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11. 发明专利

JP2003262520A DIRECTION DETECTING DEVICE AND SELF-TRAVELING CLEANER LOADED WITH IT 审中-公开
公开(公告)号：JP2003262520A
公开(公告)日：2003-09-19
申请号：JP2002062815
申请日：2002-03-08
申请人： HITACHI LTD
发明人： ARAI MINORU , TAKEUCHI IKUO , KOSEKI ATSUSHI , EGAWA SAKU , TAJIMA TAIJI
IPC分类号： G01C15/00 , A47L9/00 , A47L9/28 , G01B11/26
摘要： PROBLEM TO BE SOLVED: To improve the reliability of a direction detecting device used for a self-traveling moving body by simplifying the means. SOLUTION: The direction detecting device of the self-traveling moving body has an optical sensor unit 1, an arithmetic means 7, and a storing means 9, all of which are loaded in the moving body. On the outside or the moving body, a light emitting means 5 is provided in a fixed state. A plurality of photoreceptor elements 2, 2, etc., is attached to the optical sensor unit 1. The light receivable ranges of adjacent photoreceptor elements partially overlap each other. The arithmetic means 7 detects the direction to the light emitting means 5 by comparing the intensities of the light rays received by means of the photoreceptor elements 2 with each other. COPYRIGHT: (C)2003,JPO

12. 发明专利

JP2011045973A robot 审中-公开
标题翻译：机器人
公开(公告)号：JP2011045973A
公开(公告)日：2011-03-10
申请号：JP2009197570
申请日：2009-08-28
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： AMINO AZUSA , EGAWA SAKU , NAKAMURA RYOSUKE
IPC分类号： B25J5/00
CPC分类号： B62D57/028
摘要： PROBLEM TO BE SOLVED: To provide a leg suspension for a robot having two right and left legs beneath a body and properly controlling wheels provided in the front end of the legs so as to stably travel on an uneven road surface by the wheels. SOLUTION: In the leg suspension for the biped robot moving by inverted two-wheel traveling, springs and dampers are provided between respective leg ends and wheels so as to stably travel on the uneven road surface, the position of suspending the springs is made variable by actuators so as to make the leg end positions adjustable, unevenness of the road surface is absorbed by the springs and the dampers, the condition of the robot is estimated by a gyroscope mounted on upper half of the body, and the actuators are extended/retracted so as to converge shaking of the upper half of the body. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于机器人的腿部悬架，其具有在主体下方的两个右腿和左腿，并适当地控制设置在腿的前端中的轮，以便通过车轮在不平坦的路面上稳定地行驶。解决方案：在通过倒置的两轮行进运动的双足机器人的腿部悬架中，在相应的腿端和车轮之间设置弹簧和阻尼器，以便在不平坦的路面上稳定地行进，弹簧的悬挂位置通过致动器可变，以使腿端位置可调，路面的不平坦度被弹簧和阻尼器吸收，机器人的状态由安装在身体上半部的陀螺仪估计，并且致动器延伸/缩回以便使身体的上半部分的震动收敛。版权所有（C）2011，JPO＆INPIT

13. 发明专利

JP2008065755A Mobile device 有权
标题翻译：移动设备
公开(公告)号：JP2008065755A
公开(公告)日：2008-03-21
申请号：JP2006245554
申请日：2006-09-11
申请人： Hitachi Ltd , Univ Of Tsukuba , 国立大学法人筑波大学 , 株式会社日立製作所
发明人： YAMAMOTO KENJIRO , EGAWA SAKU , TSUBOUCHI KOJI , RI ZAIKUN
IPC分类号： G05D1/02
CPC分类号： G05D1/024 , G05D1/0255 , G05D1/0257 , G05D2201/0203 , G05D2201/0206 , G05D2201/0207 , G05D2201/0211 , G05D2201/0216
摘要： PROBLEM TO BE SOLVED: To provide a mobile device performing high-speed movement in an environment having a mobile obstacle.
SOLUTION: The mobile device comprises an external world information acquisition means 31; an obstacle detection means 32; an obstacle feature estimation means 33; a collision prediction means 34; an avoiding route planning means 35; and an avoiding orbit generation means 36. The collision prediction means 34 predicts, from the position and feature of an obstacle and attitude information and orbit information of the mobile device, a collision with the obstacle. The avoiding route planning means 35 calculates, when the collision is predicted, passing points which pass the side of the obstacle or the circumference of the obstacle for avoiding the obstacle, and plans one or more avoiding routes passing the points. The avoiding track generation means 36 generates a smooth avoiding orbit in which the movable device can travel by adjusting the passing points so as not to interfere with the obstacle.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种在具有移动障碍物的环境中执行高速移动的移动设备。解决方案：移动设备包括外部世界信息获取装置31; 障碍物检测装置32; 障碍物特征估计装置33; 碰撞预测装置34; 避免路线规划装置35; 和避免轨道生成装置36.碰撞预测装置34从障碍物的位置和特征以及移动装置的姿态信息和轨道信息预测与障碍物的碰撞。避免路线规划装置35在预测碰撞时，计算通过障碍物侧的通过点或避开障碍物的障碍物的周长，并且计划通过点的一个或多个避免路线。避免轨道产生装置36通过调节通过点而产生平滑避免轨道，在该平滑避免轨道中可移动装置可以行进，以便不会妨碍障碍物。版权所有（C）2008，JPO＆INPIT

14. 发明专利

JP2006030147A Environment recognizing system and moving mechanism 审中-公开
标题翻译：环境识别系统和移动机制
公开(公告)号：JP2006030147A
公开(公告)日：2006-02-02
申请号：JP2004213729
申请日：2004-07-22
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU
IPC分类号： G01S17/93
CPC分类号： G01S17/32 , G01P13/00 , G01S17/936
摘要： PROBLEM TO BE SOLVED: To recognize accurately a distance-measuring target even when the distance-measuring target is moving or when a distance-measuring system is moving.
SOLUTION: This environment recognizing system 1 recognizes a relatively-moving object 2 by using a modulated beam 102. A beam emission means 12 emits the beam. A beam scanning means 13 scans the beam. A reflected beam from the object is detected by a beam-receiving means 16. A distance image is acquired by a distance measuring means 17, based on a signal received by the beam receiving means. A plurality of images acquired by the distance measuring means are compared each other, and an object strain included in the distance image is removed by a strain-removing means.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：即使当距离测量对象正在移动时或当距离测量系统移动时，也能准确地识别距离测量目标。解决方案：该环境识别系统1通过使用调制光束102识别相对移动的物体2.光束发射装置12发射光束。光束扫描装置13扫描光束。来自物体的反射光束由光束接收装置16检测。距离测量装置17基于由光束接收装置接收的信号获取距离图像。由距离测量装置获取的多个图像被彼此比较，并且通过应变消除装置去除包括在距离图像中的物体应变。版权所有（C）2006，JPO＆NCIPI

15. 发明专利

JP2005329515A Service robot system 审中-公开
标题翻译：服务机器人系统
公开(公告)号：JP2005329515A
公开(公告)日：2005-12-02
申请号：JP2004151157
申请日：2004-05-21
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： HOSODA YUJI , OKUDA MASAO , HAGITANI SHIGERU , EGAWA SAKU , YAMAMOTO HIROSHI
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a service robot system for efficiently performing service business intended for a plurality of persons existing around a robot.
SOLUTION: This system is provided with one or more autonomously movable robots 3a to 3c, and a position identifying device 1 capable of simultaneously identifying a positional relation of a plurality of service object persons 4 around each robot 3a to 3c in relation to each robot 3a to 3c. The robot is made to perform service for the persons 4 by making the positional relation information identified by the position identifying device as information for controlling a service operation.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于有效地执行针对存在于机器人周围的多个人的服务业务的服务机器人系统。解决方案：该系统设置有一个或多个可自动移动的机器人3a至3c，以及位置识别装置1，其能够同时识别围绕每个机器人3a至3c的多个服务对象人物4的位置关系每个机器人3a至3c。使机器人通过使由位置识别装置识别的位置关系信息作为用于控制服务操作的信息来为人4执行服务。版权所有（C）2006，JPO＆NCIPI

16. 发明专利

JP2004081714A Vacuum cleaner 审中-公开
公开(公告)号：JP2004081714A
公开(公告)日：2004-03-18
申请号：JP2002249888
申请日：2002-08-29
申请人： Hitachi Home & Life Solutions Inc , Hitachi Ltd , 日立ホーム・アンド・ライフ・ソリューション株式会社 , 株式会社日立製作所
发明人： TAJIMA TAIJI , EGAWA SAKU , TAKEUCHI IKUO , ARAI MINORU
IPC分类号： A47L9/10
摘要： PROBLEM TO BE SOLVED: To solve the problem of the conventional vacuum cleaner that although dust can be separated in each dust collecting part, the dust accumulated in the dust collecting part can not be easily confirmed from the outside, so when the valuables such as coins and rings are sucked accidentally, there is a fear that a user can not notice them to be discarded.
SOLUTION: This vacuum cleaner is so constructed that a cleaner body is provided with the dust collecting part, a suction nozzle is provided with a second dust collecting part removable from the suction nozzle, and the second dust collecting part is provided with a separating means for separating the dust sucked from the suction nozzle depending upon the specific gravity, so that dust having a large specific gravity is collected in the second duct collecting part.
COPYRIGHT: (C)2004,JPO

17. 发明专利

JP2003290302A Walking aid device and control program thereof 有权
标题翻译：行车辅助设备及其控制程序
公开(公告)号：JP2003290302A
公开(公告)日：2003-10-14
申请号：JP2002101535
申请日：2002-04-03
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU , KOSEKI ATSUSHI , TAKEUCHI IKUO , NEMOTO YASUHIRO
IPC分类号： A61H3/04
摘要： PROBLEM TO BE SOLVED: To provide a walking aid device to be easily handled by automatically adjusting the kinetic characteristic without requiring adjustment by a person.
SOLUTION: The walking aid device comprises a movable base body, a motion control mechanism for controlling the movement of the base body, a support part mounted on the base body for supporting a user, a sensor 9 for detecting the change of the device caused by a motion of the user, and a motion control operating device for controlling the motion control mechanism based on the detection value detected by the sensor 9. The motion control operating device comprises a kinetic characteristic memory part 32 for storing the kinetic characteristic parameter, a kinetic characteristic adjusting part 3 for adjusting the kinetic characteristic parameter based on the detection value 41, and a motion control part 31 for controlling the motion control mechanism based on the detection value 41 and the kinetic characteristic parameter.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种通过自动调节动力学特性而不需要由人调节来容易地处理的助行器具。解决方案：步行辅助装置包括可移动基体，用于控制基体的运动的运动控制机构，安装在基体上用于支撑使用者的支撑部件，用于检测基体的变化的传感器9 由用户的运动引起的装置，以及运动控制操作装置，用于基于由传感器9检测到的检测值来控制运动控制机构。运动控制操作装置包括用于存储动力特性参数的动力特性存储部分32 ，基于检测值41调整动力特性参数的动力特性调整部3，以及基于检测值41和动力特性参数来控制运动控制机构的运动控制部31。版权所有（C）2004，JPO

18. 发明专利

JP2000084016A WALK TRAINING DEVICE 失效
公开(公告)号：JP2000084016A
公开(公告)日：2000-03-28
申请号：JP26270998
申请日：1998-09-17
申请人： HITACHI LTD
发明人： EGAWA SAKU , NEMOTO YASUHIRO , KOSEKI ATSUSHI , HATTORI SHIZUKO , SAKAI AKIHIKO , FUJIE MASAKATSU
IPC分类号： A61H3/04
摘要： PROBLEM TO BE SOLVED: To detect horizontal force with high accuracy by providing force detecting means separately from a means for supporting a support means to a base body. SOLUTION: A support base 5 of similar figure to a support means 7 whereon a trainee holds to support a part of his weight is disposed under the support means 7 through elastic members 6a-6d formed of vetical load receiving members. The support base 5 is provided with displacement detectors 8a-8d. The support means 7 is provided with targets 9a-9d in correspondence with the displacement detectors 8a-8d to form a position reference at the time of the displacement detectors 8a-8d detecting the displacement quantity of the support means 7. The displacement detectors 8a, 8b detect longitudinal distance change between the targets 9a, 9b, and the displacement detectors 8c, 8d detect vertical distance change between the targets 9c, 9d. With this constitution, required action force can be detected with high accuracy and high resolution.

19. 发明专利

JPH09299420A SELF-WALKING AID DEVICE 失效
公开(公告)号：JPH09299420A
公开(公告)日：1997-11-25
申请号：JP12025896
申请日：1996-05-15
申请人： HITACHI CHEMICAL CO LTD , HITACHI LTD
发明人： OKADA MAKOTO , SUZUKI YASHIO , ENDO AKIRA , TOMITA MASAMICHI , OGISO TOSHIO , FUJIE MASAKATSU , EGAWA SAKU , YOSHIDA YOSHIKI
IPC分类号： A61G5/00 , A61H3/04
摘要： PROBLEM TO BE SOLVED: To improve operability, appearance and reliability of a self walking aid device which achieves assistance in walking, standing and sitting action for aged persons and persons requiring rehabilitation. SOLUTION: A support body 6 is provided with a recess part 600 corresponding to a belly part of a user of this device and armrest parts 601 and 601 corresponding to both sides of the user. An operating part 14 is installed outside the support body 6 and at the position facing the recess part 600. Thereby, it is possible to operate the operating part 14 even though the upper half of the user covers the support body 6 and with either of right and left hands when the user operates the operating part.

20. 发明专利

JPH09299419A SELF-WALKING AID DEVICE 失效
公开(公告)号：JPH09299419A
公开(公告)日：1997-11-25
申请号：JP12025796
申请日：1996-05-15
申请人： HITACHI CHEMICAL CO LTD , HITACHI LTD
发明人： SUZUKI YASHIO , OKADA MAKOTO , ENDO AKIRA , OGISO TOSHIO , FUJIE MASAKATSU , TOMITA MASAMICHI , EGAWA SAKU , YOSHIDA YOSHIKI
IPC分类号： A61G5/00 , A61H3/04
摘要： PROBLEM TO BE SOLVED: To provide a self-walking aid device which achieves excellent safety and high versatility along with ease of handling. SOLUTION: A lifting motor 7 of a lifting member is provided with a rotation detecting means 17 to detect and output the number of revolutions of the motor 7. An output value (number of revolutions of the motor 7) of the rotation detecting means 17 is outputted as the current number N of revolutions of the motor to a control means 12 and the control means 12 controls the number of revolutions of the motor 7 based on the current number N of revolutions of the motor. This control regulates the number of revolutions of the motor 7 so that the current number N of revolutions of the motor is almost equal to a set number Ns of revolutions. Thus, the number of revolutions of the motor can be kept constant against changes in the load of the motor 7, especially when a user different in weight uses the device, thereby a lifting speed of the lifting member or the like for assistance from standing action to sitting action can always be kept constant.

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