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    • 5. 发明授权
    • Image forming apparatus and image density detecting method
    • 图像形成装置和图像浓度检测方法
    • US08654419B2
    • 2014-02-18
    • US13415082
    • 2012-03-08
    • Susumu MiyazakiIzumi KinoshitaMotohiro KawanabeTakeshi ShikamaTakuhei YokoyamaTatsuya Miyadera
    • Susumu MiyazakiIzumi KinoshitaMotohiro KawanabeTakeshi ShikamaTakuhei YokoyamaTatsuya Miyadera
    • H04N1/46
    • H04N1/3878H04N1/407H04N1/409
    • An image forming apparatus performs pseudo gradation processing using dithering, and includes an image carrier; a plurality of light-emitting element arrays arranged in a main-scanning direction and including a plurality of light-emitting elements; an image forming unit performing lighting control of the arrays and forming a pattern image on the image carrier; a detecting unit detecting a density of the pattern image; a position detecting unit detecting a position in the main-scanning direction of the detecting unit with respect to the light-emitting element arrays; a determining unit that, based on the detected position, determines whether the detecting unit is positioned at a proper detection position with respect to the pattern image on which noise has no effect; and an operation control unit that, when the detecting unit is positioned at the proper detection position, performs an image density detection operation on the pattern image using the detecting unit.
    • 图像形成装置使用抖动进行伪灰度处理,并且包括图像载体; 沿主扫描方向排列并包括多个发光元件的多个发光元件阵列; 图像形成单元,对所述阵列执行点亮控制,并在所述图像载体上形成图案图像; 检测单元,检测图案图像的浓度; 位置检测单元,相对于所述发光元件阵列检测所述检测单元的主扫描方向的位置; 确定单元,其基于所检测的位置,确定所述检测单元是否位于相对于其上没有影响的图案图像的适当检测位置; 以及操作控制单元,当所述检测单元位于适当的检测位置时,使用所述检测单元对所述图案图像执行图像浓度检测操作。
    • 9. 发明授权
    • Legged mobile robot
    • 有腿的移动机器人
    • US08387726B2
    • 2013-03-05
    • US13152724
    • 2011-06-03
    • Susumu Miyazaki
    • Susumu Miyazaki
    • B62D57/032
    • A63H11/00B25J9/106B62D57/032
    • A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.
    • 机器人1配备有包括连接大腿连杆32和十字连杆34的膝关节16的腿部2.膝关节16配备有连杆44,连杆44的一端连接成可自由转动, 相对于十字连杆34的轴线40并且其另一端连接成能够自由旋转到大腿连杆32的轴线42;以及距离变化机构50,其改变了轴线60之间的距离 通过电动机40的驱动力,大腿连杆32的轴线56和轴56.当膝关节16的弯曲角度为0度时,轴线40与轴42之间的距离和距离 在轴线60和轴线56之间的距离小于轴线40和轴线56之间的距离。