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1. 发明申请

US20130236692A1 COMPOSITE MATERIAL STRUCTURE, AND AIRCRAFT WING AND AIRCRAFT FUSELAGE PROVIDED THEREWITH 有权
标题翻译：复合材料结构和飞机提供的飞机和飞机配件
公开(公告)号：US20130236692A1
公开(公告)日：2013-09-12
申请号：US13881590
申请日：2012-01-26
申请人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
发明人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
IPC分类号： B64C1/06
CPC分类号： B64C1/064 , B29C70/545 , B29C70/86 , B29K2705/00 , B29K2705/02 , B32B3/266 , B32B2605/18 , B64C1/14 , B64C3/182 , B64C3/20 , B64C3/26 , B64C3/34 , B64C2001/0072 , Y02T50/43 , Y10T428/24322
摘要： Provided is a composite material structure reinforced against stress concentration in the peripheral edge portions of holes and enabled to be reduced in weight. A wing (1) is formed in a box structure. A lower surface outer plate (3) of the wing (1) includes a center section (3b) made of metal extending in one direction and having access holes (5) formed therein, a front section (3a) and a rear section (3c) made of fiber reinforced plastics extending in the one direction and connected to both side portions of the center section (3b). As the metal used for the center section (3b), a titanium alloy or an aluminum alloy is suitable.
摘要翻译：提供了一种复合材料结构，其抵抗孔的周边部分中的应力集中增强，并且能够减轻重量。机翼（1）形成为盒结构。翼（1）的下表面外板（3）包括由金属制成的中心部分（3b），其沿一个方向延伸并具有形成在其中的进入孔（5），前部（3a）和后部（3c））由在一个方向上延伸并连接到中心部分（3b）的两个侧部的纤维增强塑料制成。作为用于中心部分（3b）的金属，钛合金或铝合金是合适的。

2. 发明申请

US20090198375A1 Human-Guided Mapping Method for Mobile Robot 失效
标题翻译：人机引导的移动机器人映射方法
公开(公告)号：US20090198375A1
公开(公告)日：2009-08-06
申请号：US12085719
申请日：2006-10-18
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G05B15/00
CPC分类号： G05D1/0221 , G05B2219/40446 , G05B2219/40506 , G05B2219/40508
摘要： A method of mapping an operation area by a team of a human and a mobile robot 200 includes the steps of defining a graph representing the area by a human 201, guiding the robot by human along an edge 203, stopping at a vertex in the graph by the team 203, creating a vertex record if stopped at a new vertex 205, localizing the robot and vertices if stopped at an existing vertex 206, creating an edge record if finished a new edge 208, and outputting an area's map including a set of vertex records and a set of edge record by the robot 210. The robot's human-tracking step 203 includes the steps of obtaining a 2-DOF motion command from sensors that detect the human's action and executing a 2-DOF motion based on the motion command.
摘要翻译：由人类和移动机器人200的团队映射操作区域的方法包括以下步骤：由人类201定义表示区域的图形，沿着边缘203引导人类的机器人，停止在图形中的顶点由团队203创建顶点记录，如果在新顶点205处停止，则定位机器人和顶点，如果停留在现有顶点206处，则如果完成了新边缘208则创建边缘记录，并且输出区域的地图，包括一组顶点记录和机器人210的一组边缘记录。机器人的人类跟踪步骤203包括以下步骤：从检测人的动作的传感器和基于运动命令执行2自由度运动获得2-DOF运动命令。

3. 发明授权

US5073749A Mobile robot navigating method 失效
标题翻译：移动机器人导航方法
公开(公告)号：US5073749A
公开(公告)日：1991-12-17
申请号：US540151
申请日：1990-06-19
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D1/0272
摘要： A mobile robot navigating method for navigating an autonomous mobile robot utilizes a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit and a running mechanism, such as an autonomous carrier vehicle, capable of quickly and accurately controlling the mobile robot for steady running to a desired posture along a specified path. The mobile robot is controlled for running by a speed command including a desired speed for feed-forward control a speed correction for feed back control, and an angular velocity command including a desired angular velocity for feed-forward control and an angular velocity correction for feedback control. The mobile robot is controlled in a feed back and feed-forward control mode using the speed command and the angular velocity command so as to run steadily along an optimum path to a desired posture without meandering.
摘要翻译：用于导航自主移动机器人的移动机器人导航方法利用路径规划单元，姿势控制单元，命令信号转换单元，当前姿态计算单元和诸如自主运载车辆的运行机构，其能够快速且准确地控制移动机器人沿着指定的路径稳定运行到所需的姿势。控制移动机器人通过速度指令运行，该速度指令包括用于反馈控制的前馈控制的预期速度以及包括用于前馈控制的期望角速度和用于反馈的角速度校正的角速度指令控制。使用速度指令和角速度指令将移动机器人控制在反馈和前馈控制模式中，以便沿着最佳路径稳定地运行到期望的姿势而不进行曲折。

4. 发明申请

US20140303869A1 SENSOR-BASED VEHICLE CONTROL METHODS 审中-公开
标题翻译：基于传感器的车辆控制方法
公开(公告)号：US20140303869A1
公开(公告)日：2014-10-09
申请号：US14362894
申请日：2012-01-12
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G05D1/02
CPC分类号： G05D1/021 , B60N2/002 , B60W30/18181 , B60W2300/38 , B60W2540/00 , B60W2720/10 , B60W2720/14 , B60Y2200/84 , B62D1/02
摘要： The novelty of this invention is that the vehicle's two degrees of freedom in motion is controlled by a single action of a driver. With this method, a driver can control a vehicle easily and intuitively. This invention might make it possible for impaired people to drive vehicles at their will for the first time. First, a sensor unit of a vehicle detects the Cartesian coordinates (x, y) that are specified by the driver. Second, a computing unit of the vehicle converts the coordinates (x, y) into a desired translation speed and a desired rotation speed, or into a desired translation speed and a desired curvature. Third, the motion control unit of the vehicle controls its motion using the desired translation speed and rotation speed, or the translation speed and curvature.
摘要翻译：本发明的新颖之处在于车辆的两个运动自由度由驾驶员的单一动作控制。通过该方法，驾驶员可以容易且直观地控制车辆。本发明可能使受损的人第一次以自己的意愿驾驶车辆成为可能。首先，车辆的传感器单元检测由驾驶员指定的笛卡尔坐标（x，y）。第二，车辆的计算单元将坐标（x，y）转换成期望的平移速度和期望的转速，或将其转换成期望的转换速度和期望的曲率。第三，车辆的运动控制单元使用期望的平移速度和转速或平移速度和曲率来控制其运动。

5. 发明授权

US08068935B2 Human-guided mapping method for mobile robot 失效
标题翻译：移动机器人的人为导向映射方法
公开(公告)号：US08068935B2
公开(公告)日：2011-11-29
申请号：US12085719
申请日：2006-10-18
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G06F19/00
CPC分类号： G05D1/0221 , G05B2219/40446 , G05B2219/40506 , G05B2219/40508
摘要： A method of mapping an operation area by a team of a human and a mobile robot 200 includes the steps of defining a graph representing the area by a human 201, guiding the robot by human along an edge 203, stopping at a vertex in the graph by the team 203, creating a vertex record if stopped at a new vertex 205, localizing the robot and vertices if stopped at an existing vertex 206, creating an edge record if finished a new edge 208, and outputting an area's map including a set of vertex records and a set of edge record by the robot 210. The robot's human-tracking step 203 includes the steps of obtaining a 2-DOF motion command from sensors that detect the human's action and executing a 2-DOF motion based on the motion command.
摘要翻译：由人类和移动机器人200的团队映射操作区域的方法包括以下步骤：由人类201定义表示区域的图形，沿着边缘203引导人类的机器人，停止在图形中的顶点由团队203创建顶点记录，如果在新顶点205处停止，则定位机器人和顶点，如果停留在现有顶点206处，则如果完成了新边缘208则创建边缘记录，并且输出区域的地图包括一组顶点记录和机器人210的一组边缘记录。机器人的人类跟踪步骤203包括以下步骤：从检测人的动作的传感器和基于运动命令执行2自由度运动获得2-DOF运动命令。

6. 发明授权

US5109340A Path planning method for mobile robots 失效
标题翻译：移动机器人路径规划方法
公开(公告)号：US5109340A
公开(公告)日：1992-04-28
申请号：US540152
申请日：1990-06-19
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , G05D1/0263
摘要： A method of planning paths for autonomous carrier vehicles, such as a mobile robots, capable of planning curved paths consisting of cubic spirals smoother than those planned by conventional path planning methods. The path planned by the method of the invention is defined by one or two of cubic spirals with curvature expressed by a quadratic function of distance measured along the cubic spiral with zero curvatures at its opposite ends. The path is designed so that curvatures at the junctions are zero and the integral of the square of the derivative of curvature function between the opposite ends of the path is minimized. The mobile robot is able to travel very smoothly across the junctions when the integral of the square of the derivative of curvature is minimized.
摘要翻译：规划诸如移动机器人的自主运营商车辆的路径的方法，其能够规划由通过常规路径规划方法计划的平滑线的立方螺旋组成的弯道。通过本发明的方法规划的路径由一个或两个具有曲率的立方体螺旋线定义，其曲率由在相对端处具有零曲率的三次曲线测量的距离的二次函数表示。该路径被设计成使得接合处的曲率为零，并且在路径的相对端之间的曲率导数的平方的积分最小化。当曲率导数的平方的积分最小化时，移动机器人能够非常顺利地穿过交叉点行进。

7. 发明授权

US09751608B2 Composite material structure, and aircraft wing and aircraft fuselage provided therewith 有权
公开(公告)号：US09751608B2
公开(公告)日：2017-09-05
申请号：US13881590
申请日：2012-01-26
申请人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
发明人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
IPC分类号： B64C3/26 , B64C1/06 , B64C3/18 , B64C3/20 , B64C1/00 , B64C1/14 , B64C3/34
CPC分类号： B64C1/064 , B29C70/545 , B29C70/86 , B29K2705/00 , B29K2705/02 , B32B3/266 , B32B2605/18 , B64C1/14 , B64C3/182 , B64C3/20 , B64C3/26 , B64C3/34 , B64C2001/0072 , Y02T50/43 , Y10T428/24322
摘要： A composite material structure reinforced against stress concentration in peripheral edge portions of holes and enabled to be reduced in weight. A wing (1) is formed in a box structure. A lower surface outer plate (3) of the wing (1) includes: a center section (3b) made of metal extending in one direction and having access holes (5) formed therein; a front section (3a); and a rear section (3c) made of fiber reinforced plastics extending in the one direction and connected to both side portions of the center section (3b). As the metal used for the center section (3b), a titanium alloy or an aluminum alloy is suitable.

8. 发明授权

US09027881B2 Composite material structure and aircraft wing provided therewith 有权
标题翻译：复合材料结构和飞机机翼
公开(公告)号：US09027881B2
公开(公告)日：2015-05-12
申请号：US13881521
申请日：2012-01-26
申请人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
发明人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
IPC分类号： B64C3/26 , B32B7/04 , B64C3/18 , B64C3/20 , B64C3/34
CPC分类号： B64C3/26 , B32B3/266 , B32B7/04 , B32B2605/18 , B64C3/182 , B64C3/20 , B64C3/34 , Y10T428/192 , Y10T428/197 , Y10T428/24008
摘要： Provided is a composite material structure enabled to be reduced in weight. The composite material structure includes a front section (3a) extending in one direction and formed as a composite material made of fiber reinforced plastics, a rear section (3c) separated from the front section (3a) by a predetermined space, extending in the one direction, and formed as a composite material made of fiber reinforced plastics, and access panels (5) provided between the front section (3a) and the rear section (3c) and having a dimension in the one direction shorter than the front section (3a) and the rear section (3c). The access panels (5) are fixed to the front section (3a) and the rear section (3c) in an orthogonal direction substantially orthogonal to the one direction and set to be displaceable in the one direction and are removable.
摘要翻译：提供能够减轻重量的复合材料结构。复合材料结构包括沿一个方向延伸并形成为由纤维增强塑料制成的复合材料的前部（3a），与前部（3a）分隔开预定空间的后部（3c），在该部分并且形成为由纤维增强塑料制成的复合材料，以及设置在前部（3a）和后部（3c）之间并且在一个方向上的尺寸比前部（3a）短的检修面板（5））和后部（3c）。检修面板（5）在与该一个方向大致正交的正交方向上固定在前部（3a）和后部（3c）上，并被设置为沿一个方向移动并且是可拆卸的。

9. 发明申请

US20130216766A1 COMPOSITE MATERIAL STRUCTURE AND AIRCRAFT WING PROVIDED THEREWITH 有权
标题翻译：复合材料结构和飞机提供给它
公开(公告)号：US20130216766A1
公开(公告)日：2013-08-22
申请号：US13881521
申请日：2012-01-26
申请人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
发明人： Yuya Tanaka , Hideyuki Suzuki , Yutaka Kanayama , Kazuki Sato , Masatake Hatano , Satoru Saito , Akihisa Watanabe , Ryo Abe
IPC分类号： B64C3/26 , B32B7/04
CPC分类号： B64C3/26 , B32B3/266 , B32B7/04 , B32B2605/18 , B64C3/182 , B64C3/20 , B64C3/34 , Y10T428/192 , Y10T428/197 , Y10T428/24008
摘要： Provided is a composite material structure enabled to be reduced in weight. The composite material structure includes a front section (3a) extending in one direction and formed as a composite material made of fiber reinforced plastics, a rear section (3c) separated from the front section (3a) by a predetermined space, extending in the one direction, and formed as a composite material made of fiber reinforced plastics, and access panels (5) provided between the front section (3a) and the rear section (3c) and having a dimension in the one direction shorter than the front section (3a) and the rear section (3c). The access panels (5) are fixed to the front section (3a) and the rear section (3c) in an orthogonal direction substantially orthogonal to the one direction and set to be displaceable in the one direction and are removable.
摘要翻译：提供能够减轻重量的复合材料结构。复合材料结构包括沿一个方向延伸并形成为由纤维增强塑料制成的复合材料的前部（3a），与前部（3a）分隔开预定空间的后部（3c），在该部分并且形成为由纤维增强塑料制成的复合材料，以及设置在前部（3a）和后部（3c）之间并且在一个方向上的尺寸比前部（3a）短的检修面板（5））和后部（3c）。检修面板（5）在与该一个方向大致正交的正交方向上固定在前部（3a）和后部（3c）上，并被设置为沿一个方向移动并且是可拆卸的。

10. 发明授权

US4875172A Locomotion-command method for mobile robots 失效
标题翻译：移动机器人的运动指令方法
公开(公告)号：US4875172A
公开(公告)日：1989-10-17
申请号：US235710
申请日：1988-08-19
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： B25J9/16 , G05D1/02
CPC分类号： G05D1/0272 , G05D1/0255
摘要： A locomotion-command method for a mobile robot of the type having a master section and a locomotion module wherein a travelling route is specified by a command sent from the master section to the locomotion module and wherein travelling on a given direction line is set as a basic motion, and a travelling route can be arbitrarily set by sending a command which specifies changes in the position, direction and angle of the direction line, to thereby enable a robot to freely travel with simple commands and to realize effective control of the robot.
摘要翻译：一种用于具有主部分和运动模块的类型的移动机器人的运动指令方法，其中通过从主部分发送到移动模块的命令指定行进路线，并且其中沿给定方向线行驶被设置为可以通过发送指定方向线的位置，方向和角度的变化的指令来任意设定行驶路线，从而能够使机器人以简单的命令自由行进并实现对机器人的有效控制。

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