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11. 发明授权

US07145306B2 Method, system, and program for controlling moving body 有权
公开(公告)号：US07145306B2
公开(公告)日：2006-12-05
申请号：US11212686
申请日：2005-08-29
申请人： Masaki Aihara , Naohide Ogawa
发明人： Masaki Aihara , Naohide Ogawa
IPC分类号： B25J13/04 , B25J9/16
CPC分类号： B25J9/1674 , B25J9/1602 , G05B2219/34449 , G05B2219/39413 , G05B2219/40204
摘要： A method of appropriately controlling functions of a moving body having a joint such as a robot in view of the content of an error detected in the functions of the moving body. A mode setting section (112) sets “a first mode” for halting first and second functions at least after the end of a starting period of the robot (200) in response to the detection of “a first error” by an error detecting section (111). The mode setting section (112) halts the first function at least after the end of the starting period in response to the detection of “a second error” by the error detecting section (111), while setting “the second mode” for adjusting control unit (100) or the like using the second function during the starting period. Furthermore, the mode setting section (112) sets “the third mode” for moving the robot (200) using the first and second functions in response to the detection of “a third error” by the error detecting section (111).

12. 发明申请

US20060214621A1 Abnormality detector of moving robot 有权
标题翻译：移动机器人异常检测器
公开(公告)号：US20060214621A1
公开(公告)日：2006-09-28
申请号：US10540470
申请日：2003-02-14
申请人： Naohide Ogawa , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B25J9/1674 , G05B2219/34454 , G05B2219/34455 , G05B2219/42268
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出自身诊断的，发生了异常的时间的异常信息被存储在内部存储器和外部存储器中。由此，能够提高移动机器人的异常检测的可靠性，通过存储发生异常的时间附加的信息，能够准确地确定导致异常的事件的过程。进一步配置为，除了发生异常的时间之外，还将该信息与指示状态量的参数一起存储在外部存储器中。

13. 发明申请

US20060061316A1 Method, system, and program for controlling moving body 有权
标题翻译：用于控制移动体的方法，系统和程序
公开(公告)号：US20060061316A1
公开(公告)日：2006-03-23
申请号：US11212686
申请日：2005-08-29
申请人： Masaki Aihara , Naohide Ogawa
发明人： Masaki Aihara , Naohide Ogawa
IPC分类号： H02P1/54
CPC分类号： B25J9/1674 , B25J9/1602 , G05B2219/34449 , G05B2219/39413 , G05B2219/40204
摘要： A method of appropriately controlling functions of a moving body having a joint such as a robot in view of the content of an error detected in the functions of the moving body. A mode setting section (112) sets “a first mode” for halting first and second functions at least after the end of a starting period of the robot (200) in response to the detection of “a first error” by an error detecting section (111). The mode setting section (112) halts the first function at least after the end of the starting period in response to the detection of “a second error” by the error detecting section (111), while setting “the second mode” for adjusting control unit (100) or the like using the second function during the starting period. Furthermore, the mode setting section (112) sets “the third mode” for moving the robot (200) using the first and second functions in response to the detection of “a third error” by the error detecting section (111).
摘要翻译：考虑到在移动体的功能中检测到的错误的内容，适当地控制具有诸如机器人的接头的移动体的功能的方法。至少在机器人（200）的开始周期结束后，响应于由错误检测部分检测到“第一错误”，模式设置部分（112）设置用于停止第一和第二功能的“第一模式” （111）。模式设定部（112）响应于错误检测部（111）的“第二错误”的检测，至少在起动周期结束后停止第一功能，同时设定用于调整控制的“第二模式” 单元（100）等在开始期间使用第二功能。此外，模式设定部（112）响应于错误检测部（111）的“第三错误”的检测，设定利用第一和第二功能移动机器人（200）的“第三模式”。

14. 发明授权

US07769203B2 Target object detection apparatus and robot provided with the same 失效
标题翻译：目标物体检测装置和具有该物体的机器人
公开(公告)号：US07769203B2
公开(公告)日：2010-08-03
申请号：US11301114
申请日：2005-12-13
申请人： Takahiro Oohashi , Naohide Ogawa
发明人： Takahiro Oohashi , Naohide Ogawa
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D2201/0217
摘要： A target object detection apparatus for identifying a target object by using at least a camera and a wireless tag provided on the target object which exists outside of the target object detection apparatus, comprising: a target detector for reading a first identification information documented in the wireless tag; an image processor for extracting a first image information of the target object imaged by the camera; a personal identifier for identifying an imaged target object by comparing the first image information extracted by the image processor and a second image information specific to the target object; and an integration processor for determining a third identification information of the target object based on at least a second identification information identified by the personal identifier and the first identification information read by the target detector.
摘要翻译：一种目标对象检测装置，用于通过至少使用存在于目标对象检测装置外部的目标对象上的摄像机和无线标签来识别目标对象，其特征在于，包括：目标检测器，用于读取无线中记录的第一识别信息标签; 图像处理器，用于提取由所述照相机成像的所述目标对象的第一图像信息; 用于通过比较由图像处理器提取的第一图像信息和对目标对象特有的第二图像信息来识别成像的目标对象的个人标识符; 以及集成处理器，用于基于由所述个人标识符识别的至少第二识别信息和由所述目标检测器读取的所述第一识别信息来确定所述目标对象的第三识别信息。

15. 发明授权

US07446496B2 Abnormality detection system of mobile robot 失效
标题翻译：移动机器人异常检测系统
公开(公告)号：US07446496B2
公开(公告)日：2008-11-04
申请号：US10540488
申请日：2003-02-14
申请人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J19/00 , G05B23/02
CPC分类号： B25J9/1674 , G05B2219/39413 , G05B2219/40204
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information is outputted, then the degree of abnormality is discriminated based on the outputted abnormality information and the robot is driven into a stable state in response to the discriminated degree of abnormality. With this, it becomes possible to effectively utilize the abnormality detection result. In addition, since the robot is driven into a stable state in response to the discriminated degree of abnormality, it becomes possible to render the driving appropriate.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出异常信息，然后基于输出的异常信息判别异常度，并且响应于所识别的异常程度将机器人驱动到稳定状态。由此，能够有效地利用异常检测结果。此外，由于机器人响应于所识别的异常程度而被驱动到稳定状态，所以可以使驾驶适当。

16. 发明申请

US20060126918A1 Target object detection apparatus and robot provided with the same 失效
标题翻译：目标物体检测装置和具有该物体的机器人
公开(公告)号：US20060126918A1
公开(公告)日：2006-06-15
申请号：US11301114
申请日：2005-12-13
申请人： Takahiro Oohashi , Naohide Ogawa
发明人： Takahiro Oohashi , Naohide Ogawa
IPC分类号： G05B15/00
CPC分类号： G05D1/0251 , G05D2201/0217
摘要： A target object detection apparatus for identifying a target object by using at least a camera and a wireless tag provided on the target object which exists outside of the target object detection apparatus, comprising: a target detector for reading a first identification information documented in the wireless tag; an image processor for extracting a first image information of the target object imaged by the camera; a personal identifier for identifying an imaged target object by comparing the first image information extracted by the image processor and a second image information specific to the target object; and an integration processor for determining a third identification information of the target object based on at least a second identification information identified by the personal identifier and the first identification information read by the target detector.
摘要翻译：一种目标对象检测装置，用于通过至少使用存在于目标对象检测装置外部的目标对象上的摄像机和无线标签来识别目标对象，其特征在于，包括：目标检测器，用于读取无线中记录的第一识别信息标签; 图像处理器，用于提取由所述照相机成像的所述目标对象的第一图像信息; 用于通过比较由图像处理器提取的第一图像信息和对目标对象特有的第二图像信息来识别成像的目标对象的个人标识符; 以及集成处理器，用于基于由所述个人标识符识别的至少第二识别信息和由所述目标检测器读取的所述第一识别信息来确定所述目标对象的第三识别信息。

17. 发明授权

US06266576B1 Legged moving robot 失效
标题翻译：有腿的移动机器人
公开(公告)号：US06266576B1
公开(公告)日：2001-07-24
申请号：US09309594
申请日：1999-05-11
申请人： Yasushi Okada , Toru Takenaka , Kenichi Ogawa , Naohide Ogawa , Nobuaki Ozawa
发明人： Yasushi Okada , Toru Takenaka , Kenichi Ogawa , Naohide Ogawa , Nobuaki Ozawa
IPC分类号： G06F1900
CPC分类号： H01M8/04992 , B25J19/005 , G06N3/008 , H01M8/04201 , H01M8/04223 , H01M8/04225 , H01M8/04373 , H01M8/04388 , H01M8/04425 , H01M8/04567 , H01M8/04753 , H01M8/04776 , H01M8/0612 , H01M16/003 , H02J1/108 , H02J7/345 , H02J2001/004
摘要： A legged moving robot has an action plan function to operate according to a predetermined action plan. The legged moving robot has a fuel cell for supplying operating electric energy for the legged moving robot, an operation control unit for controlling operation of the legged moving robot according to the action plan, and an electric generation managing unit for monitoring a state of the fuel cell and contents of the action plan and for regulating an amount of electric energy generated by the fuel cell depending on the action plan.
摘要翻译：腿式移动机器人具有根据预定行动计划操作的动作计划功能。腿式移动机器人具有用于为腿式移动机器人提供操作电能的燃料电池单元，用于根据动作方案控制腿式移动机器人的操作的操作控制单元，以及用于监视燃料状态的发电管理单元动作方案的单元格和内容，以及用于根据动作方案来调节由燃料电池产生的电能的量。

18. 发明授权

US09592610B2 Remote controller 有权
标题翻译：遥控器
公开(公告)号：US09592610B2
公开(公告)日：2017-03-14
申请号：US12521828
申请日：2008-10-07
申请人： Shinichi Matsunaga , Naohide Ogawa , Kimio Takahashi
发明人： Shinichi Matsunaga , Naohide Ogawa , Kimio Takahashi
IPC分类号： B25J13/06 , B25J9/16 , G05D1/00 , G05D1/02
CPC分类号： B25J13/06 , B25J9/1676 , G05D1/0033 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0217
摘要： A remote controller enables a user to manipulate behavior of a robot so that the robot does not stray away from a given area and also avoids contact with an object. If a route designated by the user satisfies a stable movement requirement, a first command signal is transmitted from the remote controller to the robot. By doing so, it is possible to move the robot according to the designated route. On the other hand, if the route designated by the user does not satisfy the stable movement requirement, the first command signal is not transmitted from the remote controller to the robot. Therefore, it is possible to stop the robot from moving according to the designated route, and further to avoid the situation where the robot strays away from the designated region, or comes into contact with the object.
摘要翻译：遥控器使用户能够操纵机器人的行为，使得机器人不会偏离给定的区域，也避免与对象的接触。如果由用户指定的路由满足稳定的移动要求，则从遥控器向机器人发送第一命令信号。通过这样做，可以根据指定的路线移动机器人。另一方面，如果由用户指定的路径不满足稳定运动要求，则不将第一命令信号从遥控器发送到机器人。因此，可以根据指定的路线停止机器人的移动，并且进一步避免机器人远离指定区域而与物体接触的情况。

19. 发明授权

US08466777B2 Target object detection server 有权
公开(公告)号：US08466777B2
公开(公告)日：2013-06-18
申请号：US12315736
申请日：2008-12-05
申请人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
发明人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
IPC分类号： H04Q5/22 , G08B26/00 , G08B1/08 , G08B13/14 , G08B21/00
CPC分类号： G06Q10/087 , G06Q10/06
摘要： A target object detection server is a detection server which communicates by wireless to a detector which detects whether or not a target object exists within a surrounding area of the detector by means of a detection tag mounted on the target object. Furthermore, the target object detection server connects through a network with one or more receivers which are arranged in a surrounding area of the target object, and receives a radio wave transmitted from the detection tag. According to the target object detection server mentioned above, it is possible to increase reliability for detecting the target object more accurately.

20. 发明申请

US20100036527A1 REMOTE CONTROLLER 有权
标题翻译：遥控器
公开(公告)号：US20100036527A1
公开(公告)日：2010-02-11
申请号：US12521828
申请日：2008-10-07
申请人： Shinichi Matsunaga , Naohide Ogawa , Kimio Takahashi
发明人： Shinichi Matsunaga , Naohide Ogawa , Kimio Takahashi
IPC分类号： G06F19/00 , B62D57/02
CPC分类号： B25J13/06 , B25J9/1676 , G05D1/0033 , G05D1/024 , G05D1/0251 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0217
摘要： A remote controller enables a user to manipulate behavior of a robot so that the robot does not stray away from a given area and also avoids contact with an object. If a route designated by the user satisfies a stable movement requirement, a first command signal is transmitted from the remote controller to the robot. By doing so, it is possible to move the robot according to the designated route. On the other hand, if the route designated by the user does not satisfy the stable movement requirement, the first command signal is not transmitted from the remote controller to the robot. Therefore, it is possible to stop the robot from moving according to the designated route, and further to avoid the situation where the robot strays away from the designated region, or comes into contact with the object.
摘要翻译：遥控器使用户能够操纵机器人的行为，使得机器人不会偏离给定的区域，也避免与对象的接触。如果由用户指定的路由满足稳定的移动要求，则从遥控器向机器人发送第一命令信号。通过这样做，可以根据指定的路线移动机器人。另一方面，如果由用户指定的路径不满足稳定运动要求，则不将第一命令信号从遥控器发送到机器人。因此，可以根据指定的路线停止机器人的移动，并且进一步避免机器人远离指定区域而与物体接触的情况。

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