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1. 发明申请

US20140063248A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20140063248A1
公开(公告)日：2014-03-06
申请号：US13602130
申请日：2012-09-01
申请人： Yoshiaki SAKAGAMI , Christian Goerick , Jan Fritsch , Bernd Heisele
发明人： Yoshiaki SAKAGAMI , Christian Goerick , Jan Fritsch , Bernd Heisele
IPC分类号： G08B13/22
CPC分类号： G08B13/22 , G06K9/00798 , G06K9/00805 , G06K9/00825 , G08G1/166
摘要： A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.
摘要翻译：车辆周边监视装置1配备有识别自车C的行进方向上的道路形状的第一识别单元11，识别存在于自车C的周边的物体M的位置的第二识别单元12 自身车辆C，从第二识别单元12识别的位置估计物体M的移动方向的估计单元13，以及确定是否执行避免接触的避免处理的接触避免处理单元15 基于由第一识别单元11识别的道路的形状与由估计单元13估计的物体M的移动方向之间的关系的自车C和物体M。

2. 发明授权

US08369991B2 Humanoid fall direction change among multiple objects 有权
标题翻译：人型下降方向在多个物体之间变化
公开(公告)号：US08369991B2
公开(公告)日：2013-02-05
申请号：US12641163
申请日：2009-12-17
申请人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
发明人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.
摘要翻译：公开了一种用于控制具有至少两条腿的机器人的系统和方法，所述机器人从直立姿势落下并且所述机器人位于多个周围物体附近。确定机器人的多个预测的下降方向，其中每个预测的下降方向与脚部放置策略相关联，例如采取步骤以避免周围物体。确定每个预测的下降方向避免周围物体的程度。根据相关秋季方向避免周围物体的程度，从各种脚部放置策略中选择最佳策略。控制机器人实施这一最佳策略。

3. 发明授权

US08352077B2 Inertia shaping for humanoid fall direction change 有权
标题翻译：惯性成形为人形学下降方向变化
公开(公告)号：US08352077B2
公开(公告)日：2013-01-08
申请号：US12610872
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
IPC分类号： G05B19/402
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.
摘要翻译：公开了一种用于控制从直立姿势落下的机器人的系统和方法。在机器人上进行惯性整形，以避免坠落期间的物体。确定机器人的期望的整体倾倒角速度。该速度的方向基于从机器人的压力中心到物体的方向。基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。基于期望的复合刚体惯性来确定机器人的期望接合速度。所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。然后控制机器人的接头处的致动器以实现所需的接合速度。

4. 发明申请

US20110196877A1 WEIGHING APPARATUS 审中-公开
标题翻译：称重装置
公开(公告)号：US20110196877A1
公开(公告)日：2011-08-11
申请号：US13121544
申请日：2009-09-09
申请人： Yoshiaki Sakagami , Atsushi Takahashi
发明人： Yoshiaki Sakagami , Atsushi Takahashi
IPC分类号： G06F17/30
CPC分类号： G01G11/12 , B65G43/08
摘要： A weighing apparatus includes a conveying unit, a weighing unit, a detecting unit, a first storing unit and a presenting unit. The conveying unit is configured to convey an item. The weighing unit is configured to measure a weight of the item conveyed on the conveying unit. The detecting unit is configured to detect an item interval related to a distance between a plurality of items supplied to the conveying unit. The first storing unit is configured to store a plurality of item intervals acquired by the detecting unit during a predetermined period of time. The presenting unit is configured to provide, based on the item intervals stored in the first storing unit, guidance related to a change in an item conveying speed of the conveying unit.
摘要翻译：称重装置包括输送单元，称重单元，检测单元，第一存储单元和呈现单元。传送单元被配置为传送物品。称重单元被配置为测量在输送单元上输送的物品的重量。检测单元被配置为检测与提供给输送单元的多个物品之间的距离相关的物品间隔。第一存储单元被配置为在预定时间段期间存储由检测单元获取的多个项目间隔。呈现单元被配置为基于存储在第一存储单元中的项目间隔来提供与传送单元的物品传送速度的变化相关的引导。

5. 发明授权

US07880130B2 Optical device and mobile apparatus 有权
标题翻译：光学设备和移动设备
公开(公告)号：US07880130B2
公开(公告)日：2011-02-01
申请号：US11808250
申请日：2007-06-07
申请人： Yoshiaki Sakagami , Yoichi Nishimura , Kenji Kadowaki
发明人： Yoshiaki Sakagami , Yoichi Nishimura , Kenji Kadowaki
IPC分类号： G03B21/62 , H01J3/14
CPC分类号： G01S7/4814 , G01S17/36 , G01S17/89 , G02B3/005 , G02B3/0068
摘要： An optical device ensuring projection of light over a wide range as well as reduction in size, and a mobile apparatus mounted with the optical device are provided. The optical device (100) includes a light-projecting unit (110) and a light-receiving unit (120). The light-projecting unit (110) has a projector (114) and a lenticular sheet (112) arranged in layers. First and second cylindrical lens arrays having their generatrices orthogonal to each other are formed on the respective surfaces of the sheet (112). The light-receiving unit (120) has a light-receiver (124). The light-projecting unit (110) and the light-receiving unit (120) are arranged adjacent to each other in an integrated manner so that the light-receiver (124) can sense the light emitted from the projector (114) via the sheet (112) and then reflected from an object.
摘要翻译：提供了一种保证在宽范围内投射光以及减小尺寸的光学装置以及安装有光学装置的移动装置。光学装置（100）包括投光单元（110）和光接收单元（120）。投光单元（110）具有层叠的投影仪（114）和透镜片（112）。在片材（112）的各个表面上形成具有彼此正交的母体的第一和第二柱面透镜阵列。光接收单元（120）具有光接收器（124）。光投射单元（110）和光接收单元（120）以一体的方式彼此相邻地布置，使得光接收器（124）可以经由片材感测从投影仪（114）发射的光（112），然后从对象反射。

6. 发明授权

US07778770B2 Communication system between vehicles 有权
标题翻译：车辆之间的通信系统
公开(公告)号：US07778770B2
公开(公告)日：2010-08-17
申请号：US11365914
申请日：2006-03-02
申请人： Yoshiaki Sakagami , Takamichi Shimada
发明人： Yoshiaki Sakagami , Takamichi Shimada
IPC分类号： G01C21/00
CPC分类号： G01C21/26
摘要： A communication system between vehicles of the present invention is equipped in each of the vehicles with an image taking device for taking an image around the vehicle; a moving body detection unit for detecting a moving body from the image taken by the image taking device; a display unit for displaying the image; an image data generation unit for generating image data output to the display unit of the each vehicle; and a transmitting/receiving device for any of transmitting/receiving data, wherein the image data generation unit generates image data for displaying an existence of a moving body, of which an image is taken by said image taking device of one of the vehicles, and outputs the image data to the display unit of other vehicle.
摘要翻译：本发明的车辆之间的通信系统在每个车辆中配备有用于拍摄车辆周围的图像的摄像装置; 移动体检测单元，用于从由图像摄取装置拍摄的图像中检测移动体; 用于显示图像的显示单元; 图像数据生成单元，用于生成输出到各车辆的显示单元的图像数据; 以及用于发送/接收数据的发送/接收装置，其中图像数据生成单元生成用于显示其中一个车辆的所述摄像装置拍摄图像的移动体的存在的图像数据，以及将图像数据输出到其他车辆的显示单元。

7. 发明申请

US20100161131A1 Inertia Shaping For Humanoid Fall Direction Change 有权
标题翻译：惯性成形为人形坠落方向变化
公开(公告)号：US20100161131A1
公开(公告)日：2010-06-24
申请号：US12610872
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
IPC分类号： G06F19/00 , G06F17/11
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.
摘要翻译：公开了一种用于控制从直立姿势落下的机器人的系统和方法。在机器人上进行惯性整形，以避免坠落期间的物体。确定机器人的期望的整体倾倒角速度。该速度的方向基于从机器人的压力中心到物体的方向。基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。基于期望的复合刚体惯性来确定机器人的期望接合速度。所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。然后控制机器人的接头处的致动器以实现所需的接合速度。

8. 发明授权

US07467026B2 Autonomously moving robot management system 有权
标题翻译：自动移动机器人管理系统
公开(公告)号：US07467026B2
公开(公告)日：2008-12-16
申请号：US10917322
申请日：2004-08-13
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Naoaki Sumida
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Naoaki Sumida
IPC分类号： G06F19/00
CPC分类号： B25J9/1694 , G05B2219/31422 , G05B2219/35453 , G10L13/00 , G10L15/26
摘要： An autonomous robot is controlled by the local robot information controller which is connected to a robot application network to which the transceiver to communicate with the autonomous robot is attached. The robot application network, a user LAN adaptive controller an information distribution manager and the third party information provider subsystem are linked with a public network. The information distribution manager acquires the information from the third party information provider subsystem on the schedule which is set by the user LAN adaptive controller. The local robot information controller receives the information distribution manager and convert it into the data that generates robot gestures. The robot performs actions in accordance to the gesture data received from the local robot information controller.
摘要翻译：自动机器人由本地机器人信息控制器控制，该控制器连接到与自主机器人通信的收发器所连接的机器人应用网络。机器人应用网络，用户LAN自适应控制器，信息分发管理器和第三方信息提供者子系统与公共网络相连。信息分配管理器根据由用户LAN自适应控制器设置的调度从第三方信息提供者子系统获取信息。本地机器人信息控制器接收信息分发管理器并将其转换成生成机器人手势的数据。机器人根据从本地机器人信息控制器接收到的手势数据执行动作。

9. 发明申请

US20050065652A1 Autonomously moving robot management system 有权
标题翻译：自动移动机器人管理系统
公开(公告)号：US20050065652A1
公开(公告)日：2005-03-24
申请号：US10917322
申请日：2004-08-13
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Naoaki Sumida
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Naoaki Sumida
IPC分类号： B25J13/00 , B25J5/00 , B25J9/16 , G06F19/00 , G10L13/04 , G10L15/26 , H04L12/28 , H04W84/12 , H04W88/08 , H04W88/18
CPC分类号： B25J9/1694 , G05B2219/31422 , G05B2219/35453 , G10L13/00 , G10L15/26
摘要： An autonomous robot is controlled by the local robot information controller which is connected to a robot application network to which the transceiver to communicate with the autonomous robot is attached. The robot application network, a user LAN adaptive controller an information distribution manager and the third party information provider subsystem are linked with a public network. The information distribution manager acquires the information from the third party information provider subsystem on the schedule which is set by the user LAN adaptive controller. The local robot information controller receives the information distribution manager and covert it into the data that generates robot gestures. The robot performs actions in accordance to the gesture data received from the local robot information controller.
摘要翻译：自动机器人由本地机器人信息控制器控制，该控制器连接到与自主机器人通信的收发器所连接的机器人应用网络。机器人应用网络，用户LAN自适应控制器，信息分发管理器和第三方信息提供者子系统与公共网络相连。信息分配管理器根据由用户LAN自适应控制器设置的调度从第三方信息提供者子系统获取信息。本地机器人信息控制器接收信息分发管理器并将其隐藏成生成机器人手势的数据。机器人根据从本地机器人信息控制器接收到的手势数据执行动作。

10. 发明授权

US06553331B2 Weight checking apparatus 失效
标题翻译：重量检查装置
公开(公告)号：US06553331B2
公开(公告)日：2003-04-22
申请号：US09909753
申请日：2001-07-23
申请人： Yoshiaki Sakagami
发明人： Yoshiaki Sakagami
IPC分类号： G01C1903
CPC分类号： G01G15/00
摘要： A weight checking apparatus is provided to prevent items that have not been properly checked from slipping through the weight checker. A weight checker includes a weight conveyor, a loading sensor, a weighing portion, a weighing conveyor weight change monitoring means, an item weight calculation means, and a controller. The loading sensor detects the loading of an item on the weighing conveyor. The weighing portion detects the weight of the weighing conveyor. The controller switches between the weighing conveyor weight change monitoring process and the item weight calculation process based on a detection signal from the loading sensor. The weighing conveyor weight change monitoring process monitors a change in the weight value of the weighing conveyor. The item weight calculation process calculates the weight of the item from the weight value detected by the weighing portion.
摘要翻译：提供了一种重量检查装置，以防止未被正确检查的物品滑过重量检查器。重量检查器包括重量输送机，装载传感器，称重部分，称重传送器重量变化监控装置，物品重量计算装置和控制器。装载传感器检测称重输送机上的物品的装载。称重部分检测称重输送机的重量。控制器根据来自装载传感器的检测信号，在称重传送带重量变化监视过程和物品重量计算过程之间切换。称重传感器重量变化监测过程监测称重输送机重量值的变化。物品重量计算处理根据由称重部检测到的重量值来计算物品的重量。

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