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1. 发明授权

US07761231B2 Outside monitoring device for mobile robot 有权
标题翻译：移动机器人外部监控装置
公开(公告)号：US07761231B2
公开(公告)日：2010-07-20
申请号：US11092543
申请日：2005-03-30
申请人： Koji Kawabe , Satoki Matsumoto , Norihisa Kobayashi , Takeshi Koshiishi
发明人： Koji Kawabe , Satoki Matsumoto , Norihisa Kobayashi , Takeshi Koshiishi
IPC分类号： G01C21/00 , B25J5/00 , G01C3/00 , G01C5/00 , G01B11/14 , G06F19/00 , G05B19/04
CPC分类号： B25J19/027 , B25J19/021
摘要： An outside monitoring device of a mobile robot for measuring a direction of a target object using a tag, which is provided on a target object and replies a receipt signal to the mobile robot in compliance with a light signal from the mobile robot, the outside monitoring device including a plurality of light emitters each irradiating the light signal to an assigned detectable region among detectable regions established around the mobile robot are provided on the mobile robot, wherein light emitters are arranged around a reference axis orthogonal to a ground plane of the mobile robot to allow the detection of the tag within detectable regions.
摘要翻译：一种移动机器人的外部监视装置，用于使用标签来测量目标对象的方向，所述标签设置在目标对象上，并且根据来自移动机器人的光信号向移动机器人回复接收信号，外部监视在移动机器人上设置包括多个光发射器的装置，每个光发射器在可移动机器人周围建立的可检测区域之间将光信号照射到分配的可检测区域，其中发光体围绕与移动机器人的接地平面正交的参考轴线布置以允许在可检测区域内检测标签。

2. 发明申请

US20050222713A1 Outside monitoring device for mobile robot 有权
标题翻译：移动机器人外部监控装置
公开(公告)号：US20050222713A1
公开(公告)日：2005-10-06
申请号：US11092543
申请日：2005-03-30
申请人： Koji Kawabe , Satoki Matsumoto , Norihisa Kobayashi , Takeshi Koshiishi
发明人： Koji Kawabe , Satoki Matsumoto , Norihisa Kobayashi , Takeshi Koshiishi
IPC分类号： B25J19/02 , B25J5/00 , B25J13/08 , B25J19/04 , G01S13/74 , G01S13/88 , G01S17/88 , G06F19/00
CPC分类号： B25J19/027 , B25J19/021
摘要： An outside monitoring device of a mobile robot for measuring a direction of a target object using a tag, which is provided on a target object and replies a receipt signal to the mobile robot in compliance with a light signal from the mobile robot, the outside monitoring device including a plurality of light emitters each irradiating the light signal to an assigned detectable region among detectable regions established around the mobile robot are provided on the mobile robot, wherein light emitters are arranged around a reference axis orthogonal to a ground plane of the mobile robot to allow the detection of the tag within detectable regions.
摘要翻译：一种移动机器人的外部监视装置，用于使用标签来测量目标对象的方向，所述标签设置在目标对象上，并且根据来自移动机器人的光信号向移动机器人回复接收信号，外部监视在移动机器人上设置包括多个光发射器的装置，每个光发射器在可移动机器人周围建立的可检测区域之间将光信号照射到分配的可检测区域，其中发光体围绕与移动机器人的接地平面正交的参考轴线布置以允许在可检测区域内检测标签。

3. 发明授权

US07362258B2 Transponder detection system using radio and light wave signals 失效
标题翻译：使用无线电和光波信号的应答器检测系统
公开(公告)号：US07362258B2
公开(公告)日：2008-04-22
申请号：US11089354
申请日：2005-03-25
申请人： Koji Kawabe , Satoki Matsumoto
发明人： Koji Kawabe , Satoki Matsumoto
IPC分类号： G01S13/74 , G01S13/42 , G01S13/86
CPC分类号： G01S13/765 , G01S1/70 , G05D1/028 , G05D2201/0217
摘要： A target object detection system for detecting a target object using a detector and a tag on the target object; the tag includes a radio wave receiver receiving radio wave from the detector; a light receiver receiving a light signal from the detector; a receipt signal generator generating a receipt signal; and a transmitter which transmits the receipt signal to the detector; and the detector includes a radio wave transmitter transmitting radio wave to the surrounding area; a receiver receiving the receipt signal from the tag; a light emitter irradiating the light signal to a search region; a controller controlling the radio wave transmitter, the receiver, and the light emitter; and a target position measuring unit measuring a distance to the target object based on the intensity of the receipt signal, and regarding the irradiation direction of the light signal from the light emitter as the direction of the target-object.
摘要翻译：一种目标对象检测系统，用于使用检测器和目标对象上的标签来检测目标对象; 所述标签包括从所述检测器接收无线电波的无线电波接收机; 接收来自检测器的光信号的光接收器; 产生收据信号的收据信号发生器; 以及发送器，其将接收信号发送到检测器; 并且检测器包括向周围区域发送无线电波的无线电波发射机; 从标签接收收据信号的接收器; 将光信号照射到搜索区域的发光体; 控制无线电波发射器，接收器和发光器的控制器; 以及目标位置测量单元，其基于接收信号的强度来测量到目标对象的距离，并且关于来自发光器的光信号的照射方向作为目标对象的方向。

4. 发明授权

US07317388B2 Position detection system for mobile object 有权
标题翻译：移动物体位置检测系统
公开(公告)号：US07317388B2
公开(公告)日：2008-01-08
申请号：US11092585
申请日：2005-03-29
申请人： Koji Kawabe , Satoki Matsumoto
发明人： Koji Kawabe , Satoki Matsumoto
IPC分类号： G08B1/08
CPC分类号： G01S7/003 , G01S1/70 , G01S13/74
摘要： A position detection system for measuring a position of a mobile object traveling throughout a controlled area, the position detection system includes a tag, which is provided on the mobile object, a detector, which obtains object position information which indicates the position of the mobile object, object position information includes direction information and distance information relative to the detector of the mobile object, and the detector travels throughout the controlled area, and a base station which obtains detector position information which indicates the position of the detector, detector position information includes an absolute position and angle within the controlled area of the detector, in order to measure the position within the controlled area of the mobile object based on object position information and detector position information.
摘要翻译：一种用于测量在受控区域内行进的移动体的位置的位置检测系统，所述位置检测系统包括设置在所述移动物体上的标签，所述检测器获取指示所述移动体的位置的物体位置信息对象位置信息包括相对于移动体的检测器的方向信息和距离信息，并且检测器在整个受控区域内行进，获取检测器位置信息的基站，其指示检测器的位置，检测器位置信息包括：在检测器的受控区域内的绝对位置和角度，以便基于物体位置信息和检测器位置信息测量移动物体受控区域内的位置。

5. 发明申请

US20070135962A1 Interface apparatus and mobile robot equipped with the interface apparatus 有权
标题翻译：接口装置和配备有接口装置的移动机器人
公开(公告)号：US20070135962A1
公开(公告)日：2007-06-14
申请号：US11635041
申请日：2006-12-07
申请人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
发明人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
IPC分类号： G06F7/00 , G05B19/00 , G08B13/14 , G06F19/00
CPC分类号： G10L13/00 , G01S17/74 , G01S19/49 , G06K9/00221 , G10L15/26
摘要： A robot recording a message on a wireless tag which includes: a voice recognition unit recognizing a voice input by a voice input unit which inputs a voice of a person; a message extraction unit extracting the message from the vice recognized by the voice recognition unit based on a fixed phrase provided for obtaining a message; a recording unit recording the message extracted by the message extraction unit on the wireless tag provided on an object.
摘要翻译：一种在无线标签上记录消息的机器人，包括：语音识别单元，识别由输入人的声音的语音输入单元输入的语音; 消息提取单元，基于为获取消息而提供的固定短语，从所述语音识别单元识别出的所述副本中提取所述消息; 记录单元，将由消息提取单元提取的消息记录在设置在对象上的无线标签上。

6. 发明申请

US20050219114A1 Target object detection system 失效
标题翻译：目标物体检测系统
公开(公告)号：US20050219114A1
公开(公告)日：2005-10-06
申请号：US11089354
申请日：2005-03-25
申请人： Koji Kawabe , Satoki Matsumoto
发明人： Koji Kawabe , Satoki Matsumoto
IPC分类号： G01S1/70 , G01S13/06 , G01S13/08 , G01S13/74 , G01S13/76 , G01S13/88 , G01S17/06
CPC分类号： G01S13/765 , G01S1/70 , G05D1/028 , G05D2201/0217
摘要： A target object detection system for detecting a target object using a detector and a tag on the target object; the tag includes a radio wave receiver receiving radio wave from the detector; a light receiver receiving a light signal from the detector; a receipt signal generator generating a receipt signal; and a transmitter which transmits the receipt signal to the detector; and the detector includes a radio wave transmitter transmitting radio wave to the surrounding area; a receiver receiving the receipt signal from the tag; a light emitter irradiating the light signal to a search region; a controller controlling the radio wave transmitter, the receiver, and the light emitter; and a target position measuring unit measuring a distance to the target object based on the intensity of the receipt signal, and regarding the irradiation direction of the light signal from the light emitter as the direction of the target-object.
摘要翻译：一种目标对象检测系统，用于使用检测器和目标对象上的标签来检测目标对象; 所述标签包括从所述检测器接收无线电波的无线电波接收机; 接收来自检测器的光信号的光接收器; 产生收据信号的收据信号发生器; 以及发送器，其将接收信号发送到检测器; 并且检测器包括向周围区域发送无线电波的无线电波发射机; 从标签接收收据信号的接收器; 将光信号照射到搜索区域的发光体; 控制无线电波发射器，接收器和发光器的控制器; 以及目标位置测量单元，其基于接收信号的强度来测量到目标对象的距离，并且关于来自发光器的光信号的照射方向作为目标对象的方向。

7. 发明申请

US20050218292A1 Position detection system for mobile object 有权
标题翻译：移动物体位置检测系统
公开(公告)号：US20050218292A1
公开(公告)日：2005-10-06
申请号：US11092585
申请日：2005-03-29
申请人： Koji Kawabe , Satoki Matsumoto
发明人： Koji Kawabe , Satoki Matsumoto
IPC分类号： G01J1/00 , G01S1/70 , G01S7/00 , G01S13/74 , G01S13/88
CPC分类号： G01S7/003 , G01S1/70 , G01S13/74
摘要： A position detection system for measuring a position of a mobile object traveling throughout a controlled area, the position detection system includes a tag, which is provided on the mobile object, a detector, which obtains object position information which indicates the position of the mobile object, object position information includes direction information and distance information relative to the detector of the mobile object, and the detector travels throughout the controlled area, and a base station which obtains detector position information which indicates the position of the detector, detector position information includes an absolute position and angle within the controlled area of the detector, in order to measure the position within the controlled area of the mobile object based on object position information and detector position information.
摘要翻译：一种用于测量在受控区域内行进的移动体的位置的位置检测系统，所述位置检测系统包括设置在所述移动物体上的标签，所述检测器获取指示所述移动体的位置的物体位置信息对象位置信息包括相对于移动体的检测器的方向信息和距离信息，并且检测器在整个受控区域内行进，获取检测器位置信息的基站，其指示检测器的位置，检测器位置信息包括：在检测器的受控区域内的绝对位置和角度，以便基于物体位置信息和检测器位置信息测量移动物体受控区域内的位置。

8. 发明授权

US07983794B2 Interface apparatus and mobile robot equipped with the interface apparatus 有权
标题翻译：接口装置和配有接口装置的移动机器人
公开(公告)号：US07983794B2
公开(公告)日：2011-07-19
申请号：US11635041
申请日：2006-12-07
申请人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
发明人： Koji Kawabe , Satoki Matsumoto , Sachie Hashimoto , Taro Yokoyama , Yoko Saito
IPC分类号： G05B19/00
CPC分类号： G10L13/00 , G01S17/74 , G01S19/49 , G06K9/00221 , G10L15/26
摘要： A robot recording a message on a wireless tag which includes: a voice recognition unit recognizing a voice input by a voice input unit which inputs a voice of a person; a message extraction unit extracting the message from the voice recognized by the voice recognition unit based on a fixed phrase provided for obtaining a message; a recording unit recording the message extracted by the message extraction unit on the wireless tag provided on an object.
摘要翻译：一种在无线标签上记录消息的机器人，包括：语音识别单元，识别由输入人的声音的语音输入单元输入的语音; 消息提取单元，基于为获得消息而提供的固定短语，从由所述语音识别单元识别的语音提取所述消息; 记录单元，将由消息提取单元提取的消息记录在设置在对象上的无线标签上。

9. 发明申请

US20060128261A1 Cooling arrangement for a humanoid robot 审中-公开
标题翻译：人形机器人的冷却装置
公开(公告)号：US20060128261A1
公开(公告)日：2006-06-15
申请号：US11295521
申请日：2005-12-07
申请人： Koji Kawabe , Takuro Koyanagi , Satoshi Kaneko , Koji Okazaki , Takashi Nakayama , Ryuzo Yokoyama , Takeshi Koshiishi
发明人： Koji Kawabe , Takuro Koyanagi , Satoshi Kaneko , Koji Okazaki , Takashi Nakayama , Ryuzo Yokoyama , Takeshi Koshiishi
IPC分类号： A63H3/00
CPC分类号： B25J19/0054
摘要： A torso part (2) and a backpack part (6) of a humanoid robot are commonly formed by a shell that defines an inner space that accommodates a heat generating component such as a control computer (31) and a power module (32, 33). The shell comprises an air vent hole (45, 46) provided on one lateral side of the shell, an air inlet hole (47, 48) provided on the other lateral side of the shell and a powered fan (49) provided immediately inside the air vent hole. Because the cooling air can flow laterally across the inner space, the entire part of the heat generating component can contact the air flow, and a uniform cooling effect can be achieved with a minimum power consumption and a minimum noise generation.
摘要翻译：仿人机器人的躯干部分（2）和背包部分（6）通常由限定容纳诸如控制计算机（31）和功率模块（32,33）之类的发热部件的内部空间的外壳形成）。壳体包括设置在壳体的一个侧面上的通气孔（45,46），设置在壳体的另一个侧面上的空气入口孔（47,48）和紧邻壳体内侧设置的动力风扇（49）通气孔。因为冷却空气可横向流过内部空间，所以发热部件的整个部分可以接触空气流，并且可以以最小的功率消耗和最小的噪声产生实现均匀的冷却效果。

10. 发明申请

US20080086236A1 Mobile robot and controller for same 有权
标题翻译：移动机器人和控制器相同
公开(公告)号：US20080086236A1
公开(公告)日：2008-04-10
申请号：US11905344
申请日：2007-09-28
申请人： Yoko Saito , Koji Kawabe
发明人： Yoko Saito , Koji Kawabe
IPC分类号： G06F19/00 , B25J11/00
CPC分类号： G06N3/008 , G01S5/0252 , G05D1/0251 , G05D1/028 , G05D2201/0217
摘要： A mobile robot includes a radio communication unit; a radio environment detector detecting plural types of radio environment data indicating the degree of goodness of radio environment, a comprehensive radio environment data being calculated from results of weighting the plural types of radio environment data with predetermined weights; a self-position detecting unit; a storage for map data of a movement area; the calculated comprehensive radio environment data being written in association with its own position detected. The robot moves at a movement speed not higher than the maximum movement speed determined so that communication with the radio base station is not cut off during movement and, if radio communication is cut off, searches the radio environment map for a communication restoration position where the radio communication is feasible to establish and moves to the communication restoration position and has the radio intensity reporting control section reporting the determined level of radio intensity.
摘要翻译：移动机器人包括无线电通信单元; 无线电环境检测器，检测指示无线电环境的良好程度的多种类型的无线电环境数据;综合无线电环境数据，是根据预定权重对多种类型的无线电环境数据进行加权的结果计算的; 自身位置检测单元; 用于移动区域的地图数据的存储; 所计算的综合无线电环境数据与其检测到的其自身位置相关联地被写入。机器人以不高于所确定的最大移动速度的移动速度移动，使得在移动期间与无线电基站的通信不被切断，并且如果无线电通信被切断，则在无线电环境地图中搜索通信恢复位置，其中无线电通信可以建立并移动到通信恢复位置，并且无线电强度报告控制部分报告所确定的无线电强度水平。

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