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1. 发明专利

JP2010055496A Autonomous mobile device and avoidance direction display method for autonomous mobile device 审中-公开
标题翻译：用于自动移动设备的自动移动设备和避免方向显示方法
公开(公告)号：JP2010055496A
公开(公告)日：2010-03-11
申请号：JP2008221667
申请日：2008-08-29
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU , ICHINOSE RYOKO , AMINO AZUSA , YANAGIMOTO MANABU , HOSHINO TAKASHI
IPC分类号： G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide an autonomous mobile device and an avoidance direction display method for the autonomous mobile device, allowing impartment of security sense to a person by intelligibly displaying an avoidance direction of an obstacle amid coming and going of a person or a robot.
SOLUTION: This autonomous mobile device has: an obstacle detection means detecting a plurality of obstacles present in a moving direction of the autonomous mobile device; an avoidance method storage means storing a previously stored avoidance method; an avoidance route generation means reading the avoidance method for avoiding each obstacle from the avoidance method storage means based on the detecting of the plurality of obstacles by the obstacle detection means, and generating an avoidance route; and a direction display means displaying the avoidance direction a plurality of stages ahead to each obstacle based on the avoidance route from the avoidance route generation means.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种用于自主移动设备的自主移动设备和回避方向显示方法，通过在人的进出中可智能地显示障碍物的回避方向，允许对人的安全感或机器人。解决方案：该自主移动设备具有：检测存在于自主移动设备的移动方向上的多个障碍物的障碍物检测装置; 避免方法存储装置，存储先前存储的回避方法; 避免路线生成装置基于障碍物检测装置对多个障碍物的检测，从避免方法存储装置中读出避免每个障碍物的避免方法，并产生回避路线; 并且方向显示装置基于来自回避路径生成装置的回避路线，向每个障碍物向前显示多个级的回避方向。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2007319991A Mobile robot 有权
标题翻译：移动机器人
公开(公告)号：JP2007319991A
公开(公告)日：2007-12-13
申请号：JP2006153423
申请日：2006-06-01
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： NAKAMURA RYOSUKE , EGAWA SAKU , HOSODA YUJI
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide an action program of a target value which can be followed without any deviation when moving in an inverted pendulum type mobile robot. SOLUTION: The mobile robot is provided with: a moving mechanism having left and right wheels and a traveling motor rotationally driving these wheels; the upper body supported by the moving mechanism; and a control device for controlling the moving mechanism. The control device is provided with a travel target generation part generating a plurality of time-series target values. The travel target generation part generates a time-series value of a characteristic point as a linear sum of a position and an inclination of the mobile robot located above a grounding point of the mobile robot so that a moving condition relative to the plurality of the time-series target values is satisfied. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供在倒立摆式移动机器人中移动时可以遵循的目标值的动作程序，而没有任何偏差。解决方案：移动机器人具有：具有左右轮的移动机构和旋转地驱动这些轮的行进马达; 上身由移动机构支撑; 以及用于控制移动机构的控制装置。控制装置设置有生成多个时间序列目标值的行进目标生成部。行驶目标生成部生成作为位于移动机器人的接地点上方的移动机器人的位置和倾斜度的线性和的特征点的时间序列值，使得相对于多个时间的移动条件系列目标值得到满足。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2002267463A OUTGOING SUPPORTING SYSTEM AND MOVING BODY 失效
公开(公告)号：JP2002267463A
公开(公告)日：2002-09-18
申请号：JP2001062823
申请日：2001-03-07
申请人： HITACHI LTD
发明人： EGAWA SAKU , NEMOTO YASUHIRO , KOSEKI ATSUSHI
IPC分类号： G01C21/00 , A61G5/04 , B60L3/00 , G01C21/26 , G08G1/005
摘要： PROBLEM TO BE SOLVED: To provide an outgoing supporting system that enables an aged person, etc., to go out without anxiety. SOLUTION: This outgoing supporting system is provided with a moving body 1 equipped with a main body 1a, a driving means 30 which moves the main body 1a, a battery 17 which supplies electric power to the driving means 30, a residual battery capacity sensor which detects the electric energy stored in the battery 17, a GPS receiver 18 which detects the location of the main body 1a by receiving radio waves from an artificial satellite, and a display 23 on which the destination of the moving body 1 is set and a map information database. The system finds the distance from the moving body 1 to the destination based on the location of the main body 1a, destination, and geographic information, divides the electric energy stored in the battery 17 into a plurality of parts by comparing them with each other, and informs the user or the protector of the user of the divided electric energy.

4. 发明专利

JPH09285498A STANDING OPERATION HELPING DEVICE 失效
公开(公告)号：JPH09285498A
公开(公告)日：1997-11-04
申请号：JP10495096
申请日：1996-04-25
申请人： HITACHI LTD , HITACHI CHEMICAL CO LTD
发明人： OGISO TOSHIO , SUZUKI YASHIO , ENDO AKIRA , OKADA MAKOTO , TOMITA MASAMICHI , EGAWA SAKU , FUJIE MASAKATSU , YOSHIDA YOSHIKI
IPC分类号： A61G5/00 , A61H3/04
摘要： PROBLEM TO BE SOLVED: To help the standing and sitting operations of a human body by the motor of a small capacity by providing the pinion of a standing operation helping part constituted of a rack pinion mechanism on the side of the user to a rack. SOLUTION: In the standing operation helping part, the pinions 18a and 18b are rotated around a rotary shaft attached to a fixed housing not shown in the figure and the racks 22a and 22b are elevated and lowered. Also, the gear surfaces of the racks 22a and 22b are turned to mechanisms provided on the same side to the user. Further, rack covers 23a and 23b are provided around the racks 22a and 22b, and for the side provided with the pinions 18a and 18b, the coaxial pair of roller/bearing or the like turning bodies 20a-20d are provided on the upper side and lower side of the pinions and the structure of being pressed to the end face of the rack covers 23 is attained. Thus, the distance of the user and a force acting point to the rack of the pinion is shortened for the thickness of the rack and human body mass capable of helping the standing operation is increased even when the same motor reduction gear is used.

5. 发明专利

JPH09285497A METHOD AND DEVICE FOR ENGAGING BODY SUPPORTER FOR WALKING SUPPORTING MACHINE 失效
公开(公告)号：JPH09285497A
公开(公告)日：1997-11-04
申请号：JP10494996
申请日：1996-04-25
申请人： HITACHI LTD , HITACHI CHEMICAL CO LTD
发明人： TOMITA MASAMICHI , OGISO TOSHIO , EGAWA SAKU , FUJIE MASAKATSU , YOSHIDA YOSHIKI , SUZUKI YASHIO , OKADA MAKOTO , ENDO AKIRA
IPC分类号： A61G5/00 , A61H3/04
摘要： PROBLEM TO BE SOLVED: To make the user of the walking supporting machine of an electrically elevating and lowering/single-handedly walking type able to easily and safely perform rising and falling operations alone without a helper by using a body supporter. SOLUTION: A pair of the left and right upper end part strings 5 of the body supporter 1 for covering the user from the waist part to the back are respectively engaged to the fixed positions of an elevating and lowering member and a pair of left and right lower end part strings 4 are respectively engaged to the fixed positions, for instance hooks 17A, of a fixed (non elevating and lowering) member. Also, at the time of rising, a winding mechanism is provided in the elevating and lowering member, the winding mechanism is operated while winding the strings of upper end parts and rising and falling operations are helped while the feet of the user are grounded.

6. 发明专利

JPH09135871A AUXILIARY DEVICE FOR WALKING, BENDING AND STRETCHING MOTIONS 失效
公开(公告)号：JPH09135871A
公开(公告)日：1997-05-27
申请号：JP30001895
申请日：1995-11-17
申请人： HITACHI LTD , HITACHI CHEMICAL CO LTD
发明人： OGISO TOSHIO , OKADA MAKOTO , ENDO AKIRA , SUDO TOMIO , YOSHIDA YOSHIKI , WADA NORIHIKO , EGAWA SAKU , FUJIE MASAKATSU
IPC分类号： A61G5/00 , A61H3/04
摘要： PROBLEM TO BE SOLVED: To reduce an impact and a manual pushing force at the time of getting over a stepped part, regarding a device for aiding a walking motion and a standing motion (bending and stretching motions). SOLUTION: This auxiliary device to aid walking, bending and stretching motions has a support part such as a body support tool 10 to support a user U and a handle H, a bending and stretching motion aid part such as direct acting shafts 7a and 7b to drive the support part and aid the bending and stretching motions of the user U, and a walking motion aid part to aid the walking motion of the user U. Also, the walking motion aid part is formed out of a six-wheel travel mechanism made of two front wheels 4a and 4b, two rear wheels 6a and the like, and two intermediate wheels 5a and 5b. The two front wheels 4a and 4b and the two rear wheels 6a and the like are formed out of casters, and the two intermediate wheels 5a and 5b are formed out of fixed wheels. Also, the lower surface of the two intermediate wheels 5a and 5b are positioned by the preset offset below a common tangential plane in contact with the lower surface of the two front wheels 4a and 4b, and the two rear wheels 6a and the like.

7. 发明专利

JP2007323405A Real time control system 审中-公开
标题翻译：实时控制系统
公开(公告)号：JP2007323405A
公开(公告)日：2007-12-13
申请号：JP2006153434
申请日：2006-06-01
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU
IPC分类号： G06F9/48 , G05B19/05
摘要： PROBLEM TO BE SOLVED: To enhance the independence of respective control components in a real time control system, in which software for controlling is composed of a plurality of control components. SOLUTION: In the real time control system, in which the software for controlling is composed of the plurality of control components, each of control components 51 to 57 is respectively provided with a deadline adding part 34. In the case of transmitting a message which is data including information necessary for control from one control component to the other control component, the deadline adding part adds a deadline for the completion of processing on the message in accordance with the contents of the message and the execution of each control component is controlled on the basis of the deadline. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了增强实时控制系统中各控制部件的独立性，其中用于控制的软件由多个控制部件组成。解决方案：在控制软件由多个控制部件组成的实时控制系统中，每个控制部件51至57分别设置有最后期限添加部分34。消息，其是包括从一个控制组件到另一个控制组件的控制所需的信息的数据，最后期限添加部分根据消息的内容添加对消息的处理完成的截止日期，并且每个控制组件的执行是在截止日期的基础上进行控制。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2006136963A robot 有权
标题翻译：机器人
公开(公告)号：JP2006136963A
公开(公告)日：2006-06-01
申请号：JP2004327489
申请日：2004-11-11
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAMAMOTO JUNICHI , HOSODA YUJI , HORIUCHI TOSHIHIKO , EGAWA SAKU
IPC分类号： B25J19/00 , B25J5/00 , H04R1/02
摘要： PROBLEM TO BE SOLVED: To provide sound of a desirable frequency by making an acoustic box larger, while securing affinity of an interface for producing sound from a head part in a robot. SOLUTION: This robot 1 is provided with the head part 2 and a body part 4 having a larger volume than that in the head part 2. The head part 2 has a design for stipulating a front surface of the head part 2 and is connected adjacently to the body part 4 by a smaller cross section than the maximum cross-sectional area of the head part 2. In the robot 1, a sound producing device 8 faced to the head part 2 so that produced sound may be reflected in the head part 2 and the acoustic box 9 of the sound producing device 8 are incorporated into the body part 4. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过使声学盒更大地提供期望频率的声音，同时确保用于从机器人中的头部产生声音的界面的亲和性。解决方案：该机器人1设置有头部2和具有比头部2中的体积大的体部4.头部2具有用于规定头部2的前表面的设计，通过与头部2的最大横截面积相比较小的横截面与身体部分4相邻地连接。在机器人1中，面向头部2的声音产生装置8使得产生的声音可以被反射在声音产生装置8的头部2和声音盒9并入主体部分4中。（C）版权所有（C）2006，JPO＆NCIPI

9. 发明专利

JP2004133567A Mobile object and its position detector 有权
公开(公告)号：JP2004133567A
公开(公告)日：2004-04-30
申请号：JP2002295576
申请日：2002-10-09
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU
IPC分类号： G05D1/02
CPC分类号： G05D1/0246
摘要： PROBLEM TO BE SOLVED: To detect the position of a mobile object without using a specified inspection point of a position mark or an illumination device or the like. SOLUTION: The mobile object 21 is provided with electronic cameras 2a and 2b capable of picking up the image of a ceiling surface and a light 4 to be an auxiliary light source at the time of picking up the image by using the electronic cameras on an upper part. The mobile object incorporates a position detection means 1 for detecting its own position. The position detection means compares the image for which the ceiling surface is extracted and which is stored beforehand with the image of the ceiling surface extracted from the image photographed by using the electronic camera and detects the position of the mobile object. COPYRIGHT: (C)2004,JPO

10. 发明专利

JP2003310509A Mobile cleaner 审中-公开
标题翻译：移动清洁剂
公开(公告)号：JP2003310509A
公开(公告)日：2003-11-05
申请号：JP2002120202
申请日：2002-04-23
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： EGAWA SAKU , TAJIMA TAIJI , ARAI MINORU , KOSEKI ATSUSHI , TAKEUCHI IKUO
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide a mobile cleaner in which spaces by the side of walls and corners of walls are cleaned without omission.
SOLUTION: In the mobile cleaner provided with a main body, a driving means for moving the main body, a suction port and a suction port driving means for relatively movably connecting the suction port and the main body, when moving the main body straight, the suction port is positioned approximately in the middle in front of the main body and at a standard location where the front edge of the suction port is approximately orthogonal with the straight moving direction and when turning the main body near the surface of the wall, the suction port is moved to make the front edge of the suction port opposed to the turning direction touch or proximate to the surface of the wall.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种移动清洁器，其中墙壁和角落的侧面的空间被清洁而不被遗漏。解决方案：在设置有主体的移动式清洁器中，用于使主体移动的驱动装置，用于相对移动地连接吸入口和主体的吸入口和吸入口驱动装置，当移动主体吸入口大致位于主体前方的中部，并且在吸入口的前边缘与直线移动方向大致正交的标准位置处，并且当主体靠近壁的表面转动时吸入口被移动以使吸入口的与转动方向相反的前边缘接触或靠近壁表面。版权所有（C）2004，JPO

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