Hitachi, Ltd.

Hitachi Koki Co., Ltd.

Hitachi-ge Nuclear Energy, Ltd.

Yuji Hosoda

Kazuo Honma

Masakatsu Fujie

Taro Iwamoto

Yoshiyuki Nakano

Kohji Kamejima

Saku Egawa

Masanori Suzuki

Yoshitaka Hara

Junichi Tamamoto

Toshihiko Horiuchi

Yoshio Kojima

Ryosuke Nakamura

Isao Nakajima

Takashi Yoshida

Kenjiro Yamamoto

Michio Yanadori

Masashi Koga

Makoto Kurosawa

Ryoko Ichinose

Ren Morinaka

Tsuneki Kobayashi

Eisaku Hayashi

Akira Oshima

Kensei Hosoya

Shigeru Kajiyama

Yutaka Kometani

Kunihiko Iwama

Kenichi Igarashi

Yutaka Arai

Ryoji Azumaishi

Kohji Kamajima

Masakatsu Fijie

Calculating a highly accurate locus is a goal. An administrative part () for correcting a traveling locus of a mobile object (V) is characterized by including an evaluation function generating unit () that sets a plurality of nodes on locus data of the mobile object (V) acquired by a wheel rotation quantity measuring unit (), correlates position data of the mobile object (V) acquired by the wheel rotation quantity measuring unit () to the nodes and correlates position data of the mobile object (V) acquired by other units of measurement means than the wheel rotation quantity measuring unit to the nodes, represents positions at which the nodes may occur by probability, represents positions at which position data correlated to the nodes may occur by probability, and calculates an evaluation function including the nodes and the position data as variables, based on each probability; and a locus optimization calculation unit () that calculates a locus on which each node occurs with largest probability, based on the evaluation function.

Locus correcting method, locus correcting apparatus, and mobile object equipment

Fuel exchange apparatus

A collision avoidance assisting system for a vehicle, for expecting a risk of colliding upon a moving object (or a moving obstacle), including a pedestrian, more correctly, but without annoying a driver, excessively, by estimating the risk to be excessively high, comprises a moving object detecting means for detecting a moving object existing on periphery of the vehicle; a footway boundary detecting means for detecting a position and a configuration of a footway boundary object on periphery of the vehicle; a risk estimation means for estimating a risk that the moving object detected by said moving object detecting means collides on the vehicle; and an alarm means for calling an attention to a driver of the vehicle, upon basis of the risk of collision estimated by the risk estimation means, wherein the risk of collision between the moving object, which is detected by the moving object detecting means, and that vehicle is estimated by taking at least the position information of the moving object, the position information of the footway boundary object and conditions of the circumferences thereof.

Collision avoidance assisting system for vehicle

An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit, which detects an obstacle, a route producer unit, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.

Autonomous mobile robot apparatus and a rush-out collision avoidance method in the same apparatus

Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheelsand, each being controlled through the inverted pendulum control, are disposed supporting legsand, tips of which can be lifted up and down, wherein the tips of the supporting legsandare positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legsandare fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensorsandand side-surface distance sensorand, which are provided at the tips of the supporting legsand, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheelsand; thereby enabling to travel over the level difference and the inclines surface.

Moving robot

Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.

Autonomous mobile equipment and position-of-object and own position detecting system

A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

Mobile robot

A system for inspection and mending in a reactor vessel of a nuclear reactor comprises a track mechanism, support mechanisms for supporting the track mechanism, an inspection apparatus traveling on the track mechanism, at least one mending apparatus traveling on the track mechanism, a setting mechanism for lowering all the above-described mechanisms and apparatus in the reactor vessel, each of which is composed so as to pass through a hole of an upper grid of a reactor, and an installing mechanism for positioning the support mechanisms fixed with two of the upper grid, a core support plate and internal structures below the core support plate and the track mechanism at the inside of the reactor vessel by remote control and for attaching the inspection apparatus and the mending apparatus to the same track mechanism by remote control. The position data of places to be mended are obtained by the inspection apparatus and transmitted as the target position data to a mending control apparatus for controlling the mending apparatus.

System for inspection and mending in a reactor vessel of a nuclear

The invention is a fastening device for fastening a plurality of structures using a bolt and a nut. At least two bolts are provided each having a screw portion at one end. At least one nut is provided for each of the bolts. The nut has a flange having a diameter greater than a distance between axes of the bolts with relative rotation of the nuts being restricted by fixing mutually overlapping portions of the flanges of the nuts threaded on the bolts to each other.

Fastening device

A gripping device for gripping an outer peripheral edge of an object to be grasped such as, for example, a semiconductor wafer, with the gripping device including a base, gripping members for gripping the object to be grasped, elastic members disposed between the base and the grip members so as to urge the respective grip members in an opening or closing direction. A driver for the grip members is provided, with the driver being fashioned as a linear or flat shape memory alloy member which is connected across the grip members.

Grip device for sheet-like objects

Tactile sensing apparatus for detecting a tactile sense with an object to-be-handled, comprising a plurality of pressure sensing devices, a processor which processes outputs of the pressure sensing devices, and a touch device which contacts with the respective pressure sensing devices in common, whereby information items on a pressure sense, a viscosity sense and a slip sense are simultaneously detected with the outputs of the pressure sensing devices which vary depending upon a direction and a magnitude of a force acting on the touch device.

Tactile sensing apparatus

In a navigation apparatus for guiding a mobile system along a predetermined path, an image obtained by measuring an actual environment is compared with a predicted image stored in advance, and a guidance signal is delivered to the mobile system on the basis of the comparison of the images.

Navigation apparatus for mobile system

In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.

Control apparatus for multi-jointed arm mechanism

An actuator including a plurality of shape memory materials used as a drive source. The plurality of the shape memory materials being arranged in parallel between a stationary member and a movable member so as to enable the actuator to operate at high speed.

Actuator

In force sensing apparatus for a driving device which employs a shape memory alloy, note is taken of the fact that a force to be generated by the shape memory alloy varies depending upon the temperature or resistance and the displacement of the shape memory alloy, and force information on an output of the driving device is detected on the basis of information of the temperature or resistance and the displacment of the shape memory alloy.

Growing community of inventors

Kasumigaura, Japan

Yuji Hosoda