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公开(公告)号：US20180241283A1
公开(公告)日：2018-08-23
申请号：US15954737
申请日：2018-04-17
Applicant: SONY CORPORATION
Inventor： WATARU KOKUBO , TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
IPC: H02K7/116 , H02P6/16 , G01D5/04 , G01D5/245 , G01D5/14 , H02K11/215 , B25J13/08 , B25J9/16 , B25J9/12 , B25J9/06
CPC classification number: H02K7/116 , B25J9/06 , B25J9/126 , B25J9/1641 , B25J13/088 , G01D5/04 , G01D5/145 , G01D5/2451 , G05B2219/39191 , H02K11/215 , H02P6/16
Abstract: Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
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公开(公告)号：US20210272269A1
公开(公告)日：2021-09-02
申请号：US17250328
申请日：2019-06-28
Applicant: SONY CORPORATION
Inventor： HIROTAKA SUZUKI , ATSUSHI IRIE , TAKARA KASAI , MASANOBU NAKAMURA , TETSUYA NARITA , HAJIME MIHARA
Abstract: The present technology relates to a control device, a control method, and a program that allow notification of an abnormality occurring in a robot to be given to a user in an easy-to-check manner. A control device according to one aspect of the present technology includes: an abnormality detection unit that detects an abnormality that has occurred in a predetermined part of a robot; and an attitude control unit that controls an attitude of the robot so that the predetermined part in which the abnormality has occurred is within the angle of view of a camera. The present technology can be applied to a robot capable of making autonomous motions.
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公开(公告)号：US20210245647A1
公开(公告)日：2021-08-12
申请号：US17253879
申请日：2019-06-19
Applicant: SONY CORPORATION
Inventor： TAKASHI KITO , YUKI ITOTANI , KOJI NAKANISHI , TAKARA KASAI , KAZUO HONGO , YASUHISA KAMIKAWA , ATSUSHI SAKAMOTO
IPC: B60P1/02
Abstract: A robot (1) includes: a main body (10) including a hollow portion (110) that is a hollow space penetrating the main body (10) in an up-down direction, the main body (10) being configured to lift and support a support object (30) inserted in the hollow portion (110) by moving in the up-down direction; and a movable member (200) configured to move the main body (10) at least in the up-down direction by operating a leg (20).
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公开(公告)号：US20200146762A1
公开(公告)日：2020-05-14
申请号：US16743104
申请日：2020-01-15
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.
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公开(公告)号：US20190059696A1
公开(公告)日：2019-02-28
申请号：US16080120
申请日：2017-02-21
Applicant: SONY CORPORATION
Inventor： TOMOYUKI HIRAYAMA , DAISUKE KIKUCHI , YUKI SUGIE , YASUHIRO MATSUDA , DAISUKE NAGAO , TAKARA KASAI
Abstract: Provided is an image processing device including: an image processing unit that generates image data for output from a captured image of an inside of a body cavity of a patient photographed by an endoscope. The image processing unit generates the image data in a manner that, when a lens barrel of the endoscope is moved in an optical axis direction of an objective lens during photographing, a display range in the captured image that is a range expressed in a display image displayed on a display device does not change, during the movement and after the movement, from a display range before the movement.
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Patent Agency Ranking
公开(公告)号：US20170066131A1
公开(公告)日：2017-03-09
申请号：US15119631
申请日：2015-02-12
Applicant: SONY CORPORATION
Inventor： YASUHISA KAMIKAWA , TAKARA KASAI , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: [Object] To calibrate an internal model more efficiently and more precisely. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.
Abstract translation: [对象]更高效，更准确地校准内部模型。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由由一个或多个接合单元连接的多个链节构成，所述臂单元可连接到成像单元。 使用在成像单元指向实际空间中的参考点的状态下获取的内部模型信息来更新包括关于臂单元的至少几何信息和关于成像单元的聚焦位置信息的内部模型。
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公开(公告)号：US20210247763A1
公开(公告)日：2021-08-12
申请号：US15734725
申请日：2019-03-29
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , TAKASHI KITO , KAZUO HONGO , RYOTA KIMURA
Abstract: [Problem] It becomes possible to switch the operation controlling entity while maintaining continuity in the tasks.
[Solution] A control device includes a driving control unit that drives a robot device based on one of a first-type driving instruction and a second-type driving instruction, at least one of which is sent from a distant location from the robot device; and a transition control unit that switches a driving instruction for driving the robot device from the first-type driving instruction to the second-type driving instruction. The transition control unit switches the driving instruction from the first-type driving instruction to the second-type driving instruction via a transition driving instruction generated based on the first-type driving instruction and the second-type driving instruction.-
公开(公告)号：US20190091861A1
公开(公告)日：2019-03-28
申请号：US16086952
申请日：2017-02-02
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , DAISUKE NAGAO
IPC: B25J9/16 , G05B19/4155
Abstract: To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes: a prediction section (260) configured to, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predict a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder; and a trouble determination section (266) configured to compare a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.
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公开(公告)号：US20170007342A1
公开(公告)日：2017-01-12
申请号：US15119671
申请日：2015-02-12
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: [Object] To enable further improvement in user convenience. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.
Abstract translation: [对象]进一步提高用户便利性。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由通过一个或多个接合单元彼此连接的多个链节构成，所述臂单元可连接到成像单元; 以及驱动控制单元，其通过协同地驱动每个接合单元来控制所述臂单元的驱动。 驱动控制单元使用相对于臂单元的参考位置的相对位置信息，相对位置信息基于臂单元的状态和关于成像单元与参考位置之间的距离的距离信息来控制 以参考位置位于成像单元的光轴上的方式驱动臂单元。
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公开(公告)号：US20160365771A1
公开(公告)日：2016-12-15
申请号：US15121602
申请日：2015-02-19
Applicant: SONY CORPORATION
Inventor： WATARU KOKUBO , TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
IPC: H02K7/116 , H02P6/16 , B25J9/06 , G01D5/245 , B25J9/16 , B25J13/08 , G01D5/04 , G01D5/14 , H02K11/215 , B25J9/12
CPC classification number: H02K7/116 , B25J9/06 , B25J9/126 , B25J9/1641 , B25J13/088 , G01D5/04 , G01D5/145 , G01D5/2451 , G05B2219/39191 , H02K11/215 , H02P6/16
Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
Abstract translation: [对象]准确地检测旋转角度，并且更安全地驱动。 [解决方案]提供一种致动器（300），其包括：减速齿轮（320），其以一定的减小比率减小接合到电动机（360）的旋转轴的输入轴的旋转速度，并且将减速齿轮 到输出轴（350）的旋转速度; 第一绝对角度编码器（330），其检测输入轴的旋转角度; 以及检测输出轴的旋转角度的第二绝对角度编码器（340）。
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