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1. 发明授权

US07894941B2 Sound detection and associated indicators for an autonomous moving robot 有权
标题翻译：自动移动机器人的声音检测和相关指示器
公开(公告)号：US07894941B2
公开(公告)日：2011-02-22
申请号：US11294366
申请日：2005-12-06
申请人： Naohide Ogawa , Takuro Koyanagi , Asuka Shinna , Sachie Hashimoto , Yukiko Ehara
发明人： Naohide Ogawa , Takuro Koyanagi , Asuka Shinna , Sachie Hashimoto , Yukiko Ehara
IPC分类号： G08B5/36
CPC分类号： B25J13/003
摘要： The present invention aims to provide an autonomous moving robot capable of visibly showing the human an initial check result for a sound input means in the initial stage after the robot device is turned on and activated, and whether or not the input sound was normally recognized. The robot has ears 9a, 9b respectively comprising microphones 10a, 10b for external sound input, and LED displays 11a, 11b with a plurality of luminescent portions around the respective microphones. The luminescent portions of the LED displays 11a, 11b indicate the judgment of the initial check on whether or not the ears 9a, 9b (the microphones 10a, 10b and the LED displays 11a, 11b) are normally functioning when the robot is turned on and activated, by means of the lighting states of the displays.
摘要翻译：本发明的目的是提供一种自动移动机器人，其能够在机器人装置被接通和激活之后的初始阶段中可视地向人类显示声音输入装置的初始检查结果，以及是否正常识别输入声音。机器人具有分别包括用于外部声音输入的麦克风10a，10b的耳朵9a，9b，以及围绕各个麦克风的多个发光部分的LED显示器11a，11b。 LED显示器11a，11b的发光部分表示当机器人打开时耳朵9a，9b（麦克风10a，10b和LED显示器11a，11b）是否正常工作的初步检查的判断，以及通过显示器的照明状态激活。

2. 发明申请

US20060129275A1 Autonomous moving robot 有权
标题翻译：自动移动机器人
公开(公告)号：US20060129275A1
公开(公告)日：2006-06-15
申请号：US11294366
申请日：2005-12-06
申请人： Naohide Ogawa , Takuro Koyanagi , Asuka Shiina , Sachie Hashimoto , Yukiko Ehara
发明人： Naohide Ogawa , Takuro Koyanagi , Asuka Shiina , Sachie Hashimoto , Yukiko Ehara
IPC分类号： G06F19/00
CPC分类号： B25J13/003
摘要： The present invention aims to provide an autonomous moving robot capable of visibly showing the human an initial check result for a sound input means in the initial stage after the robot device is turned on and activated, and whether or not the input sound was normally recognized. The robot has ears 9a, 9b respectively comprising microphones 10a, 10b for external sound input, and LED displays 11a, 11b with a plurality of luminescent portions around the respective microphones. The luminescent portions of the LED displays 11a, 11b indicate the judgment of the initial check on whether or not the ears 9a, 9b (the microphones 10a, 10b and the LED displays 11a, 11b) are normally functioning when the robot is turned on and activated, by means of the lighting states of the displays.
摘要翻译：本发明的目的是提供一种自动移动机器人，其能够在机器人装置被接通和激活之后的初始阶段中可视地向人类显示声音输入装置的初始检查结果，以及是否正常识别输入声音。机器人具有分别包括用于外部声音输入的麦克风10a，10b的耳朵9a和9b，以及围绕各个麦克风的多个发光部分的LED显示器11a，11b。 LED显示器11a，11b的发光部分表示初步检查耳朵9a，9b（麦克风10a，10b和LED显示器11a，11b）是否正常的判断通过显示器的照明状态来启动和激活机器人时的功能。

3. 发明授权

US07877165B2 Handshake legged mobile robot control system 有权
标题翻译：握握腿式移动机器人控制系统
公开(公告)号：US07877165B2
公开(公告)日：2011-01-25
申请号：US11297363
申请日：2005-12-09
申请人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
发明人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
IPC分类号： G05B19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
摘要翻译：在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。

4. 发明授权

US07778731B2 Legged mobile robot control system 有权
标题翻译：有腿的移动机器人控制系统
公开(公告)号：US07778731B2
公开(公告)日：2010-08-17
申请号：US11636999
申请日：2006-12-12
申请人： Naohide Ogawa , Satoshi Shigemi
发明人： Naohide Ogawa , Satoshi Shigemi
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J9/1641 , B25J13/085
摘要： In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
摘要翻译：在具有连接到身体并由腿部致动器驱动的身体和腿部的有腿移动机器人的控制系统中，提供了一种操作控制器，其基于外力产生步态，更具体地，通过拍摄手的步行人的手或用手的手被人的手拿走，并且基于所产生的步态来控制至少腿部致动器的操作。由此，能够控制机器人与人接触以与其建立通信，同时能够在接触期间保持稳定的姿势。

5. 发明申请

US20090146795A1 Target object detection server 有权
标题翻译：目标对象检测服务器
公开(公告)号：US20090146795A1
公开(公告)日：2009-06-11
申请号：US12315736
申请日：2008-12-05
申请人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
发明人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
IPC分类号： H04Q5/22
CPC分类号： G06Q10/087 , G06Q10/06
摘要： A target object detection server is a detection server which communicates by wireless to a detector which detects whether or not a target object exists within a surrounding area of the detector by means of a detection tag mounted on the target object. Furthermore, the target object detection server connects through a network with one or more receivers which are arranged in a surrounding area of the target object, and receives a radio wave transmitted from the detection tag. According to the target object detection server mentioned above, it is possible to increase reliability for detecting the target object more accurately.
摘要翻译：目标对象检测服务器是通过无线方式通过安装在目标对象上的检测标签来检测目标对象是否存在于检测器的周边区域内的检测器的检测服务器。此外，目标对象检测服务器通过网络与布置在目标对象的周围区域中的一个或多个接收器连接，并且接收从检测标签发送的无线电波。根据上述目标对象检测服务器，能够更加准确地提高检测对象物体的可靠性。

6. 发明申请

US20070150107A1 Legged mobile robot control system 有权
标题翻译：有腿的移动机器人控制系统
公开(公告)号：US20070150107A1
公开(公告)日：2007-06-28
申请号：US11636999
申请日：2006-12-12
申请人： Naohide Ogawa , Satoshi Shigemi
发明人： Naohide Ogawa , Satoshi Shigemi
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J9/1641 , B25J13/085
摘要： In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
摘要翻译：在具有连接到身体并由腿部致动器驱动的身体和腿部的有腿移动机器人的控制系统中，提供了一种操作控制器，其基于外力产生步态，更具体地，通过拍摄手的步行人的手或用手的手被人的手拿走，并且基于所产生的步态来控制至少腿部致动器的操作。由此，能够控制机器人与人接触以与其建立通信，同时能够在接触期间保持稳定的姿势。

7. 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。

8. 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).

9. 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。

10. 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”。

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