人： Yoshihiko Matsukawa , Soichiro Fujioka , Yuji Adachi , Toshio Inaji
IPC分类号： G05D1/02
CPC分类号： G05D1/0238 , G05D1/0214 , G05D1/024 , G05D2201/0206
摘要： An autonomous mobile device has its movement controlled by a control device and includes a first sensing unit for sensing an obstacle. The control device includes a first storage unit for storing information as to a temporary positional fluctuation of the obstacle and sets as a virtual obstacle region a region where it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage based on the information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.
摘要翻译：自主移动装置的移动由控制装置控制，并且包括用于感测障碍物的第一感测单元。控制装置包括：第一存储单元，用于存储关于障碍物的临时位置波动的信息，并将其设置为虚拟障碍物区域，其中预测第一感测单元感测到的障碍物在预定时间段之后行进的区域，基于关于存储在第一存储单元中的障碍物的临时位置波动的信息。

2. 发明申请

US20090043440A1 AUTONOMOUS MOBILE DEVICE, AND CONTROL DEVICE AND PROGRAM PRODUCT FOR THE AUTONOMOUS MOBILE DEVICE 有权
标题翻译：自动移动设备和自动移动设备的控制设备和程序产品
公开(公告)号：US20090043440A1
公开(公告)日：2009-02-12
申请号：US12102635
申请日：2008-04-14
申请人： Yoshihiko MATSUKAWA , Soichiro Fujioka , Yuji Adachi , Toshio Inaji
发明人： Yoshihiko MATSUKAWA , Soichiro Fujioka , Yuji Adachi , Toshio Inaji
IPC分类号： G05D1/00
CPC分类号： G05D1/0238 , G05D1/0214 , G05D1/024 , G05D2201/0206
摘要： An autonomous mobile device has its movement controlled by a control device and includes a first sensing unit for sensing an obstacle. The control device includes a first storage unit for storing information as to a temporary positional fluctuation of the obstacle and sets as a virtual obstacle region a region where it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage based on the information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.
摘要翻译：自主移动装置的移动由控制装置控制，并且包括用于感测障碍物的第一感测单元。控制装置包括：第一存储单元，用于存储关于障碍物的临时位置波动的信息，并将其设置为虚拟障碍物区域，其中预测第一感测单元感测到的障碍物在预定时间段之后行进的区域，基于关于存储在第一存储单元中的障碍物的临时位置波动的信息。

3. 发明申请

US20100057319A1 INVERTED TWO-WHEEL GUIDED VEHICLE AND CONTROL METHOD THEREFOR 审中-公开
标题翻译：反转的双轮导向车辆及其控制方法
公开(公告)号：US20100057319A1
公开(公告)日：2010-03-04
申请号：US12515353
申请日：2008-07-25
申请人： Toshio Inaji , Soichiro Fujioka , Yoshihiko Matsukawa
发明人： Toshio Inaji , Soichiro Fujioka , Yoshihiko Matsukawa
IPC分类号： B62K11/00 , G06F19/00
CPC分类号： G05D1/0891 , B62K11/007 , Y02T10/7258
摘要： An inverted two-wheel guided vehicle is provided with a vehicle body 4 including a loading platform, a carriage 5 supported on wheels 1a, 1b, a moving mechanism 7 for displacing relative positions of the vehicle body 4 and the carriage 5, an inclination sensor 6 for detecting the posture of the vehicle body 4, and a controller 9 for controllably driving the wheels 1a, 1b and the moving mechanism 7. Since a posture control can be executed such that a seat 8 atop the vehicle body 4 is constantly horizontal by displacing the moving mechanism forward and backward even for a slope or a step in a travel path, a stable travel can be realized by preventing the collapse of baggage piles and giving no discomfort to a loaded person.
摘要翻译：倒车两轮导向车辆设有车身4，车身4包括一个装载平台，一个支承在车轮1a，1b上的滑架5，用于移动车体4和滑架5相对位置的移动机构7，一个倾斜传感器用于检测车体4的姿势的控制器9以及用于可控地驱动车轮1a，1b和移动机构7的控制器9.由于可以执行姿势控制，使得车体4顶部的座椅8始终是水平的即使对于行进路径中的坡度或台阶，也能够使移动机构前后移动，可以通过防止行李堆塌缩并且不会对被装载的人造成不适而实现稳定的行驶。

4. 发明申请

US20080184375A1 Confidential data protection apparatus, autonomous mobile robot, confidential data protection method, computer program, and integrated circuit 审中-公开
标题翻译：机密数据保护装置，自主移动机器人，机密数据保护方法，计算机程序和集成电路
公开(公告)号：US20080184375A1
公开(公告)日：2008-07-31
申请号：US11797869
申请日：2007-05-08
申请人： Masao Nonaka , Natsume Matsuzaki , Kaoru Yokota , Soichiro Fujioka , Yoshihiko Matsukawa , Toshio Inaji
发明人： Masao Nonaka , Natsume Matsuzaki , Kaoru Yokota , Soichiro Fujioka , Yoshihiko Matsukawa , Toshio Inaji
IPC分类号： H04L9/32
CPC分类号： H04N1/4486 , G06F21/6245 , H04N1/4406 , H04N1/444 , H04N2101/00 , H04N2201/3253
摘要： The confidential data protection apparatus that restricts use of confidential data to a particular place, thereby satisfying high security.When the confidential data is encrypted, the image data acquisition unit 1004 captures an image in the particular place using a camera module, the place-specific code generation unit 1007 generates a place-specific code using data of the captured image, the encryption processing unit 1009 encrypts the confidential data using the place-specific code, which is deleted after use. When the confidential data is attempted to be used, the image data acquisition unit 1004 uses the camera module again to capture another image in a place where the confidential data is attempted to be used, and the place-specific code generation unit 1007 uses data of the newly captured image to generate a new place-specific code. The encryption processing unit 1009 uses the new place-specific code in an attempt to decrypt the confidential data that has been encrypted.
摘要翻译：机密数据保护装置，将机密数据的使用限制在特定的地方，从而满足高安全性。当机密数据被加密时，图像数据获取单元1004使用相机模块捕获特定位置的图像，地点特定代码生成单元1007使用捕获图像的数据生成特定地址代码，加密处理单元 1009使用特定于地址的代码加密机密数据，使用后将被删除。当尝试使用机密数据时，图像数据获取单元1004再次使用相机模块在尝试使用机密数据的地方捕获另一图像，并且特定地点代码生成单元1007使用新捕获的图像以生成新的特定于地址的代码。加密处理单元1009使用新的特定地址代码尝试解密已被加密的机密数据。

5. 发明授权

US08994298B2 Movement control apparatus, movement control method, and movement control circuit 有权
标题翻译：移动控制装置，移动控制方法和运动控制电路
公开(公告)号：US08994298B2
公开(公告)日：2015-03-31
申请号：US13642706
申请日：2012-02-24
申请人： Toshio Inaji , Takeshi Shimamoto , Kozo Ezawa
发明人： Toshio Inaji , Takeshi Shimamoto , Kozo Ezawa
IPC分类号： H02K41/00 , G03B13/00 , H02P23/00
CPC分类号： H02P23/005 , H02P23/18 , H02P23/22
摘要： A movement control apparatus includes: an actuator that causes a driven body connected to a driving coil to perform reciprocating movement; a signal generation unit that generates a velocity command signal which indicates a target velocity of the driven body; a driving unit that supplies electric current corresponding to a driving signal to the driving coil; a voltage detection unit that detects induced voltage generated in the driving coil, and outputs a voltage signal corresponding to the induced voltage; a signal correction unit that corrects, based on the driving signal and the voltage signal, the voltage signal to adjust a shift of a resistance value from a reference resistance value of the driving coil, thereby generating a velocity signal; and a control unit that generates the driving signal based on the velocity command signal and the velocity signal, and outputs the driving signal to the driving unit.
摘要翻译：运动控制装置包括：致动器，其使得与驱动线圈连接的从动体进行往复运动; 信号生成单元，生成表示被驱动体的目标速度的速度指令信号; 驱动单元，其向驱动线圈提供与驱动信号相对应的电流; 电压检测单元，其检测在所述驱动线圈中产生的感应电压，并输出与所述感应电压对应的电压信号; 信号校正单元，其基于驱动信号和电压信号来校正电压信号，以调整电阻值与驱动线圈的参考电阻值的偏移，从而生成速度信号; 以及控制单元，其基于速度指令信号和速度信号产生驱动信号，并将驱动信号输出到驱动单元。

6. 发明授权

US07265929B2 Method of controlling an actuator, and disk apparatus using the same method 失效
标题翻译：使用相同方法控制致动器和盘装置的方法
公开(公告)号：US07265929B2
公开(公告)日：2007-09-04
申请号：US11451803
申请日：2006-06-13
申请人： Makoto Umeda , Yoshihiro Ueno , Toshio Inaji , Hideki Kuwajima
发明人： Makoto Umeda , Yoshihiro Ueno , Toshio Inaji , Hideki Kuwajima
IPC分类号： G11B21/02
CPC分类号： G11B21/12 , G11B5/54 , G11B21/22
摘要： A disk apparatus includes (a) an actuator having a head supporting arm with a tab formed on the arm and a voice coil fixed to the arm, which arm is rotatable on a horizontal rotary shaft as well as on a vertical rotary shaft, (b) a voice coil motor having an upper yoke with a magnet fixed to the upper yoke and a lower yoke sandwiching and confronting the voice coil, and (c) a ramp section guiding and holding the tab at a refuge place. When the actuator at the refuge place starts loading with a starter command, a pulsed driving current is applied to the voice coil temporarily for urging the tab against a tab-holding plane of the ramp section, thereby making use of repulsion force generated on the actuator, so that the tab can leave the refuge place efficiently for carrying out the loading operation.
摘要翻译：一种盘装置包括：（a）具有头部支撑臂的致动器，其具有形成在臂上的突片和固定到臂的音圈，该臂可在水平旋转轴以及垂直旋转轴上旋转，（b ）具有上磁轭的音圈电动机，其具有固定到上磁轭的磁体，以及夹住并面对音圈的下磁轭，以及（c）在避难场所引导并保持凸片的斜面部分。当避难所的致动器开始加载起动器命令时，临时地向音圈施加脉冲驱动电流，以将突片推向斜坡部分的突片保持平面，从而利用在致动器上产生的排斥力，使得标签可以有效地离开避难所进行装载操作。

7. 发明授权

US07038877B2 Head positioning apparatus 失效
标题翻译：头定位装置
公开(公告)号：US07038877B2
公开(公告)日：2006-05-02
申请号：US10800193
申请日：2004-03-11
申请人： Hiroshi Kohso , Toshio Inaji , Keizo Miyata
发明人： Hiroshi Kohso , Toshio Inaji , Keizo Miyata
IPC分类号： G11B5/596
CPC分类号： G11B5/556
摘要： A head positioning apparatus capable of positioning a head at high speed and with high accuracy is provided. The head positioning apparatus includes a magnetic head, a head supporting mechanism, a coarse actuator, a fine actuator, a head position detection part, a fine movement control system for controlling the fine actuator based on the head position detected by the head position detection part, a head moving distance estimation part estimating the head moving distance representing the distance the magnetic head moves, and the coarse movement control system for controlling the coarse actuator based on the head moving distance estimated by the head moving distance estimation part.
摘要翻译：提供一种头部定位装置，其能够高精度地高精度地定位头部。头部定位装置包括磁头，头部支撑机构，粗略致动器，精细致动器，头部位置检测部分，微动员控制系统，用于基于由头部位置检测部分检测到的头部位置来控制精细致动器估计表示磁头移动距离的磁头移动距离的磁头移动距离估计部分，以及用于根据磁头移动距离估计部分估计的磁头移动距离来控制粗调制器的粗调移动控制系统。

8. 发明授权

US06950271B2 Disk drive and disk drive control method 失效
标题翻译：磁盘驱动器和磁盘驱动器控制方式
公开(公告)号：US06950271B2
公开(公告)日：2005-09-27
申请号：US10670199
申请日：2003-09-26
申请人： Toshio Inaji , Hiroshi Kohso , Keizo Miyata
发明人： Toshio Inaji , Hiroshi Kohso , Keizo Miyata
IPC分类号： G11B5/55 , G11B5/596
CPC分类号： G11B5/59627 , G11B5/5526
摘要： A position detector generates a position error signal corresponding to a current position of a head, a position controller generates a position control signal from the position error signal, a voltage detector detects a voltage signal generated when driving an actuator by a driver, a disturbance estimator generates a disturbance estimation signal from a driving signal and the voltage signal, and a corrector outputs the driving signal from the disturbance estimation signal and the position control signal. The disturbance estimator includes a comparator which compares the disturbance estimation signal with a voltage signal and which outputs a deviation signal, and an adder which adds a signal obtained by multiplying an integral signal, which is obtained by integrating the deviation signal, by a first coefficient and a signal obtained by multiplying a proportional signal proportional to the deviation signal by a second coefficient, and which generates the disturbance estimation signal. The disturbance estimation signal suppresses a tracking deviation of the head due to a disturbance such as an inertial force applied to the head actuator and stabilizes head positioning control.
摘要翻译：位置检测器产生与头部的当前位置对应的位置误差信号，位置控制器从位置误差信号产生位置控制信号，电压检测器检测由驾驶员驱动致动器时产生的电压信号，干扰估计器从驱动信号和电压信号产生干扰估计信号，校正器从干扰估计信号和位置控制信号输出驱动信号。扰动估计器包括：比较器，其将干扰估计信号与电压信号进行比较，并输出偏差信号;以及加法器，将通过将偏差信号积分得到的积分信号乘以第一系数以及通过将与偏差信号成比例的比例信号乘以第二系数而获得的信号，并产生干扰估计信号。干扰估计信号抑制由于诸如施加到头致动器的惯性力之类的干扰导致的磁头的跟踪偏差，并且稳定磁头定位控制。

9. 发明授权

US5378976A Brushless DC motor without a position sensor 失效
标题翻译：无位置传感器的无刷直流电机
公开(公告)号：US5378976A
公开(公告)日：1995-01-03
申请号：US45104
申请日：1993-04-12
申请人： Toshio Inaji , Eiji Ueda
发明人： Toshio Inaji , Eiji Ueda
IPC分类号： H02P6/06 , H02P6/20 , H02P5/40
CPC分类号： H02P6/187 , H02P6/06 , H02P6/20
摘要： A brushless DC motor detects a positional relationship between the rotor and the stator windings in a short period of time when starting the motor and immediately switches the mode from a phase coincidence mode at the time of starting to a normal position detecting mode performed by counting output pulses in response to the rotational speed of the rotor. The motor detects a position of the rotor at an extremely high accuracy independently of the magnitude of the load even when the motor has already been subjected to the application of such a load at the time of starting. The motor is always driven at a high efficiency by applying a phase correction process so as to cause the phase of each of the voltages respectively induced in the stator windings to coincide with the corresponding one of the driving currents respectively outputted to the stator windings when the motor is being rotated normally.
摘要翻译：无刷直流电动机在起动电动机的短时间内检测转子和定子绕组之间的位置关系，并且在开始时立即将模式从相位一致模式切换到通过计数输出执行的正常位置检测模式脉冲响应于转子的转速。即使电动机在启动时已经施加了这样的负载，电动机也可以独立于负载的大小而非常高的精度地检测转子的位置。通过施加相位校正处理来始终以高效率驱动电动机，以使分别感应在定子绕组中的每个电压的相位与分别输出到定子绕组的相应的一个驱动电流相一致电机正常旋转

10. 发明授权

US07031099B2 Head positioner and information recording/replaying apparatus 失效
标题翻译：头部定位器和信息记录/重放装置
公开(公告)号：US07031099B2
公开(公告)日：2006-04-18
申请号：US10206591
申请日：2002-07-29
申请人： Hiroshi Kohso , Hideki Kuwajima , Toshio Inaji
发明人： Hiroshi Kohso , Hideki Kuwajima , Toshio Inaji
IPC分类号： G11B5/596
CPC分类号： G11B21/085 , G11B5/4826 , G11B5/5552 , G11B5/596 , G11B21/106 , G11B21/18
摘要： A head positioner has a configuration employing a dual-stage actuator method, wherein positioning control is performed for a write/read according to cooperative operations of a coarse actuator and a fine actuator, and the fine actuator is configured using a piezoelectric device. A positioning control unit for controlling the coarse actuator and the fine actuator is configured to include a coarse control system including a coarse drive unit for driving the coarse actuator and coarse control unit for controlling the coarse drive unit, a fine control system including a fine drive unit for driving the fine actuator and a fine control unit for controlling the fine drive unit. In addition, a driving-signal limiting unit is provided. The piezoelectric device is prone to property deterioration because of erosion due to an electrochemical reaction. The driving-signal limiting unit limits the level of a fine control signal fed from the fine control unit to the fine drive unit to be below a threshold at which property deterioration of the piezoelectric device is caused by an electrochemical reaction. Further, as a median-value signal, a relative displacement signal ranked in the center of a plurality of relative displacement signals sent from a plurality of the individual fine actuators is selected. The coarse actuator is controlled according to the selected median-value signal.
摘要翻译：头部定位器具有采用双级致动器方法的结构，其中根据粗略致动器和精细致动器的协同操作执行写入/读取的定位控制，并且精细致动器使用压电装置构造。一种用于控制粗动作装置和精细致动器的定位控制装置，其特征在于，包括：粗动控制系统，包括用于驱动粗动作器的粗驱动装置和用于控制粗驱动装置的粗动控制装置;精细控制装置，用于驱动精细致动器的单元和用于控制精细驱动单元的精细控制单元。另外，提供了驱动信号限制单元。由于电化学反应引起的侵蚀，压电元件容易发生特性劣化。驱动信号限制单元将从精细控制单元馈送到精细驱动单元的精细控制信号的电平限制在低于由电化学反应引起压电器件的性能劣化的阈值。此外，作为中值信号，选择从多个各个精细致动器发送的多个相对位移信号的中心的相对位移信号。根据所选择的中值信号控制粗调执行器。

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