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1. 发明授权

US07933684B2 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US07933684B2
公开(公告)日：2011-04-26
申请号：US11302231
申请日：2005-12-14
申请人： Tsukasa Sugino , Takashi Nakayama
发明人： Tsukasa Sugino , Takashi Nakayama
IPC分类号： G06F19/00 , G05B15/00 , G05B19/00 , H04R3/00
CPC分类号： G05D1/0255 , G05D1/0251 , G05D2201/0217
摘要： An autonomous mobile robot is provided which is autonomously movable, including an upper body, legs connected under the upper body, a first detector which detects an object in a front region of the upper body in a moving direction of the robot, and a second detector which detects an object in a region other than a sensing region sensed by the first detector including at least a rear region, a rear right region, and a rear left region of the upper body.
摘要翻译：提供一种自主移动机器人，其可自主移动，包括上身，连接在上身下的腿，第一检测器，其在机器人的移动方向上检测上体前部区域中的物体，第二检测器其检测除了包括上身体的后区域，后右区域和后左区域的由第一检测器感测的感测区域以外的区域中的物体。

2. 发明授权

US07742840B2 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US07742840B2
公开(公告)日：2010-06-22
申请号：US11294456
申请日：2005-12-06
申请人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
发明人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.
摘要翻译：公开了一种能够适当地切换两种类型的光照射的节省空间的自主移动机器人。机器人包括移动机构，用于控制移动机构的自主运动控制器，用于感测机器人的自身位置的自身位置识别单元，用于存储关于标记位置的地图数据的地图数据存储单元，狭缝用于用狭缝光照射检测区域的光装置，用红外线照射检测区域的红外线装置，以及用于比较标记形成区域和自身位置的开关确定单元，然后用于在狭缝光和红外设备，基于比较结果。此外，当自身位置在标记形成区域内时，红外线装置照射检测区域，而当自身位置在标记形成区域外时，狭缝光装置照射检测区域。

3. 发明申请

US20060217838A1 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US20060217838A1
公开(公告)日：2006-09-28
申请号：US11302231
申请日：2005-12-14
申请人： Tsukasa Sugino , Takashi Nakayama
发明人： Tsukasa Sugino , Takashi Nakayama
IPC分类号： G06F19/00
CPC分类号： G05D1/0255 , G05D1/0251 , G05D2201/0217
摘要： An autonomous mobile robot is provided which is autonomously movable, including an upper body, legs connected under the upper body, a first detector which detects an object in a front region of the upper body in a moving direction of the robot, and a second detector which detects an object in a region other than a sensing region sensed by the first detector including at least a rear region, a rear right region, and a rear left region of the upper body.
摘要翻译：提供一种自主移动机器人，其可自主移动，包括上身，连接在上身下的腿，第一检测器，其在机器人的移动方向上检测上体前部区域中的物体，第二检测器其检测除了包括上身体的后区域，后右区域和后左区域的由第一检测器感测的感测区域以外的区域中的物体。

4. 发明申请

US20060129276A1 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US20060129276A1
公开(公告)日：2006-06-15
申请号：US11294456
申请日：2005-12-06
申请人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
发明人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.
摘要翻译：公开了一种能够适当地切换两种类型的光照射的节省空间的自主移动机器人。机器人包括移动机构，用于控制移动机构的自主运动控制器，用于感测机器人的自身位置的自身位置识别单元，用于存储关于标记位置的地图数据的地图数据存储单元，狭缝用于用狭缝光照射检测区域的光装置，用红外线照射检测区域的红外线装置，以及用于比较标记形成区域和自身位置的开关确定单元，然后用于在狭缝光和红外设备，基于比较结果。此外，当自身位置在标记形成区域内时，红外线装置照射检测区域，而当自身位置在标记形成区域外时，狭缝光装置照射检测区域。

5. 发明授权

US07977907B2 Driving system for mobile robot 有权
标题翻译：移动机器人驱动系统
公开(公告)号：US07977907B2
公开(公告)日：2011-07-12
申请号：US12213238
申请日：2008-06-17
申请人： Tsukasa Sugino , Masakazu Kawai , Kenro Udono
发明人： Tsukasa Sugino , Masakazu Kawai , Kenro Udono
IPC分类号： B25J9/16
CPC分类号： B25J19/005
摘要： In a system for driving a mobile robot having a body, a plurality of legs each comprising a thigh link and a shank link, a first electric motor and a second motor for driving the thigh link in a forwarding direction, a power line connecting a power source to the first and the second motors, and a motor driver that supplies drive voltage to the first and second motors, a booster that boosts the drive voltage to be supplied to the first and second motors is provided such that the booster and the motor driver are installed in the thigh link where the first and second motors are installed, thereby enabling to satisfy both the low-voltage demand and high-voltage demand and to supply drive voltage to the motors effectively.
摘要翻译：在用于驱动具有主体的移动机器人的系统中，包括大腿连杆和小腿连杆的多个腿部，第一电动机和用于沿前进方向驱动大腿连杆的第二电动机，连接动力的动力线源极到第一和第二电动机;以及电动机驱动器，其向第一和第二电动机提供驱动电压，升压器将提供给第一和第二电动机的驱动电压升高，使得升压器和电动机驱动器安装在安装第一和第二电动机的大腿连接处，从而能够满足低电压需求和高电压需求，并且有效地向电动机提供驱动电压。

6. 发明授权

US08401279B2 Environment recognition system, environment recognition method and robot 有权
标题翻译：环境识别系统，环境识别方法和机器人
公开(公告)号：US08401279B2
公开(公告)日：2013-03-19
申请号：US12849450
申请日：2010-08-03
申请人： Tsukasa Sugino , Ryujin Watanabe
发明人： Tsukasa Sugino , Ryujin Watanabe
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/37567 , G06K9/00664 , G06K9/209 , G06K9/6289 , G06T3/0006
摘要： A system capable of recognizing position, a shape, a posture and the like of an object present in a marginal environment of a device such as a robot in order to make the device perform operations on the object as a subject. In an environment recognition system, 3D information and physical information (color information and the like) of a subject are associated by using camera parameters of each of a 3D image sensor and a 2D image sensor. Thereby, the position, the posture and the shape related to the subject and the physical information of the subject present in the environment of a robot are obtained.
摘要翻译：能够识别存在于诸如机器人的装置的边缘环境中的物体的位置，形状，姿势等的系统，以使得装置对作为被摄体的物体进行操作。在环境识别系统中，通过使用3D图像传感器和2D图像传感器中的每一个的相机参数来关联对象的3D信息和物理信息（颜色信息等）。由此，获得与被检体有关的位置，姿势和形状以及存在于机器人的环境中的被检体的物理信息。

7. 发明授权

US06460711B1 Suspension type hoisting apparatus 有权
标题翻译：悬挂式起重机
公开(公告)号：US06460711B1
公开(公告)日：2002-10-08
申请号：US09285002
申请日：1999-04-01
申请人： Kazumichi Kato , Yuushi Sato , Susumu Nakagawa , Katsumi Yasuda , Tsukasa Sugino
发明人： Kazumichi Kato , Yuushi Sato , Susumu Nakagawa , Katsumi Yasuda , Tsukasa Sugino
IPC分类号： B66C1306
CPC分类号： B66C13/063
摘要： A suspension type hoisting apparatus has the position of an elevating portion, which is elevatably suspended from a base via a suspension member, adjusted by a positioning member for positioning the suspension member suspended from a carriage in the horizontal plane. The suspension type hoisting apparatus also includes a position controller for outputting a velocity reference signal on the basis of a deviation between a position reference signal of the positioning member and the actual position thereof, and a velocity controller for outputting a force reference signal being a manipulated variable of the positioning member on the basis of a deviation between the velocity reference signal, of the positioning member, outputted from the position controller and the actual velocity thereof; wherein a sway velocity of the elevating portion is detected. A sway controlling signal, with respect to the positioning member, is generated on the basis thereof, and the sway controlling signal is added to the force reference signal outputted from the velocity controller. Thereby, in a case where there is sway at the elevating portion, the positioning member is equivalently displaced in proportion to a sway velocity of the elevating portion, the sway of the elevating portion is suppressed in a remarkably short time, and at the same time, the elevating portion is accurately positioned at a reference position along with attenuation of sway of the elevating portion.
摘要翻译：悬挂式起重设备具有升降部分的位置，该升降部分通过悬挂构件从基座可升降地悬挂，由定位构件调节，用于将悬挂构件悬挂在水平面中。悬架式起重设备还包括位置控制器，用于基于定位构件的位置参考信号与其实际位置之间的偏差输出速度参考信号，以及速度控制器，用于输出作为被操纵的力参考信号基于从位置控制器输出的定位构件的速度参考信号与其实际速度之间的偏差，定位构件的变化; 其中检测到升降部分的摆动速度。相对于定位构件产生摆动控制信号，并且摇摆控制信号被加到从速度控制器输出的力参考信号。因此，在升降部分摆动的情况下，定位部件与升降部的摆动速度成比例地等位移位，在非常短的时间内抑制升降部的摆动，同时，升降部分与升降部分的摆动的衰减一起精确地定位在基准位置。

8. 发明申请

US20080309277A1 Driving system for mobile robot 有权
标题翻译：移动机器人驱动系统
公开(公告)号：US20080309277A1
公开(公告)日：2008-12-18
申请号：US12213238
申请日：2008-06-17
申请人： Tsukasa Sugino , Masakazu Kawai , Kenro Udono
发明人： Tsukasa Sugino , Masakazu Kawai , Kenro Udono
IPC分类号： G05B19/18 , G05B9/02
CPC分类号： B25J19/005
摘要： In a system for driving a mobile robot having a body, a plurality of legs each comprising a thigh link and a shank link, a first electric motor and a second motor for driving the thigh link in a forwarding direction, a power line connecting a power source to the first and the second motors, and a motor driver that supplies drive voltage to the first and second motors, a booster that boosts the drive voltage to be supplied to the first and second motors is provided such that the booster and the motor driver are installed in the thigh link where the first and second motors are installed, thereby enabling to satisfy both the low-voltage demand and high-voltage demand and to supply drive voltage to the motors effectively.
摘要翻译：在用于驱动具有主体的移动机器人的系统中，包括大腿连杆和小腿连杆的多个腿部，第一电动机和用于沿前进方向驱动大腿连杆的第二电动机，连接动力的动力线源极到第一和第二电动机;以及电动机驱动器，其向第一和第二电动机提供驱动电压，升压器将提供给第一和第二电动机的驱动电压升高，使得升压器和电动机驱动器安装在安装第一和第二电动机的大腿连接处，从而能够满足低电压需求和高电压需求，并且有效地向电动机提供驱动电压。

9. 发明授权

US6041274A Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body 失效
标题翻译：用于移动体的位置偏差检测装置和安装在移动体上的作业机械的位置校正装置
公开(公告)号：US6041274A
公开(公告)日：2000-03-21
申请号：US63409
申请日：1998-04-21
申请人： Masanori Onishi , Masanao Murata , Yutaka Nakai , Katsumi Yasuda , Tsukasa Sugino , Susumu Nakagawa , Kouji Miura
发明人： Masanori Onishi , Masanao Murata , Yutaka Nakai , Katsumi Yasuda , Tsukasa Sugino , Susumu Nakagawa , Kouji Miura
IPC分类号： G01B11/00 , G01B21/04 , G05D1/02 , G05D1/00
CPC分类号： G01B21/04 , G01B11/005 , G05D1/0246
摘要： A pickup sensor for picking up an image on a floor is installed on a mobile body with a working machine mounted thereon in order to correct for the position deviation of a working machine due to possible deviation in the stop position of a mobile body to always ensure accurate working without increasing the working time of the overall system at the time of stopping the mobile body at a predetermined position and allowing said working machine to perform predetermined operation according to previously given teaching data. At the time the teaching data is given, the pickup sensor picks up an image (reference picked image) including a regular pattern and a predetermined identification mark formed on a floor. At the time the working machine works, the pickup sensor also picks up an image (on-pause picked image) on the floor surface at the stop position. The reference picked image is compared with the on-pause picked image based on the position of the identification mark, and the teaching data of the working machine is corrected on the basis of the comparison result. This correction does not involve the operation of the movable portions of the working machine or the like and can be accomplished by using an operation switching time which exists between the time when the mobile body has stopped and the time the working machine initiates an operation.
摘要翻译：用于拾取地板上的图像的拾取传感器安装在安装有工作机器的移动体上，以便由于移动体的停止位置的可能偏差而校正作业机械的位置偏差，以始终确保准确地工作，而不会在将移动体停止在预定位置时增加整个系统的工作时间，并允许所述工作机器根据先前给出的教导数据执行预定的操作。在给出教学数据时，拾取传感器拾取包括形成在地板上的规则图案和预定识别标记的图像（参考拾取图像）。在工作机器工作时，拾音传感器还在停止位置的地板表面拾取图像（暂停拍摄图像）。基于识别标记的位置将参考所选择的图像与暂停所选择的图像进行比较，并且基于比较结果校正作业机器的教学数据。这种校正不涉及作业机械等的可动部的动作，能够通过使用存在于移动体停止的时刻与作业机起动时间之间的动作切换时间来实现。

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