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1. 发明申请

US20070032904A1 Self-propelled working robot 失效
标题翻译：自走式机器人
公开(公告)号：US20070032904A1
公开(公告)日：2007-02-08
申请号：US10572729
申请日：2004-10-05
申请人： Nobukazu Kawagoe , Shiegeru Oyokota
发明人： Nobukazu Kawagoe , Shiegeru Oyokota
IPC分类号： G06F19/00
CPC分类号： G05D1/0255 , G05D1/0219 , G05D1/0227 , G05D1/0238 , G05D2201/0203
摘要： The present invention relates to a self-propelled working robot, including a first distance sensor 4a and a second distance sensor 4b (4c) for measuring the distance to an obstacle W in front of the robot. The robot includes first determination means for comparing a first measured distance Dc to the obstacle obtained by the first distance sensor 4a with a predetermined first threshold value to determine the proximity to the obstacle W, second determination means for comparing a second measured distance Dr (DL) to the obstacle W obtained by the second distance sensor 4b (4c) with a predetermined second threshold value to determine the proximity to the obstacle, and changing means for changing the first or second threshold value based on information regarding an inclination angle of the obstacle W obtained from the first and second measured distances.
摘要翻译：本发明涉及自行式作业机器人，其包括第一距离传感器4a和用于测量与机器人前方的障碍物W的距离的第二距离传感器4b（4c）。机器人包括第一确定装置，用于将第一测量距离Dc与由第一距离传感器4a获得的障碍物以预定的第一阈值进行比较，以确定与障碍物W的接近度;第二确定装置，用于将第二测量距离Dr 由具有预定的第二阈值的第二距离传感器4b（4c）获得的障碍物W确定与障碍物的接近度，以及改变装置，用于改变第一阈值或第二阈值基于从第一和第二测量距离获得的关于障碍物W的倾斜角的信息的值。

2. 发明授权

US07660650B2 Self-propelled working robot having horizontally movable work assembly retracting in different speed based on contact sensor input on the assembly 失效
标题翻译：具有水平移动的工作组件的自推进工作机器人基于组件上的接触传感器输入以不同的速度收回
公开(公告)号：US07660650B2
公开(公告)日：2010-02-09
申请号：US10572729
申请日：2004-10-05
申请人： Nobukazu Kawagoe , Shiegeru Oyokota
发明人： Nobukazu Kawagoe , Shiegeru Oyokota
IPC分类号： G01C22/00 , B60T7/16 , B62D1/24 , B25J19/02 , B25J9/10 , G05B19/416
CPC分类号： G05D1/0255 , G05D1/0219 , G05D1/0227 , G05D1/0238 , G05D2201/0203
摘要： The present invention relates to a self-propelled working robot, including a first distance sensor 4a and a second distance sensor 4b (4c) for measuring the distance to an obstacle W in front of the robot. The robot includes first determination means for comparing a first measured distance Dc to the obstacle obtained by the first distance sensor 4a with a predetermined first threshold value to determine the proximity to the obstacle W, second determination means for comparing a second measured distance Dr (DL) to the obstacle W obtained by the second distance sensor 4b (4c) with a predetermined second threshold value to determine the proximity to the obstacle, and changing means for changing the first or second threshold value based on information regarding an inclination angle of the obstacle W obtained from the first and second measured distances.
摘要翻译：本发明涉及自行式作业机器人，其包括第一距离传感器4a和用于测量与机器人前方的障碍物W的距离的第二距离传感器4b（4c）。机器人包括第一确定装置，用于将第一测量距离Dc与由第一距离传感器4a获得的障碍物以预定的第一阈值进行比较，以确定与障碍物W的接近度;第二确定装置，用于将第二测量距离Dr ）到由第二距离传感器4b（4c）获得的具有预定的第二阈值的障碍物W，以确定与障碍物的接近度;以及改变装置，用于基于关于障碍物的倾斜角度的信息来改变第一或第二阈值 W从第一和第二测量距离获得。

3. 发明授权

US5947225A Automatic vehicle 失效
标题翻译：自动车
公开(公告)号：US5947225A
公开(公告)日：1999-09-07
申请号：US631014
申请日：1996-04-12
申请人： Yuichi Kawakami , Nobukazu Kawagoe
发明人： Yuichi Kawakami , Nobukazu Kawagoe
IPC分类号： G05D1/02 , B60D1/28
CPC分类号： G05D1/0219 , G05D1/0227 , G05D1/0272 , G05D1/0238 , G05D1/0242 , G05D1/0255 , G05D2201/0203
摘要： A vehicle has a sensor for detecting a first distance to a first object and a second distance to a second object located on the other side of the first object. The vehicle travels along a path between the first object and the second object based on the detected first and second distances.A vehicle has a sensor for detecting a distance to an object and a working unit which is movably connected with a main body. The working unit is moved based on the detected distance to the object.
摘要翻译：车辆具有用于检测到第一物体的第一距离的传感器和位于第一物体另一侧的第二物体的第二距离。基于检测到的第一和第二距离，车辆沿着第一物体和第二物体之间的路径行驶。车辆具有用于检测与物体的距离的传感器和与主体可移动地连接的作业单元。基于检测到的物体的距离来移动工作单元。

4. 发明授权

US5720077A Running robot carrying out prescribed work using working member and method of working using the same 失效
标题翻译：运行机器人使用工作人员执行规定的工作和使用相同的工作方法
公开(公告)号：US5720077A
公开(公告)日：1998-02-24
申请号：US452280
申请日：1995-05-26
申请人： Kyoko Nakamura , Hideaki Nakanishi , Yuichi Kawakami , Nobukazu Kawagoe , Shigeru Oyokota
发明人： Kyoko Nakamura , Hideaki Nakanishi , Yuichi Kawakami , Nobukazu Kawagoe , Shigeru Oyokota
IPC分类号： A47L9/28 , A47L5/28 , A47L11/00 , A47L11/40 , B08B13/00 , B25J5/00 , B25J9/00 , G05D1/02 , A47L11/12 , A47L5/00
CPC分类号： A47L11/4061 , B25J9/0003 , A47L2201/04
摘要： A running member is attached rotatably to a body member, and a working member is attached movably to the body member. Therefore, in a large area, a work can be carried out efficiently even in a corner portion, and a desired work can be implemented even in a narrowed portion by shifting the working member to a working area and directly operating the working member in the narrowed portion.
摘要翻译：行进构件可旋转地附接到主体构件，并且工作构件可移动地附接到主体构件。因此，在大面积的情况下，即使在角部也可以有效地进行作业，即使在狭窄部分中也可以实现所需的作业，通过将工作构件转移到工作区域并将工作构件直接操作在变窄的部分一部分。

5. 发明授权

US06574536B1 Moving apparatus for efficiently moving on floor with obstacle 失效
标题翻译：移动装置有效地在障碍物上移动
公开(公告)号：US06574536B1
公开(公告)日：2003-06-03
申请号：US08789127
申请日：1997-01-27
申请人： Nobukazu Kawagoe , Yuichi Kawakami , Kyoko Nakamura , Yasuhisa Kinto
发明人： Nobukazu Kawagoe , Yuichi Kawakami , Kyoko Nakamura , Yasuhisa Kinto
IPC分类号： G01C2200
CPC分类号： G05D1/0033 , G05D1/0219 , G05D1/0227 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A moving robot first moves straight in a first forward path. When encountering an obstacle such as shelf, the robot makes a U-turn to move straight in a backward path located with a prescribed distance away from the first forward path. When encountering another obstacle, the robot again makes a U-turn to move straight in a second forward path extending in the same direction as that of the first forward path but located with a distance away from the backward path. When the robot exceeding the point of the U-turn in the first forward path is detected during running in the second forward path, presence of a region where the robot has not run yet is recognized, and running in that region is carried out thereafter.
摘要翻译：移动机器人首先在第一前进路径中直线移动。当遇到诸如搁板的障碍物时，机器人进行U形转动，以与第一前进路径相距规定距离的后退路径直线移动。当遇到另一个障碍物时，机器人再次进行U形转弯，沿着与第一前进路径相同方向延伸的第二前进路径直线移动，但距离后退路径一定距离。当在第二正向路径中行驶期间检测到机器人超过第一前进路径中的U形转弯点的位置时，机器人尚未运行的区域的存在被识别，此后执行该区域的行驶。

6. 发明授权

US4704025A Enlarger for use in photography 失效
标题翻译：放大镜用于摄影
公开(公告)号：US4704025A
公开(公告)日：1987-11-03
申请号：US794572
申请日：1985-11-04
申请人： Yoshio Yuasa , Hidetoshi Yasumoto , Kazuhiko Naruse , Nobukazu Kawagoe , Masahito Inaba
发明人： Yoshio Yuasa , Hidetoshi Yasumoto , Kazuhiko Naruse , Nobukazu Kawagoe , Masahito Inaba
IPC分类号： G03B27/46 , G03B27/73 , G03B27/80
CPC分类号： G03B27/735
摘要： An enlarger for copying a film is provided having two modes of operation. A first mode of operation permits preliminary adjustment of the focus of the lens system while the second mode of operation permits an actual exposure, the first mode of operation being inhibited during the actual exposure of the film in the second mode.
摘要翻译：提供了一种用于复制胶片的放大器，具有两种操作模式。第一操作模式允许对镜头系统的焦点进行初步调整，而第二操作模式允许实际曝光，在第二模式中胶片的实际曝光期间第一操作模式被禁止。

7. 发明授权

US4576470A Enlarger for use in photography 失效
标题翻译：放大镜用于摄影
公开(公告)号：US4576470A
公开(公告)日：1986-03-18
申请号：US532717
申请日：1983-09-14
申请人： Yoshio Yuasa , Hidetoshi Yasumoto , Kazuhiko Naruse , Nobukazu Kawagoe , Masahito Inaba
发明人： Yoshio Yuasa , Hidetoshi Yasumoto , Kazuhiko Naruse , Nobukazu Kawagoe , Masahito Inaba
IPC分类号： G03B27/46 , G03B27/73 , G03B27/80
CPC分类号： G03B27/735
摘要： An enlarger for use in photography capable of printing a color copy from a color original film includes a light source for generating a plurality of primary colors and a microcomputer for controlling the light source. The microcomputer has various functions which are: for providing a plurality of exposure data corresponding to a plurality of primary colors; for designating at least one of the primary colors; for altering the exposure data corresponding to the designated primary color; for displaying an information relating to the exposure data to be altered; for indicating the direction of change in tone of the color copy caused by altering the exposure data; for selecting the type of the original film; and for controlling the relation between the direction of change in tone of the color copy as indicated and the direction of change in the exposure data as displayed in response to the selected type of original film.
摘要翻译：用于能够从彩色原版胶片打印彩色副本的摄影用的放大器包括用于产生多种原色的光源和用于控制光源的微型计算机。微型计算机具有以下功能：用于提供对应于多种原色的多个曝光数据; 用于指定至少一种原色; 用于改变对应于所指定的原色的曝光数据; 用于显示与要改变的曝光数据有关的信息; 用于指示通过改变曝光数据引起的彩色副本的色调变化方向; 用于选择原始电影的类型; 并且用于控制如所指示的彩色复印件的色调变化方向与响应于所选择的原始胶片类型显示的曝光数据的变化方向之间的关系。

8. 发明授权

US6142252A Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route 失效
标题翻译：识别工作区域配置时运行的自动车辆，以及选择路线的方法
公开(公告)号：US6142252A
公开(公告)日：2000-11-07
申请号：US892848
申请日：1997-07-11
申请人： Yasuhisa Kinto , Kyoko Nakamura , Yuichi Kawakami , Nobukazu Kawagoe
发明人： Yasuhisa Kinto , Kyoko Nakamura , Yuichi Kawakami , Nobukazu Kawagoe
IPC分类号： G01S17/89 , G01S17/93 , G05D1/02 , B60S9/00
CPC分类号： G01S17/936 , G01S17/89 , G05D1/0219 , G05D1/0221 , G05D1/0227 , G05D1/0238 , G05D1/0272 , A47L2201/04 , G05D2201/0203
摘要： When an autonomous vehicle detects an interruption in a wall, a plurality of optical distance measurement sensors provided in a driving unit measures the distance to a plurality of points of an object of interest located ahead. The configuration of the object of interest located ahead is recognized from the obtained distance information and from the attached angle of each optical distance measurement sensor to determine the subsequent operation of the autonomous vehicle.
摘要翻译：当自主车辆检测到墙壁中断时，设置在驱动单元中的多个光学距离测量传感器测量到位于前方的感兴趣对象的多个点的距离。根据所获得的距离信息和每个光学距离测量传感器的附着角度识别感兴趣的目标的配置，以确定自主车辆的后续操作。

9. 发明授权

US5959423A Mobile work robot system 失效
标题翻译：移动工作机器人系统
公开(公告)号：US5959423A
公开(公告)日：1999-09-28
申请号：US657174
申请日：1996-06-03
申请人： Hideaki Nakanishi , Nobukazu Kawagoe
发明人： Hideaki Nakanishi , Nobukazu Kawagoe
IPC分类号： A47L11/00 , A61L2/24 , B08B13/00 , G05D1/02 , B25J5/00
CPC分类号： A47L11/305 , A47L11/40 , A47L11/4002 , A47L11/4008 , A47L11/4011 , A47L11/4019 , A47L11/403 , A47L11/4038 , A47L11/4072 , A47L11/4088 , G05D1/0225 , G05D1/0276 , A47L2201/00 , A47L2201/024 , A47L2201/026 , A47L2201/028 , A61L2/10 , A61L2/18 , A61L2/24 , G05D2201/0203
摘要： The system includes a mobile work robot and a separate station. The mobile robot is equipped to perform prescribed tasks, such as cleaning building floors. The station is equipped to remotely control the movement of the mobile work robot and to perform maintenance on the mobile work robot, such as the replacement of parts as well as replenishment of consumable goods necessary for the mobile work robot to move and work. In addition, the cleaning means equipped on the station performs the cleaning and disinfection of the mobile work robot.
摘要翻译：该系统包括一个移动作业机器人和一个单独的站。移动机器人配备执行规定的任务，如清洁建筑物地板。车站配备远程控制移动式作业机器人的移动，对移动式作业机器人进行维护，如更换零件以及补充移动作业机器人移动和工作所需的耗材。此外，车站上的清洁装置还执行移动作业机器人的清洁和消毒。

10. 发明授权

US5717484A Position detecting system 失效
标题翻译：位置检测系统
公开(公告)号：US5717484A
公开(公告)日：1998-02-10
申请号：US405781
申请日：1995-03-17
申请人： Takayuki Hamaguchi , Nobukazu Kawagoe
发明人： Takayuki Hamaguchi , Nobukazu Kawagoe
IPC分类号： G01C15/00 , G01B11/00 , G01S5/16 , G05D1/02 , G01C3/00 , G01C5/00 , H01J40/14
CPC分类号： G01S5/16 , G05D1/0231 , G05D1/027
摘要： A first light receiving portion and a second light receiving portion are provided on the upper surface of a moving body having driving wheels at an interval of a prescribed distance in a plane. The first light receiving portion and the second light receiving portion rotate around the axis in the vertical direction. On the other hand, a first light emitting portion and a second light emitting portion are provided on the side face of a station serving as a reference station at an interval of a prescribed distance in a plane. The first and second light receiving portions carry out sampling while rotating, so that the quantity of light reception is changed according to the directivities of the first and second light receiving portions. When the peaks of the directivities of the first and second light receiving portions match the direction of the first light emitting portion or the second light emitting portion, the quantity of light reception is maximized. Based on a rotational angle at which the quantity of light reception is maximized, the relative positions and the relative directions of the first and second light receiving portions with respect to the first and second light emitting portions are calculated.
摘要翻译：第一光接收部分和第二光接收部分设置在具有驱动轮的移动体的上表面上，该驱动轮在平面中以规定距离的间隔。第一光接收部分和第二光接收部分在垂直方向上绕轴线旋转。另一方面，第一发光部分和第二发光部分在平面中以规定距离的间隔设置在用作参考站的站的侧面上。第一和第二光接收部分在旋转的同时进行采样，从而根据第一和第二光接收部分的方向性来改变光的接收量。当第一和第二光接收部分的方向性的峰值与第一发光部分或第二发光部分的方向一致时，光接收量最大化。基于光接收量最大化的旋转角度，计算第一和第二光接收部分相对于第一和第二发光部分的相对位置和相对方向。

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