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1. 发明申请

US20100290056A1 Abnormality detection appraratus of optical fiber gyro 审中-公开
标题翻译：光纤陀螺异常检测仪器
公开(公告)号：US20100290056A1
公开(公告)日：2010-11-18
申请号：US11989866
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G01C19/72
CPC分类号： G01C19/721
摘要： The numbers of pulses of the CW signal and the CCW signal of the optical fiber gyro during a predetermined sampling duration are detected by samplers. An abnormality determiner determines that the optical fiber gyro is normal if at least one of the pulse numbers is greater than or equal to a threshold value. If both pulse numbers are smaller than the threshold value, the abnormality determiner determines that an abnormality, such as a circuit break, a bad connection, etc., has occurred, and outputs the result of determination to an output unit. The abnormality determiner may determine an abnormality on the basis of the presence/absence of quantization noise.
摘要翻译：采样器检测预定采样持续时间内的CW信号的脉冲数和光纤陀螺的CCW信号。如果脉冲数中的至少一个大于或等于阈值，则异常确定器确定光纤陀螺仪是正常的。如果两个脉冲数都小于阈值，则异常判定部判定为发生电路断线，连接不良等异常，并将判断结果输出到输出部。异常判定器可以基于量化噪声的存在/不存在来确定异常。

2. 发明申请

US20100138180A1 Moving Body Posture Angle Detecting Apparatus 有权
标题翻译：移动体姿势检测仪
公开(公告)号：US20100138180A1
公开(公告)日：2010-06-03
申请号：US11989767
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G06F19/00 , G01P21/00 , G01P15/00 , G01P3/00
CPC分类号： B25J9/163 , G05B2219/37024 , G05B2219/37388 , G05B2219/40536 , G05B2219/41166 , G05B2219/42152
摘要： An angular velocity detected by an angular velocity sensor (10) is integrated by a small angle matrix calculator (12) and a matrix adding calculator (14), and then restored as a posture angle (angular velocity posture angle) by a matrix posture angle calculator (16). A posture matrix is calculated by a tilt angle calculator (22) and an acceleration matrix calculator (24) and an acceleration detected by an acceleration sensor (20) is restored as a posture angle (acceleration posture angle) by a matrix posture angle calculator (26). Low pass filters (18, 28) each extract a low range component, the difference between the two is calculated by a differencer (30), and only the drift amount is extracted. A subtracter (32) removes the drift amount from the angular velocity posture angle and the result is output from an output device (34). In addition, a posture angle matrix calculator (36) converts the result to a posture matrix, which it feeds back to the matrix adding calculator (14).
摘要翻译：由角速度传感器（10）检测的角速度由小角度矩阵计算器（12）和矩阵加法运算器（14）积分，然后以姿势角（角速度姿态角）恢复矩阵姿态角计算器（16）。由倾斜角计算器（22）和加速度矩阵运算器（24）计算姿势矩阵，并且由矩阵姿态角计算器（20）将加速度传感器（20）检测出的加速度恢复为姿势角（加速姿势角） 26）。低通滤波器（18,28）各自提取低范围分量，两者之间的差异由差分器（30）计算，并且仅提取漂移量。减法器（32）从角速度姿态角度去除漂移量，结果从输出装置（34）输出。此外，姿势角矩阵计算器（36）将结果转换成姿势矩阵，其将其反馈到矩阵添加计算器（14）。

3. 发明申请

US20050241364A1 Displacement sensor 有权
标题翻译：位移传感器
公开(公告)号：US20050241364A1
公开(公告)日：2005-11-03
申请号：US11075332
申请日：2005-03-09
申请人： Motohiro Fujiyoshi , Yutaka Nonomura , Hisayoshi Sugihara
发明人： Motohiro Fujiyoshi , Yutaka Nonomura , Hisayoshi Sugihara
IPC分类号： G01B3/30 , G01B21/00 , G01P15/08 , G01P15/125 , G01P21/00
CPC分类号： G01P15/125 , G01P15/0802
摘要： A structure is presented in which it is easy to adjust, to a determined value, distance between electrodes of a condenser formed in an electrostatic capacity-type displacement sensor. A displacement sensor has a conductive lower layer, an insulating layer stacked on the conductive lower layer and a conductive upper layer stacked on the insulating layer. The conductive lower layer is divided into a first lower region and a second lower region by a groove penetrating the conductive lower layer. The insulating layer is stacked on the conductive lower layer at selected portions. The conductive upper layer is stacked on the insulating layer at selected portions. The conductive upper layer has a beam connected via the insulating layer to the first lower region and the second lower region at a pair of ends of the beam. The conductive upper layer has a first upper portion forming one of electrodes of a first condenser. The first upper portion extends from a position above the first lower region to a position above the second lower region. The insulating layer is not formed between the first upper portion and the first lower region, but is formed between the first upper portion and the second lower region.
摘要翻译：提出了一种结构，其中易于将静电电容式位移传感器中形成的电容器的电极之间的距离调整到确定的值。位移传感器具有导电性下层，层叠在导电性下层上的绝缘层和层叠在绝缘层上的导电性上层。导电性下层通过穿透导电性下层的沟槽被分割为第一下部区域和第二下部区域。绝缘层在选定的部分堆叠在导电性下层上。导电上层在选定部分堆叠在绝缘层上。导电上层具有通过绝缘层连接到梁的一对端部处的第一下部区域和第二下部区域的梁。导电上层具有形成第一冷凝器的电极之一的第一上部。第一上部从第一下部区域上方的位置延伸到第二下部区域上方的位置。绝缘层不形成在第一上部和第一下部区域之间，而是形成在第一上部和第二下部区域之间。

4. 发明申请

US20090177425A1 Correction device for acceleration sensor, and output value correction method for acceleration sensor 审中-公开
标题翻译：加速度传感器校正装置，加速度传感器的输出值校正方法
公开(公告)号：US20090177425A1
公开(公告)日：2009-07-09
申请号：US11989690
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G01P21/00 , G01P15/00
CPC分类号： G01P21/00
摘要： An attitude angles calculation device (14) calculates attitude angles of a robot from the output values of an acceleration sensor (10). An attitude angles comparison device (16) compares attitude angles in a specified attitude which have been set in a register (20) and the attitude angles which have been detected, and outputs their differences to a correction values calculation device (18). The correction values calculation device (18) outputs correction devices to a zero point correction device (26) or a sensitivity correction device (28), so as to eliminate these differences. If would also be acceptable to set the attitude angles which are set in the register (20) from an input device (22).
摘要翻译：姿态角计算装置（14）根据加速度传感器（10）的输出值计算机器人的姿态角度。姿态角比较装置（16）将在寄存器（20）中设定的规定姿态的姿势角与已检测到的姿态角进行比较，并将其差分输出到校正值计算装置（18）。校正值计算装置（18）将校正装置输出到零点校正装置（26）或灵敏度校正装置（28），以消除这些差异。如果也可以从输入装置（22）设置在寄存器（20）中设置的姿态角。

5. 发明授权

US08001839B2 Sensor unit 有权
标题翻译：传感器单元
公开(公告)号：US08001839B2
公开(公告)日：2011-08-23
申请号：US11989605
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
IPC分类号： G01P1/02
CPC分类号： G01C21/16 , F16F15/08 , G01P1/023 , G01P15/18
摘要： A sensor unit has a reference base. An acceleration sensor block and angular velocity sensor support rods are arranged on the reference base, using a bottom face and one side face of the reference base as reference faces. Three acceleration sensors, which detect accelerations that act in the directions in which an X-axis, a Y-axis, and a Z-axis extend, are fitted to three faces of the acceleration sensor block, respectively. Three angular velocity sensors, which detect angular velocities about the X-axis, the Y-axis, and the Z-axis, are fitted to boards that are fitted, via rubber bushings serving as vibration-proofing rubber members, to the angular velocity sensor support rods with screws, respectively.
摘要翻译：传感器单元具有参考基座。加速度传感器块和角速度传感器支撑杆以参考基座的底面和侧面作为基准面布置在基准基座上。检测加速度传感器的三个加速度传感器，其分别在加速度传感器模块的三个面上安装检测沿着X轴，Y轴和Z轴延伸的方向的加速度。三个角速度传感器，其检测关于X轴，Y轴和Z轴的角速度，通过用作防振橡胶构件的橡胶衬套安装到角速度传感器支撑杆分别带螺丝。

6. 发明授权

US07949487B2 Moving body posture angle detecting apparatus 有权
标题翻译：运动体姿检测装置
公开(公告)号：US07949487B2
公开(公告)日：2011-05-24
申请号：US11989767
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G01C17/38 , G01P15/00 , G01P3/00
CPC分类号： B25J9/163 , G05B2219/37024 , G05B2219/37388 , G05B2219/40536 , G05B2219/41166 , G05B2219/42152
摘要： An angular velocity detected by an angular velocity sensor (10) is integrated by a small angle matrix calculator (12) and a matrix adding calculator (14), and then restored as a posture angle (angular velocity posture angle) by a matrix posture angle calculator (16). A posture matrix is calculated by a tilt angle calculator (22) and an acceleration matrix calculator (24) and an acceleration detected by an acceleration sensor (20) is restored as a posture angle (acceleration posture angle) by a matrix posture angle calculator (26). Low pass filters (18, 28) each extract a low range component, the difference between the two is calculated by a differencer (30), and only the drift amount is extracted. A subtracter (32) removes the drift amount from the angular velocity posture angle and the result is output from an output device (34). In addition, a posture angle matrix calculator (36) converts the result to a posture matrix, which it feeds back to the matrix adding calculator (14).
摘要翻译：由角速度传感器（10）检测的角速度由小角度矩阵计算器（12）和矩阵加法运算器（14）积分，然后以姿势角（角速度姿态角）恢复矩阵姿态角计算器（16）。由倾斜角计算器（22）和加速度矩阵运算器（24）计算姿势矩阵，并且由矩阵姿态角计算器（20）将加速度传感器（20）检测出的加速度恢复为姿势角（加速姿势角） 26）。低通滤波器（18,28）各自提取低范围分量，两者之间的差异由差分器（30）计算，并且仅提取漂移量。减法器（32）从角速度姿态角度去除漂移量，结果从输出装置（34）输出。此外，姿势角矩阵计算器（36）将结果转换成姿势矩阵，其将其反馈到矩阵添加计算器（14）。

7. 发明申请

US20100094462A1 Robot Control System 审中-公开
标题翻译：机器人控制系统
公开(公告)号：US20100094462A1
公开(公告)日：2010-04-15
申请号：US11989606
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： B25J9/00
CPC分类号： B25J9/16
摘要： Communication is performed between a sensor unit (10) and a robot CPU (12) by using a serial data line (14). A variable length data format includes a transfer size section, a command section, a transfer pattern section, a measurement data section, and a CRC section; and, along with increasing and decreasing the number of types of data in the measurement data section, the type of this data is stipulated by a transfer pattern section. By reducing the number of types of the data, the length of the data is shortened, thus ensuring the communication speed. Furthermore, the measurement times of the sensor unit (10) are accurately managed by the robot CPU (12), by transmitting time stamp data from the robot CPU (12), and by transmitting time stamp+time count data from the sensor unit (10).
摘要翻译：通过使用串行数据线（14）在传感器单元（10）和机器人CPU（12）之间进行通信。可变长度数据格式包括传送大小部分，命令部分，传送模式部分，测量数据部分和CRC部分; 并且随着测量数据部分中的数据类型的增加和减少，该数据的类型由转移模式部分规定。通过减少数据类型的数量，缩短数据长度，保证通信速度。此外，通过从机器人CPU（12）发送时间戳数据，并且通过从传感器单元（12）发送时间戳+时间计数数据，由机器人CPU（12）精确地管理传感器单元（10）的测量次数 10）。

8. 发明授权

US07501835B2 Displacement sensor 有权
标题翻译：位移传感器
公开(公告)号：US07501835B2
公开(公告)日：2009-03-10
申请号：US11075332
申请日：2005-03-09
申请人： Motohiro Fujiyoshi , Yutaka Nonomura , Hisayoshi Sugihara
发明人： Motohiro Fujiyoshi , Yutaka Nonomura , Hisayoshi Sugihara
IPC分类号： G01R27/26 , G01P15/125
CPC分类号： G01P15/125 , G01P15/0802
摘要： A structure is presented in which it is easy to adjust, to a determined value, distance between electrodes of a condenser formed in an electrostatic capacity-type displacement sensor.A displacement sensor has a conductive lower layer, an insulating layer stacked on the conductive lower layer and a conductive upper layer stacked on the insulating layer. The conductive lower layer is divided into a first lower region and a second lower region by a groove penetrating the conductive lower layer. The insulating layer is stacked on the conductive lower layer at selected portions. The conductive upper layer is stacked on the insulating layer at selected portions. The conductive upper layer has a beam connected via the insulating layer to the first lower region and the second lower region at a pair of ends of the beam. The conductive upper layer has a first upper portion forming one of electrodes of a first condenser. The first upper portion extends from a position above the first lower region to a position above the second lower region. The insulating layer is not formed between the first upper portion and the first lower region, but is formed between the first upper portion and the second lower region.
摘要翻译：提出了一种结构，其中易于将静电电容式位移传感器中形成的电容器的电极之间的距离调整到确定的值。位移传感器具有导电性下层，层叠在导电性下层上的绝缘层和层叠在绝缘层上的导电性上层。导电性下层通过穿透导电性下层的沟槽被分割为第一下部区域和第二下部区域。绝缘层在选定的部分堆叠在导电性下层上。导电上层在选定部分堆叠在绝缘层上。导电上层具有通过绝缘层连接到梁的一对端部处的第一下部区域和第二下部区域的梁。导电上层具有形成第一冷凝器的电极之一的第一上部。第一上部从第一下部区域上方的位置延伸到第二下部区域上方的位置。绝缘层不形成在第一上部和第一下部区域之间，而是形成在第一上部和第二下部区域之间。

9. 发明申请

US20100106294A1 Robot Control System and Control Method for Robot 审中-公开
标题翻译：机器人控制系统及控制方法
公开(公告)号：US20100106294A1
公开(公告)日：2010-04-29
申请号：US11989603
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi
IPC分类号： G06F19/00
CPC分类号： G05B19/042 , B25J9/1602 , G05B2219/21065 , G05B2219/39059 , G05B2219/40536
摘要： During robot operation, a CPU (22) of a sensor unit (10) transmits the sensor output of a sensor (15) to a robot CPU (12) during a transmission period within a control period. During the remaining reception period within the control period, the robot CPU (22) transmits update parameters to the robot CPU (12). The CPU (22) receives these update parameters, and writes them in a second region, among the storage regions of a RAM (16), which is different from a first region in which the default parameters are set. And, upon further receipt of a update command from the robot CPU (22), the CPU (22) performs processing to change over the parameters from the default to the update parameters which have been stored in the second region.
摘要翻译：在机器人操作期间，传感器单元（10）的CPU（22）在控制周期内的传输期间将传感器（15）的传感器输出传送到机器人CPU（12）。在控制期间的剩余接收期间，机器人CPU（22）向机器人CPU（12）发送更新参数。在与设置了默认参数的第一区域不同的RAM（16）的存储区域中，CPU（22）接收这些更新参数，并将它们写入第二区域。并且，当进一步从机器人CPU（22）接收到更新命令时，CPU（22）进行处理，将参数从缺省值切换到已存储在第二区域的更新参数。

10. 发明申请

US20100089155A1 Sensor Unit 有权
标题翻译：传感器单元
公开(公告)号：US20100089155A1
公开(公告)日：2010-04-15
申请号：US11989605
申请日：2006-08-01
申请人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
发明人： Hisayoshi Sugihara , Yutaka Nonomura , Motohiro Fujiyoshi , Kouji Tsukada
IPC分类号： G01P15/00 , G01P3/44
CPC分类号： G01C21/16 , F16F15/08 , G01P1/023 , G01P15/18
摘要： A sensor unit has a reference base. An acceleration sensor block and angular velocity sensor support rods are arranged on the reference base, using a bottom face and one side face of the reference base as reference faces. Three acceleration sensors, which detect accelerations that act in the directions in which an X-axis, a Y-axis, and a Z-axis extend, are fitted to three faces of the acceleration sensor block, respectively. Three angular velocity sensors, which detect angular velocities about the X-axis, the Y-axis, and the Z-axis, are fitted to boards that are fitted, via rubber bushings serving as vibration-proofing rubber members, to the angular velocity sensor support rods with screws, respectively.
摘要翻译：传感器单元具有参考基座。加速度传感器块和角速度传感器支撑杆以参考基座的底面和侧面作为基准面布置在基准基座上。检测加速度传感器的三个加速度传感器，其分别在加速度传感器模块的三个面上安装检测沿着X轴，Y轴和Z轴延伸的方向的加速度。三个角速度传感器，其检测关于X轴，Y轴和Z轴的角速度，通过用作防振橡胶构件的橡胶衬套安装到角速度传感器支撑杆分别带螺丝。

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