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1. 发明申请

US20050234610A1 Automotive movable body, movable body control method and computer program 审中-公开
标题翻译：汽车移动体，移动体控制方法和计算机程序
公开(公告)号：US20050234610A1
公开(公告)日：2005-10-20
申请号：US11100426
申请日：2005-04-07
申请人： Akio Shimizu , Tomoyoshi Tokumaru , Tatsuya Hirose
发明人： Akio Shimizu , Tomoyoshi Tokumaru , Tatsuya Hirose
IPC分类号： A47L9/00 , A47L9/28 , G05D1/00 , G05D1/02
CPC分类号： G05D1/0255 , G05D2201/0208 , G05D2201/0215
摘要： Provided are: an automotive movable body capable of moving to an entire area surrounded by a wall excluding an area where an obstacle exists no matter what shape an obstacle existing within the area has; a movable body control method; and a recording medium storing a computer program. An automotive movable body for which moving algorithm is specified moves toward an object detected at the time of start of moving and judges whether the distance to the object is shorter than a predetermined value or not. When it is judged that the distance is shorter than a predetermined value, the body moves a first distance along the object, then moves a second distance in a direction intersecting the segment connecting the position before moving with the position after moving, and then moves toward the position where moving of the second distance is started after turning around at approximately 180°.
摘要翻译：提供：一种汽车移动体，其能够移动到除了障碍物存在的区域之外的围墙围绕的整个区域，无论存在于该区域内的障碍物的形状如何; 一种移动体控制方法; 以及存储计算机程序的记录介质。指定运动算法的汽车移动体朝着在移动开始时检测到的物体移动，并且判断到物体的距离是否短于预定值。当判断出距离短于预定值时，身体沿着物体移动第一距离，然后在移动之后的位置与移动之后的位置相交的方向上移动第二距离，然后向着第二距离移动的位置在大约180°转动之后开始。

2. 发明申请

US20050231068A1 Transmitting apparatus, sound sensor and autonomous traveling vehicle 失效
标题翻译：传输装置，声音传感器和自主行车
公开(公告)号：US20050231068A1
公开(公告)日：2005-10-20
申请号：US11045144
申请日：2005-01-31
申请人： Tomoyoshi Tokumaru , Tatsuya Hirose
发明人： Tomoyoshi Tokumaru , Tatsuya Hirose
IPC分类号： H04R1/20 , B06B1/02 , B06B1/06 , G01S7/524 , G01S15/58 , G01S15/93 , G05D1/02 , G10K9/122 , H01L41/00 , H01L41/08 , H04R17/00
CPC分类号： G05D1/0255 , B06B1/0238 , G01S15/931 , G05D2201/0203
摘要： A driving circuit of a transmitting apparatus drives a piezoelectric element in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. A driving circuit of a sound sensor drives the piezoelectric element for transmitting or receiving an acoustic wave in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. Such a transmitting apparatus is mounted as a transmitting apparatus of a sound sensor to thereby realize the sound sensor with a small measurement error. The sound sensor is adopted for traveling control and steering control of an autonomous traveling vehicle to thereby enable an autonomous traveling vehicle capable of stopping in the vicinity of an obstacle to be realized.
摘要翻译：发送装置的驱动电路驱动与包括压电元件的振动系统最强共振的谐振频率不同的频带的压电元件。声音传感器的驱动电路驱动用于在与包括压电元件的振动系统最强共振的共振频率不同的频带中发送或接收声波的压电元件。这种发送装置作为声音传感器的发送装置安装，从而以小的测量误差实现声音传感器。声传感器用于自动行驶车辆的行驶控制和转向控制，从而能够实现能够在障碍物附近停止的自主行驶车辆。

3. 发明申请

US20070046145A1 Transmitting apparatus, sound sensor and autonomous traveling vehicle 审中-公开
标题翻译：传输装置，声音传感器和自主行车
公开(公告)号：US20070046145A1
公开(公告)日：2007-03-01
申请号：US11510839
申请日：2006-08-28
申请人： Tomoyoshi Tokumaru , Tatsuya Hirose
发明人： Tomoyoshi Tokumaru , Tatsuya Hirose
IPC分类号： H01L41/09
CPC分类号： G05D1/0255 , B06B1/0238 , G01S15/931 , G05D2201/0203
摘要： A driving circuit of a transmitting apparatus drives a piezoelectric element in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. A driving circuit of a sound sensor drives the piezoelectric element for transmitting or receiving an acoustic wave in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. Such a transmitting apparatus is mounted as a transmitting apparatus of a sound sensor to thereby realize the sound sensor with a small measurement error. The sound sensor is adopted for traveling control and steering control of an autonomous traveling vehicle to thereby enable an autonomous traveling vehicle capable of stopping in the vicinity of an obstacle to be realized.
摘要翻译：发送装置的驱动电路驱动与包括压电元件的振动系统最强共振的谐振频率不同的频带的压电元件。声音传感器的驱动电路驱动用于在与包括压电元件的振动系统最强共振的共振频率不同的频带中发送或接收声波的压电元件。这种发送装置作为声音传感器的发送装置安装，从而以小的测量误差实现声音传感器。声传感器用于自动行驶车辆的行驶控制和转向控制，从而能够实现能够在障碍物附近停止的自主行驶车辆。

4. 发明授权

US07098579B2 Transmitting apparatus, sound sensor and autonomous traveling vehicle 失效
标题翻译：传输装置，声音传感器和自主行车
公开(公告)号：US07098579B2
公开(公告)日：2006-08-29
申请号：US11045144
申请日：2005-01-31
申请人： Tomoyoshi Tokumaru , Tatsuya Hirose
发明人： Tomoyoshi Tokumaru , Tatsuya Hirose
IPC分类号： H01L41/08 , H02N2/00
CPC分类号： G05D1/0255 , B06B1/0238 , G01S15/931 , G05D2201/0203
摘要： A driving circuit of a transmitting apparatus drives a piezoelectric element in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. A driving circuit of a sound sensor drives the piezoelectric element for transmitting or receiving an acoustic wave in a frequency band different from a resonance frequency at which a vibration system including the piezoelectric element resonates the most strongly. Such a transmitting apparatus is mounted as a transmitting apparatus of a sound sensor to thereby realize the sound sensor with a small measurement error. The sound sensor is adopted for traveling control and steering control of an autonomous traveling vehicle to thereby enable an autonomous traveling vehicle capable of stopping in the vicinity of an obstacle to be realized.
摘要翻译：发送装置的驱动电路驱动与包括压电元件的振动系统最强共振的谐振频率不同的频带的压电元件。声音传感器的驱动电路驱动用于在与包括压电元件的振动系统最强共振的共振频率不同的频带中发送或接收声波的压电元件。这种发送装置作为声音传感器的发送装置安装，从而以小的测量误差实现声音传感器。声传感器用于自动行驶车辆的行驶控制和转向控制，从而能够实现能够在障碍物附近停止的自主行驶车辆。

5. 发明授权

US07047105B2 Robot controlled by wireless signals 失效
标题翻译：机器人由无线信号控制
公开(公告)号：US07047105B2
公开(公告)日：2006-05-16
申请号：US10076782
申请日：2002-02-15
申请人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo , Shinya Kataoka , Seiji Murakami , Tomoyoshi Tokumaru , Hideaki Aoki
发明人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo , Shinya Kataoka , Seiji Murakami , Tomoyoshi Tokumaru , Hideaki Aoki
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.
摘要翻译：用户与附属于机器人的电话附件口袋的便携式电话与伴侣通信。机器人根据从便携式电话输出的语音信号进行动作，从而表现得像对用户说话一样。机器人响应于由麦克风拾取的用户的声音输出语音，从而表现得像在听用户一样。由于该机器人或使用该机器人的机器人系统，所以用户在使用便携式电话的通信中感觉不太奇怪。

6. 发明授权

US08765079B2 Dispensing apparatus 有权
标题翻译：点胶装置
公开(公告)号：US08765079B2
公开(公告)日：2014-07-01
申请号：US13548427
申请日：2012-07-13
申请人： Tomoyoshi Tokumaru
发明人： Tomoyoshi Tokumaru
IPC分类号： B01L3/02 , B01L9/00
CPC分类号： G01N35/1011 , B01L3/021 , B01L9/52 , B01L9/54 , B01L2200/025 , B01L2400/0487 , C12M23/10 , C12M23/48 , C12M29/00 , C12M33/04 , C12M41/48
摘要： A dispensing apparatus includes: a dish mounting portion having a mounting surface mounted with a dish having a bottom surface and a side surface surrounding the bottom surface; a syringe, arranged above the dish mounting portion, having a nozzle configured to discharge liquid toward an interior of the dish; and a first driving portion configured to change the syringe in direction with respect to a first axis as a center, wherein the first axis is orthogonal to a normal to the mounting surface of the dish mounting portion.
摘要翻译：分配装置包括：盘安装部，其具有安装有安装表面的安装面，该盘具有底面和围绕底面的侧面; 注射器，布置在所述盘安装部分上方，具有被配置为朝向所述盘的内部排出液体的喷嘴; 以及第一驱动部，其构造成将所述注射器相对于作为中心的第一轴线的方向改变，所述第一轴线与所述盘安装部的安装面的法线正交。

7. 发明授权

US07152882B2 Mobile carriage 失效
公开(公告)号：US07152882B2
公开(公告)日：2006-12-26
申请号：US10397195
申请日：2003-03-27
申请人： Tomoyoshi Tokumaru , Kazushige Kakutani , Atsushi Oda , Seiji Murakami , Naoto Tojo
发明人： Tomoyoshi Tokumaru , Kazushige Kakutani , Atsushi Oda , Seiji Murakami , Naoto Tojo
IPC分类号： B60S9/00
CPC分类号： B62D57/04 , Y10S180/907
摘要： The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source means and the control means is utilized as the weight portion of the center-of-gravity shifting means.

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