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1. 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

2. 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

3. 发明专利

JP2006136988A Mobile robot 审中-公开
标题翻译：移动机器人
公开(公告)号：JP2006136988A
公开(公告)日：2006-06-01
申请号：JP2004330121
申请日：2004-11-15
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： YAMAMOTO HIROSHI , TAJIMA FUJIO , KOSEKI ATSUSHI , IKE KATSUHISA , HORIUCHI TOSHIHIKO
IPC分类号： B25J19/06 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a mobile robot capable of enhancing the reliability against failures of a main control device and power loss of a main battery.
SOLUTION: The mobile robot 1 comprises a traveling drive unit having a pair of traveling wheels and a drive motor thereof, a body part, a traveling control unit 27 to control the traveling drive unit, a power supply unit to supply the power required for the traveling control unit 27, an inclinometer 11 to measure the angle of inclination of the body part, a main control device 20 which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from a main battery 24, and an exclusive control device 21 for abnormality which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from an auxiliary battery 26. When abnormality factors such as failures of the main control device 20 or power loss of the main battery 24 occur, the control of the traveling control unit 27 by the main control device 20 is changed to the control of the traveling control unit by the exclusive control device 21 for abnormality based on the angle of inclination measured by the inclinometer 11.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：解决的问题：提供能够提高主控制装置的故障的可靠性和主电池的功率损失的移动机器人。解决方案：移动式机器人1包括具有一对行进轮及其驱动电动机的行驶驱动单元，主体部，控制行驶驱动单元的行驶控制单元27，供电单元行驶控制单元27所需要的倾斜计11，测量身体部位的倾斜角度的主控制装置20，基于测量的倾斜角度控制行驶控制单元27并从主电池供电的主控制装置20 24，以及用于异常的专用控制装置21，其基于测量的倾斜角度控制行驶控制单元27，并且从辅助电池26供电。当诸如主控制装置20的故障或功率损失之类的异常因素发生主电池24的情况，由主控制装置20对行驶控制部27的控制通过专用控制装置21变更为行驶控制部的控制基于由倾斜仪11测量的倾斜角度的精度。（C）版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2004121569A Moving support device 有权
公开(公告)号：JP2004121569A
公开(公告)日：2004-04-22
申请号：JP2002290577
申请日：2002-10-03
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAKEUCHI IKUO , EGAWA SAKU , KOSEKI ATSUSHI
IPC分类号： A61H3/04
摘要： PROBLEM TO BE SOLVED: To offer a moving support device in which moving is supported by assisting the standing up movement of a user.
SOLUTION: The moving support device 1 has a base plate 16, an approximately U shape supporter 3 containing a force sensor, a rising and falling means 4 which can alter the vertical location of this supporter, driven wheels 5a and 5b in which the power of driving motors 7a and 7b is transmitted through transmission belts 6a and 6b, and driven wheels 8a and 8b. The user 2, when walking with holding on to the supporter on the inward of the supporter, adjusts the height of the supporter by the rising and falling means. An arm 10 and a knee patch 9 containing the force sensor are attached to a flexible means 11 attached to the base plate and the leading edge of the arm, respectively. The user, when standing up, puts both of his knees on the knee patches. Arm length is changed using the flexible means so that user's knees may hit on the knee patches. The arm is revolved in a travel direction so that the arm does not prevent moving at the time of moving.
COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2003304992A Self-running type vacuum cleaner 审中-公开
标题翻译：自行式真空清洁机
公开(公告)号：JP2003304992A
公开(公告)日：2003-10-28
申请号：JP2002114098
申请日：2002-04-17
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAKEUCHI IKUO , EGAWA SAKU , ARAI MINORU , TAJIMA TAIJI , KOSEKI ATSUSHI
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To clean a cleaning place even to narrow parts without uncleaned areas by a self-running type vacuum cleaner.
SOLUTION: This self-running type vacuum cleaner 1 has a self-running vacuum cleaner body 40 and a cleaning means 9 which is detachable from the vacuum cleaner body. The vacuum cleaner body has driving means 20, 21, 30 and 31 which make the vacuum cleaner body run by itself, an instructing means 15 which instructs the cleaning means to be attached/detached, a blower 4 which sucks in refuse, and an accumulating means 5 which accumulates refuse sucked in by the blower. A suction port 6 for the sucking by the blower is formed on the vacuum cleaner body. A second suction port 8 for sucking in refuse is formed on the cleaning means. In addition, the self-running type vacuum cleaner 1 has a second blower 7 which sucks in refuse from the second suction port, a second accumulating means 10 which accumulates refuse sucked in by the second blower, second driving means 12 and 13 which make the cleaning means run by itself, and a control device 14 which controls the second driving means by an instruction from the instructing means.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：通过自动运行型真空吸尘器清洁清洁部位甚至没有未清洁区域的狭窄部件。解决方案：该自行式真空吸尘器1具有自吸式吸尘器主体40和可与真空吸尘器主体分离的清洁装置9。真空吸尘器本体具有使吸尘器本身自身运行的驱动装置20,21,30和31，指示清洁装置被安装/拆卸的指示装置15，吸入垃圾的鼓风机4和积聚积累垃圾由鼓风机吸入的装置5。在真空吸尘器主体上形成用于由鼓风机吸引的吸入口6。用于吸入垃圾的第二吸入口8形成在清洁装置上。此外，自行式真空吸尘器1具有从第二吸入口吸入垃圾的第二鼓风机7，积聚由第二鼓风机吸入的垃圾的第二蓄积装置10，使第二鼓风机清洁装置自身运行，以及控制装置14，其通过来自指示装置的指令来控制第二驱动装置。版权所有（C）2004，JPO

6. 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

7. 发明专利

JPS5932372B2 JPS5932372B2 - 失效
公开(公告)号：JPS5932372B2
公开(公告)日：1984-08-08
申请号：JP4574977
申请日：1977-04-22
申请人： Hitachi Ltd
发明人： HIBINO YOZO , KOSEKI ATSUSHI
IPC分类号： B65G57/00 , B65G57/18 , B65G59/06

8. 发明专利

JP2000237252A ASSISTING DEVICE, AND WALK TRAINING DEVICE USING THE SAME 失效
公开(公告)号：JP2000237252A
公开(公告)日：2000-09-05
申请号：JP4642899
申请日：1999-02-24
申请人： HITACHI LTD
发明人： SAKAI AKIHIKO , NEMOTO YASUHIRO , KOSEKI ATSUSHI , HATTORI SHIZUKO , FUJIE MASAKATSU
IPC分类号： A61H1/02 , A63B22/06
摘要： PROBLEM TO BE SOLVED: To provide an assisting device by which the weight load of a trainee can be surely reduced by eliminating the effect of a moment load, and a walk training device using the assisting device. SOLUTION: This assisting device 3 which is used for a walk training device is equipped with a gripping section 10 which holds the body of a trainee and can move in the vertical direction, a driving section 11 which drives the location of the gripping section in the vertical direction, a force detecting sensor 12, and an assistance control device 8 to control the driving section 11 which moves the gripping section 10 at least based on the force detecting information from the force detecting sensor 12, and the force detecting sensor 12 is provided in a location roughly meeting the axes of linear guides 20A and 20B which constitute the driving section 11, and detects a more accurate force load in the vertical direction only by eliminating the effect by a component in the moment direction.

9. 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.

10. 发明专利

JPH08141027A WALK TRAINING DEVICE AND ITS CONTROL METHOD 失效
公开(公告)号：JPH08141027A
公开(公告)日：1996-06-04
申请号：JP28478794
申请日：1994-11-18
申请人： HITACHI LTD
发明人： TANI TOMOYUKI , KOSEKI ATSUSHI
IPC分类号： A63B22/02 , A61H1/02 , A63B24/00
摘要： PURPOSE: To provide a walk training device capable of following the walking speed of a trainee and freely changing load characteristic. CONSTITUTION: A footpath means 2 on which the trainee U walks is provided with annular belts 6A, 6B in accordance with the right and left feet of the trainee, belt speed detecting means 7A, 7B which detect the speed of the annular belts 6A, 6B according to their rotation, belt displacement detecting means 11A, 11B which detect the displacement of the annular belts 6A, 6B, belt tensile force detecting means 8A, 8B which detect a tensile force generatd between the trainee U and the annular belts 6A, 6B, and driving means 9A, 9B which drive the annular belts 6A, 6B. A controller 3 which controls the footpath means 2 drives the footpath means by a feedback control rule using detected displacement, speed and tensile force, and decides the load characteristic of the footpath means observed from the trainee.

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