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1. 发明专利

JP2011156605A Robot simulator 有权
标题翻译：机器人模拟器
公开(公告)号：JP2011156605A
公开(公告)日：2011-08-18
申请号：JP2010018581
申请日：2010-01-29
申请人： Denso Wave Inc , Univ Of Tokyo , 国立大学法人東京大学 , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , OTA JUN , TEI IE
IPC分类号： B25J9/22 , G05B19/4069
摘要： PROBLEM TO BE SOLVED: To determine, by simple processing, whether a robot posture is within an operable region even if a change occurs in positional relation on the assumption that the change occurs in the positional relation between a robot and a workpiece. SOLUTION: An installation position determination part 67 calculates an amount of change of posture Δqi of a manipulator using a linearly approximated computing equation from an amount of change of position Δr of an end effector corresponding to an error Δp assumed for the workpiece. In other words, the installation position determination part 67 determines whether the robot is in a workable range by means of a linear equation easily processable for an arithmetic part 52. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：即使假设在机器人和工件之间的位置关系中发生变化，即使在位置关系发生变化，也可以通过简单的处理来确定机器人姿势是否在可操作区域内。解决方案：安装位置确定部67使用与用于工件的误差Δp对应的末端执行器的位置Δr的变化量，使用线性近似计算式来计算机械手的姿势变化量Δqi。换句话说，安装位置确定部件67通过对运算部件52容易处理的线性方程式来确定机器人是否处于可工作范围。（C）2011年，JPO＆INPIT

2. 发明专利

JP2011156604A Method of determining robot posture 有权
标题翻译：确定机器人姿势的方法
公开(公告)号：JP2011156604A
公开(公告)日：2011-08-18
申请号：JP2010018579
申请日：2010-01-29
申请人： Denso Wave Inc , Univ Of Tokyo , 国立大学法人東京大学 , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , OTA JUN , TEI IE
IPC分类号： B25J9/22 , B25J19/02 , B25J19/04 , G05B19/4069
摘要： PROBLEM TO BE SOLVED: To provide a method of determining a posture of a robot capable of determining the robot posture by a simple computation.
SOLUTION: Where a change in position of an end effector for an error Δp assumed in a workpiece is an amount of change of position Δr, an amount of change of each axis on a manipulator for the error Δp is an amount of change of posture Δq, a value of each axis of the manipulator when no error Δp is observed is qi, and Jacobian determinant at qi is Jv(qi), the amount of change of posture Δq is calculated by Δqi=Jv(qi)
-1 Δr. Where the amount of change of each axis on the manipulator when the error Δp is the largest, is the amount of change Δqimax, and a rotation angle limit of a joint is qmax, a value qi of each axis of the manipulator satisfying qi+Δqimax≤qmax is determined to be a posture operatable at a working point i for a workpiece having the error Δp.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种通过简单的计算来确定能够确定机器人姿势的机器人的姿势的方法。解决方案：如果在工件中假定的误差Δp的末端执行器的位置变化是位置变化量Δr，则误差Δp的机械手上的每个轴的变化量是变化量的姿势Δq，当没有观察到误差Δp时，操纵器的各轴的值为qi，并且在qi处的雅可比行列式为Jv（qi），则通过Δqi= Jv（qi） -1 ΔR。当误差Δp最大时机械手上的每个轴的变化量是变化量Δqimax，关节的旋转角度极限为qmax，操纵器的各轴的qi满足qi +Δqimax ≤qmax被确定为在具有误差Δp的工件的工作点i处可操作的姿势。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2012148861A Movable body system 有权
标题翻译：可移动身体系统
公开(公告)号：JP2012148861A
公开(公告)日：2012-08-09
申请号：JP2011009402
申请日：2011-01-20
申请人： Murata Machinery Ltd , Univ Of Tokyo , 国立大学法人東京大学 , 村田機械株式会社
发明人： OTA JUN , KUNG YI-HENG , AZUMA TOSHIMITSU , KOBAYASHI YOSHIMASA
IPC分类号： B65G1/04 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To reduce the computational complexity in determining interference of a movable body before starting moving in a movable body system.SOLUTION: In an automated warehouse 1, a first transfer part 32A and a second transfer part 32B are arranged so as to move within a plane. A main controller 53 confirms interference in a scheduled moving path of the first transfer part 32A before the first transfer part 32A starts moving. The main controller 53 has a step dividing part 74, a step calculating part 75, and an interference determining part 76. The step dividing part 74 divides time or a distance in the scheduled moving path into a plurality of steps. The step calculating part 75 calculates steps having no possibility of causing interference by taking a mutual distance, moving directions, and speeds of both transfer parts into consideration. The interference determining part 76 determines interference by calculating positions of the first transfer part 32A and the second transfer part 32B, and omits the calculation of positions of both transfer parts for the steps having no possibility of causing interference.
摘要翻译：要解决的问题：为了减少在可移动体系统中开始移动之前确定可移动体的干扰的计算复杂性。解决方案：在自动化仓库1中，第一传送部件32A和第二传送部件32B布置成在平面内移动。在第一传送部32A开始移动之前，主控制器53确认在第一传送部32A的预定移动路径中的干扰。主控制器53具有步进分割部74，阶梯计算部75和干涉判定部76.步进分割部74将调度移动路径中的时间或距离分割为多个步骤。台阶计算部75考虑到两个转印部的相互距离，移动方向和速度，计算不可能引起干扰的步骤。干扰确定部76通过计算第一传送部件32A和第二传送部件32B的位置来确定干涉，并且省略对于不具有干扰的可能性的步骤的两个传送部件的位置的计算。版权所有（C）2012，JPO＆INPIT

4. 发明专利

JP2013151348A Transport vehicle system 有权
标题翻译：运输车辆系统
公开(公告)号：JP2013151348A
公开(公告)日：2013-08-08
申请号：JP2012012954
申请日：2012-01-25
申请人： Univ Of Tokyo , 国立大学法人東京大学 , Murata Machinery Ltd , 村田機械株式会社
发明人： OTA JUN , KUNG YI-HENG , AZUMA TOSHIMITSU
IPC分类号： B65G1/04 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a transport vehicle system with three or more transport vehicles traveling on a single track, wherein effective transport can be performed while preventing the transport vehicles from interfering with one another.SOLUTION: Stacker cranes 9, 11 and 13 reciprocate along a traveling rail 7. A ground controller 21 is a device to allocate transport commands to the stacker cranes. The ground controller 21 includes a memory part 39, an extraction part 25, a cluster creation part, and a communication part 37. The memory part 39 stores multiple transport requests. The extraction part 25 extracts as many transport requests as stacker cranes in the same direction along a path from multiple transport requests stored by the memory part 39. The cluster creation part 27 creates clusters comprising extracted multiple transport requests. The communication part 37 transmits the transport commands created based on the transport requests to the stacker cranes (9, 11, 13) in units of clusters.
摘要翻译：要解决的问题：提供一种运输车辆系统，其具有在单个轨道上行驶的三个或更多个运输车辆，其中可以执行有效运输，同时防止运输车辆彼此干扰。解决方案：堆高车起重机9,11和13往复运动地面控制器21是向堆垛起重机分配运输指令的装置。地面控制器21包括存储器部分39，提取部分25，集群创建部分和通信部分37.存储部分39存储多个传输请求。提取部分25沿着从由存储器部分39存储的多个传输请求的路径在同一方向上提取与堆叠起重机一样多的传输请求。集群创建部分27创建包括提取的多个传输请求的集群。通信部37以簇为单位将基于传送请求而生成的传送命令发送到堆垛机（9,11,13）。

5. 发明专利

JP2010086235A Information processor, and control method and program for the information processor 有权
标题翻译：信息处理器，信息处理器的控制方法和程序
公开(公告)号：JP2010086235A
公开(公告)日：2010-04-15
申请号：JP2008253848
申请日：2008-09-30
申请人： Ns Solutions Corp , Univ Of Tokyo , 国立大学法人東京大学 , 新日鉄ソリューションズ株式会社
发明人： OTA JUN , SUGI MASAO , SHIOMI YUSUKE , NAGAI HIDETOSHI
IPC分类号： G06F17/50
摘要： PROBLEM TO BE SOLVED: To obtain an optimal solution with less computational complexity without calculating an optimal solution with respect to all the block candidates to be allocated to a base metal.
SOLUTION: A dual problem operation part 102 operates a predetermined evaluation function representing the entire length of the base metal when initial blocks are used to obtain the use frequency of blocks included in the initial blocks, and calculates an optimal solution of an allocation method of a product to the base metal. A reduced cost calculation part 103 performs predetermined operation with respect to each of the blocks other than the initial blocks, to determine an additional block where a value of the result of operating the evaluation function becomes small when blocks are added to the initial blocks. A dual problem calculation part 102 obtains the use frequency of each of the blocks and the added blocks included in the initial blocks when additional blocks are determined and the additional blocks are added to the initial blocks, and calculates an optimal solution of the method of allocating a product in the base metal again.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了获得具有较少计算复杂度的最优解，而不计算关于要分配给母材的所有块候选的最优解。解决方案：当使用初始块来获得包含在初始块中的块的使用频率时，双重问题操作部分102操作表示母体的整个长度的预定评估函数，并且计算分配的最优解产品与贱金属的方法。降低成本计算部103对于与初始块以外的各块相对应地执行预定的动作，来确定在将块添加到初始块时，评价函数的运算结果的值变小的附加块。双重问题计算部分102当确定附加块并且将附加块添加到初始块时，获得包括在初始块中的每个块和附加块的使用频率，并且计算分配方法的最优解再次在贱金属中的产品。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2012198726A Conversation support device and conversation support method 有权
标题翻译：对话支持设备和对话支持方法
公开(公告)号：JP2012198726A
公开(公告)日：2012-10-18
申请号：JP2011061826
申请日：2011-03-20
申请人： Univ Of Tokyo , 国立大学法人東京大学
发明人： OTAKE MIHOKO , YAMAGUCHI TAICHI , OTA JUN
IPC分类号： G06Q50/26
摘要： PROBLEM TO BE SOLVED: To provide a conversation support device and method characterized in a conversation amount measurement and evaluation method.SOLUTION: The conversation support device comprises: means for acquiring utterance time of respective participants in association with the respective participants for each utterance; score calculation means for calculating scores by using the utterance time for each utterance and acquiring them in association with the participants; means for cumulatively adding the scores of the respective participants and acquiring the cumulative scores of the respective participants; means for calculating an average value of the cumulative scores of the respective participants; means for specifying the minimum cumulative score from the cumulative scores of the respective participants and calculating a difference between the minimum cumulative score and the average value; and means for determining whether or not the difference exceeds a preset threshold, and determining to "prompt the utterance" when exceeding the threshold; and means for performing output to prompt the utterance to the participant associated with the minimum cumulative score when it is determined to "prompt the utterance".
摘要翻译：要解决的问题：提供一种以会话量测量和评估方法为特征的会话支持装置和方法。对话支持装置包括：用于每个话语获取与各个参与者相关联的各个参与者的话语时间的装置; 分数计算装置，用于通过使用每个发音的发音时间来计算分数，并且与参与者相关联地获取它们; 用于累积添加各参与者的分数并获取各参与者的累积分数的方法; 用于计算各参与者的累积分数的平均值的装置; 用于从相应参与者的累积分数中指定最小累积分数并计算最小累积分数与平均值之间的差的方法; 以及用于确定所述差异是否超过预设阈值的装置，并且在超过所述阈值时确定“提示说话”; 以及当确定“提示说话”时，执行输出以提示与最小累积分数相关联的参与者的话语的装置。版权所有（C）2013，JPO＆INPIT

7. 发明专利

JP2005088164A Stop position determination method of robot and stop position determination device of robot 有权
标题翻译：机器人的停止位置确定方法和机器人的停止位置确定装置
公开(公告)号：JP2005088164A
公开(公告)日：2005-04-07
申请号：JP2003327864
申请日：2003-09-19
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , KITO TOMOMI , OTA JUN , ARAI TAMIO
IPC分类号： B25J5/00 , B25J9/22 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To obtain an optimal stop position of a mobile robot in a work where a plurality of work positions exist, by calculation with a cost as a criterion for evaluation.
SOLUTION: The stop position determination method of a robot comprises the steps of: defining a movable work space of a robot arm as a work determination region on a plurality of works and arranging lattice points in the range of each work determination region; setting work feasible areas corresponding to the plurality of works by determining whether or not the work by the mobile robot can be accomplished in each lattice point; combining a plurality of work feasible areas so as to obtain optimal overlapped work feasible areas; and obtaining a work point which minimizes a cost in the overlapped areas of the work feasible areas thus combined and determining a minimized stopped position. According to this stop position determination method, the stop position of the mobile robot can be optimized.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了在存在多个工作位置的工作中获得移动机器人的最佳停止位置，通过以成本计算作为评估标准。解决方案：机器人的停止位置确定方法包括以下步骤：在多个工件上定义机器人手臂的可移动工作空间作为工件确定区域，并且在每个工作确定区域的范围内布置格点; 通过确定移动机器人的工作是否可以在每个网格点中完成来设置与多个作品相对应的工作可行区域; 组合多个工作可行区域，以获得最佳重叠工作可行区域; 并且获得工作点，其最小化由此组合的工作可行区域的重叠区域中的成本，并确定最小化的停止位置。根据该停止位置确定方法，可以优化移动机器人的停止位置。版权所有（C）2005，JPO＆NCIPI

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