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1. 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

2. 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

3. 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

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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

10. 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

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