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公开(公告)号：US11231722B2
公开(公告)日：2022-01-25
申请号：US16688171
申请日：2019-11-19
Inventor： Fabio Dalla Libera , Yuko Tsusaka
IPC: G05D1/02
Abstract: Provided is a mobile body system capable of moving in a more appropriate travel path. In the mobile body system, upon movement of the first to third mobile bodies from the first area into the second area, (a) the third mobile body moves into a boundary area and temporarily stops using the distance to the first mobile body and the distance to the second mobile body, (b) after the third mobile body moves into the boundary area, the first mobile body moves into the boundary area and temporarily stops using the distance to the second mobile body and the distance to the third mobile body, and (c) after the third mobile body moves into the boundary area, the second mobile body moves into the boundary area and temporarily stops using the distance to the first mobile body and the distance to the third mobile body.
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公开(公告)号：US11224325B2
公开(公告)日：2022-01-18
申请号：US16359459
申请日：2019-03-20
Inventor： Yuki Takaoka , Tomohito Oohashi , Kazuyoshi Moritani , Yuko Tsusaka
Abstract: A self-driving cleaner includes a drive unit, a control circuit, a camera, a first sensor for detecting an object, and a second sensor for detecting a stuck state, and a third sensor for detecting a person. The control circuit is configured to (a) identify information about a target object which caused the stuck state, (b) receive information indicating whether the target object is to be cleaned, and (c) control the drive unit and a suction unit, when receiving information indicating that the target object is to be cleaned, to perform a first mode where a space excluding the target object is cleaned first and, thereafter, the target object is climbed if the person is not detected and perform a second mode where the target object is climbed first and, thereafter, the space excluding the target object is cleaned if the person is detected.
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公开(公告)号：US11007645B2
公开(公告)日：2021-05-18
申请号：US16458847
申请日：2019-07-01
Inventor： Fabio Dalla Libera , Yuko Tsusaka
Abstract: A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map of an environment including object position information, and a first path where the cleaning device is to move in the environment; an identification unit which identifies a first path partial path; a converter which converts the partial path into a differently-shaped path to generate a second path; and a motor controller which causes the cleaning device to move along the second path. The identification unit sets a region, on the map, where the range finding sensor can perform range finding from start and end points of a portion of the first path, and identifies the portion as the partial path when only one or more straight lines which traverse the region and are parallel to a line segment toward the end point from the start point are represented as the object in the region set.
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公开(公告)号：US09844481B2
公开(公告)日：2017-12-19
申请号：US15184994
申请日：2016-06-16
Inventor： Yuko Tsusaka , Yudai Fudaba , Yasunao Okazaki
CPC classification number: A61G7/10 , A61G7/1017 , A61G7/1046 , A61G7/1051 , A61G7/1065 , A61G7/1074 , A61G7/1086 , B25J5/007 , B25J9/046 , B25J9/1633 , B25J11/009 , B25J13/085 , G05B2219/45108 , G05B2219/45109
Abstract: A holding mechanism holds a care-receiver, a traction mechanism that is connected to the holding mechanism, and the traction mechanism pulls the holding mechanism so that the holding mechanism draws a predetermined path. On the basis of a position of the holding mechanism detected by a position sensor and a force detected by a force sensor, if the position of the holding mechanism is not on the predetermined path, a controller controls the traction mechanism so that the holding mechanism draws the predetermined path by changing the position of the holding mechanism to a position on the predetermined path at a time after the time at which the position is detected.
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公开(公告)号：US11886186B2
公开(公告)日：2024-01-30
申请号：US16256333
申请日：2019-01-24
Inventor： Yuko Tsusaka , Mikiya Nakata , Hiroki Takeuchi , Tadahiro Taniguchi , Yoshinobu Hagiwara
CPC classification number: G05D1/0033 , G01C21/3415 , G01C21/362 , G01C21/3614 , G01C21/3676 , G05D1/0016 , G05D1/0044 , G05D1/0212 , G05D1/0219 , G05D1/0223 , G05D2201/0203 , G05D2201/0215
Abstract: A terminal apparatus includes a camera, a display that displays a display screen including a mobile robot that autonomously travels, and a control circuit. The control circuit acquires a first planned route of the mobile robot, displays, on the display, a screen having the first planned route superimposed on a camera image taken by the camera, detects a contact point on the display on which the screen is displayed, generates a second planned route of the mobile robot that travels through the contact point, and transmits the second planned route to the mobile robot.
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Patent Agency Ranking
公开(公告)号：US11224323B2
公开(公告)日：2022-01-18
申请号：US16359358
申请日：2019-03-20
Inventor： Yuki Takaoka , Tomohito Oohashi , Kazuyoshi Moritani , Yuko Tsusaka
Abstract: A self-driving cleaner includes a drive unit that drives movement of a cleaner body, a control circuit disposed in the cleaner body, a camera that captures an image in front thereof, an obstacle detection sensor that detects an object, and a rotational frequency sensor that detects a stuck state. The control circuit (a) identifies information about a target object that caused the stuck state, (b) receives information indicating whether the target object is to be cleaned, and (c) controls the drive unit and a suction unit, when receiving information indicating the target object to be cleaned, to perform a first mode where the space excluding the target object is cleaned first and, thereafter, the target object is climbed if receiving cleaning reservation and perform a second mode where the target object is climbed first and, thereafter, the space excluding the target object is cleaned if receiving a cleaning start instruction.
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公开(公告)号：US10729604B2
公开(公告)日：2020-08-04
申请号：US15412717
申请日：2017-01-23
Inventor： Yuko Tsusaka , Yudai Fudaba
Abstract: A sitting motion assist system for assisting a sitting motion of a patient changing their posture from a standing posture to a sitting posture includes a care belt, a knee-bending adviser, and a pulling mechanism. The care belt can be put on the patient and includes a hold mechanism including a first holder capable of holding the neck or shoulder of the patient and a second holder capable of holding their lower back, and a coupler capable of being positioned on their chest and coupled to the hold mechanism. The knee-bending adviser advises the patient to perform a knee-bending motion. The pulling mechanism is coupled to the hold mechanism via the coupler and pulls the care belt downward and slightly forward relative to the patient after the advice by the knee-bending adviser, and thereafter pushes the care belt downward and slightly backward to assist the sitting motion.
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公开(公告)号：US10512577B2
公开(公告)日：2019-12-24
申请号：US15409502
申请日：2017-01-18
Inventor： Yuko Tsusaka , Yasunao Okazaki , Takahiro Shiwa
Abstract: A robot includes a motion mechanism capable of operating in accordance with each of a first motion pattern for supporting a user with a first motion representing a standing-up motion and a second motion pattern for supporting a user with a second motion representing a sitting-down motion, a battery that supplies electric energy to the motion mechanism, a control unit that determines a multiple-motion availability index indicating the availability of an operation in accordance with a multiple-motion pattern including the first and second motion patterns on the basis of the battery level and the amounts of energy charge in the battery required for the operations performed by the motion mechanism in accordance with the first and second motion patterns if the control unit detects that the battery level is a first threshold value or lower, and a presentation unit that presents the multiple-motion availability index determined by the control unit.
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9.发明授权Control apparatus and method for master-slave robot, master-slave robot, and control program 有权主从机器人控制装置及方法，主从机器人及控制程序公开(公告)号：US09233467B2
公开(公告)日：2016-01-12
申请号：US14071994
申请日：2013-11-05
Inventor： Yuko Tsusaka , Yudai Fudaba , Jun Ozawa
CPC classification number: B25J9/1633 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2090/064 , B25J3/04 , B25J9/1689 , G05B2219/40138
Abstract: A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain.
Abstract translation: 主从设备在与待处理对象接触的同时抓握对象并执行任务。 力检测单元测量给予从机构的力信息。 力校正确定单元确定作为从发送到主机构的力信息的校正开始到结束时间的信息的力校正部，并且作为执行校正的校正方法，确定增益的第一方法使得绝对值的减小 在力校正部分处的力信息被维持预定的时间段，或第二种方法确定增益，使得通过减少绝对值在绝对值的减小和增加在不大于值的范围内重复 值。 力校正单元基于力校正部和增益校正力的种类的信息。
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10.发明授权Control device and control method of robot arm, robot, control program, and integrated electronic circuit 有权机器人手臂，机器人，控制程序和集成电子电路的控制装置和控制方法公开(公告)号：US09114530B2
公开(公告)日：2015-08-25
申请号：US13951828
申请日：2013-07-26
Inventor： Yuko Tsusaka , Yudai Fudaba
IPC: B25J9/16 , G05B19/423
CPC classification number: B25J9/163 , B25J9/1656 , G05B19/423 , G05B2219/36442 , G05B2219/40391
Abstract: A robot arm system for controlling a motion of a robot arm includes an order determining section for determining an order of teaching information based on at least one or more pieces of perceptual information about circumference environment of the robot arm used by a person to operate the robot arm and change the motion of the robot arm that is sensed by the person, reaction time information as time information from a time when the person receives the perceptual information to a time when the person operates robot arm, and dispersion information about a dispersion level between at least one or more pieces of the teaching information or the perceptual information, and creates motion information about the robot arm based on the teaching information and the order determined by the order determining section.
Abstract translation: 一种用于控制机器人手臂的运动的机器人手臂系统，包括一个订单确定部分，用于基于由人操作机器人所使用的机器人臂的周围环境的至少一个或多个感知信息来确定教学信息的顺序 将人的感觉到的机器人手臂的动作，作为时间信息的人反应时间信息从人接收到感知信息的时刻改变为人操作机器人手臂的时刻，以及关于人的操作机器人手臂之间的分散水平的色散信息 至少一个或多个教学信息或感知信息，并且基于教学信息和由顺序确定部分确定的顺序来创建关于机器人手臂的运动信息。
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