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1. 发明申请

US20060055358A1 Abnormality detector of moving robot 失效
标题翻译：移动机器人异常检测器
公开(公告)号：US20060055358A1
公开(公告)日：2006-03-16
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。

2. 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。

3. 发明授权

US07348746B2 Abnormality detection system of mobile robot 有权
标题翻译：移动机器人异常检测系统
公开(公告)号：US07348746B2
公开(公告)日：2008-03-25
申请号：US10540470
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： 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。

4. 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。

5. 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).

6. 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”。

7. 发明授权

US07758678B2 Fuel adsorption filter and air cleaner 有权
标题翻译：燃油吸附过滤器和空气净化器
公开(公告)号：US07758678B2
公开(公告)日：2010-07-20
申请号：US12103896
申请日：2008-04-16
申请人： Tomohiro Yoshida , Tatsuya Oyama , Haruhiko Saito , Tohru Ohba , Shinichi Kamiya , Masaki Aihara , Yoichi Ishihara
发明人： Tomohiro Yoshida , Tatsuya Oyama , Haruhiko Saito , Tohru Ohba , Shinichi Kamiya , Masaki Aihara , Yoichi Ishihara
IPC分类号： B01D53/02
CPC分类号： B01D53/0407 , B01D46/0036 , B01D46/10 , B01D2253/102 , B01D2259/4516 , F02M25/08 , F02M33/04 , F02M35/02 , F02M35/024 , F02M35/10013
摘要： A housing of an air cleaner has an air inlet port and an air outlet port, and incorporates an air filter. In the housing, a fuel adsorption filter is arranged downstream of the air filter in such manner as to intersect an air passage. An open portion and a sheet-like adsorption portion are vertically defined in an outer frame of the fuel adsorption filter. The adsorption portion has a fuel adsorbing function. A weir is provided in a boundary between the open portion and the adsorption portion. The weir limits air flow from the upstream side of the adsorption portion to the upstream side of the open portion. A flow straightening plate having a flow straightening function is provided in the open portion.
摘要翻译：空气净化器的壳体具有空气入口和空气出口，并且包括空气过滤器。在壳体中，燃料吸附过滤器以与空气通道相交的方式设置在空气过滤器的下游。在燃料吸附过滤器的外框架中垂直地限定开放部分和片状吸附部分。吸附部具有燃料吸附功能。在开口部和吸附部之间的边界设置有堰。堰限制从吸附部的上游侧到开口部的上游侧的空气流。在开放部分设有具有流动矫直功能的流动矫直板。

8. 发明授权

US5501058A Coil packing line equipped with independently reciprocating carriages 失效
标题翻译：线圈包装线配备独立的往复式托架
公开(公告)号：US5501058A
公开(公告)日：1996-03-26
申请号：US297912
申请日：1994-08-31
申请人： Mitsuyoshi Sonoyama , Kentaro Suzaki , Masaki Aihara , Hirokatsu Suzuki , Shoji Miyahara , Norio Kojima , Masatoshi Okada
发明人： Mitsuyoshi Sonoyama , Kentaro Suzaki , Masaki Aihara , Hirokatsu Suzuki , Shoji Miyahara , Norio Kojima , Masatoshi Okada
IPC分类号： B65B27/06 , B65G25/02 , B65B35/10
CPC分类号： B65G25/02 , B65G2201/0232
摘要： A coil packing line in which coils are packed by a plurality of operation processes is provided. The coil packing line is provided with a plurality of work stations, stationary skid mechanisms, carriage mechanisms and a plurality of reciprocating mechanisms. Each operation process has a corresponding work station. The stationary skid mechanisms are provided at each work station for supporting a coil at the work station. The carriage mechanisms are provided between each work station for removing a coil from an upstream stationary skid mechanism, supporting the coil and depositing the coil at a downstream stationary skid mechanism. The plurality of reciprocating mechanisms independently move at least one carriage mechanism back and forth between the upstream and downstream stationary skid mechanisms.
摘要翻译：提供了一种线圈包装线，其中通过多个操作过程包装线圈。线圈包装线设置有多个工作站，固定式滑动机构，滑架机构和多个往复机构。每个操作过程都有相应的工作站。在每个工作站处设置固定的滑动机构，用于在工作站处支撑线圈。滑架机构设置在每个工作站之间，用于从上游固定式滑动机构移除线圈，支撑线圈并将线圈沉积在下游的固定式滑动机构处。多个往复运动机构在上游和下游固定式滑动机构之间来回独立地移动至少一个滑架机构。

9. 发明授权

US07248943B2 Method for judging communication state in a control system of linked joints 有权
标题翻译：判断联动关节控制系统通信状态的方法
公开(公告)号：US07248943B2
公开(公告)日：2007-07-24
申请号：US10486041
申请日：2002-03-28
申请人： Masaki Aihara
发明人： Masaki Aihara
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , G05B19/4063 , G05B2219/24131 , G05B2219/33228
摘要： Provided is a method in which a communication state between a main control unit and each sub control unit can be judged to be normal or abnormal, in a condition where a noise may be generated from a drive system power line. This method includes a power supply step s4, a test communication step (see arrows (3) and (4)), and a judgment step s6. In the power supply step s4, power is supplied to first sub control units 2a from a drive system power source 6 while no power is supplied to actuators 7 from the power source 6. In the test communication step, communication of a test signal is performed between the main control unit 1 and each of the sub control units 2. In the judgment step s6, whether the communication state is normal or abnormal is judged based on the result of the communication of the test signal between the main control unit 1 and each of the sub control units 2.
摘要翻译：提供了一种方法，其中在可能从驱动系统电力线产生噪声的情况下，可以将主控制单元和每个子控制单元之间的通信状态判断为正常或异常。该方法包括电源步骤4，测试通信步骤（参见箭头（3）和（4））和判断步骤6。在供电步骤s4中，从驱动系统电源6向第一子控制单元2a供电，而从电源6向致动器7供电。在测试通信步骤中，在主控制单元1和每个子控制单元2之间执行测试信号的通信。在判断步骤6中，基于主控制单元1和各个副控制单元2之间的测试信号的通信结果来判断通信状态是正常还是异常。

10. 发明申请

US20060038514A1 Moving body, legged mobile robot, and control program 有权
标题翻译：移动身体，腿式移动机器人和控制程序
公开(公告)号：US20060038514A1
公开(公告)日：2006-02-23
申请号：US11202226
申请日：2005-08-12
申请人： Shinichiro Kobashi , Masaki Aihara
发明人： Shinichiro Kobashi , Masaki Aihara
IPC分类号： H02P1/54
CPC分类号： B25J9/1674
摘要： According to a legged mobile robot of the present invention, a variable measuring portion 101 measures the changing amount of a secondary desired angle θT2, namely, of the newest primary desired angle θT1 that is received by a first sub-control unit 121 as a variable δ. When a determining portion 102 determines that an absolute value of the variable δ exceeds a threshold ε, a correcting portion 103 corrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unit 110 and a first sub-control unit 121 via a first communication line and the absolute value of the variable δ exceeds a threshold ε, the current supply I to a motor 131 is inhibited from changing rapidly.
摘要翻译：根据本发明的有腿移动机器人，可变测量部分101测量次要期望角度θT2的变化量，即最新主要期望角度θT1 / SUB>，其被第一子控制单元121接收为可变增量。当确定部分102确定可变增量的绝对值超过阈值ε时，校正部分103校正电动机电流I，以便抑制电动机电流I的变化量。因此，即使当暂时产生异常时在主控制单元110和第一子控制单元121之间经由第一通信线路的通信和可变增量的绝对值Δ超过阈值ε，电动机131的电流I被禁止快速变化。

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