This method for controlling an articulated robot is a method for controlling an articulated robot having a plurality (at least 4) joints. In this method, a joint value for each joint is calculated in order to set the articulated robot in a target state by repeatedly executing unit processes, the unit processes comprising: a first group process in which a joint value expressing the state of a joint is calculated for a joint(s) belonging to a first group among the plurality of joints which are divided into a first group and a second group by performing an inverse kinematics computation using the joint(s) belonging to the first group; and a second group process in which a joint value of a joint(s) belonging to the second group is calculated by performing an inverse kinematics computation using the joint(s) belonging to the second group among the plurality of joints.
This articulated robot comprises: a base portion; a tip end portion; a plurality of links, including a first link and a second link, connecting the base portion and the tip end portion; a first driving mechanism which connects the first link and the second link, and which causes the second link to rotate relative to the first link, with an axis at an angle greater than a prescribed angle relative to a first direction in which the first link extends, as a first axis of rotation; a first movement mechanism which causes the first driving mechanism to move relative to the first link in the first direction; and a second movement mechanism which causes the second link to move relative to the first driving mechanism in a second direction in which the second link extends.
Provided is a method for controlling an articulated robot having a plurality of seven or more joints. The method for controlling an articulated robot: performs inverse-kinematics computation for computing the amounts of shift of a plurality of joints that allow the articulated robot to operate; repeatedly performs a unit process that includes a calculation process for updating a plurality of joint values of the plurality of joints on the basis of the amounts of shift, and a fixed process that is performed with respect to one of the plurality of joints of which a state based on the joint value is a predetermined specific state; and, if the fixed process is performed, shifts, during the calculation process, the joint value of a joint that does not have the specific state without substantially shifting the joint value of the joint of the specific state, among the joint values of the plurality of joints.
A program recorded on a computer-readable recording medium causes a processor to function as: an acquisition unit for acquiring selection information indicating a cultivation mode selected from among a plurality of cultivation modes regarding plants cultivated in a greenhouse for cultivating plants; and a device control unit whereby a plurality of environment adjustment devices for adjusting the environment inside the greenhouse are controlled in accordance with the cultivation mode indicated by the selection information.
[Problem] To provide a wireless power supply system and method, and a wireless power-receiving system, with which impedance is easily adjusted even if a load-side circuit impedance fluctuates. [Solution] A wireless power supply system 1 that feeds and receives electric power between a power-feeding coil 32 and a power-receiving coil 41 using a magnetic resonance scheme, the wireless power supply system 1 being such that: the power-receiving coil 41 is configured such that it is possible to select between a plurality of coil regions 41A, 41B, 41C that are provided to the power-receiving coil 41 and that have different numbers of coil windings in accordance with connection positions of a plurality of terminals; a controller 92 changes the impedance of the power-receiving coil 41 by switching between the plurality of terminals; and the difference between a load-side impedance, which is the impedance of a circuit on a load side 8 from an input end IE of a power-feeding device 3, and an input-side impedance, which is the impedance of a circuit on an AC-power-supply 5 side from the input end IE of the power-feeding device 3, is mitigated.
An articulated robot according to the present invention comprises: a first link and a second link that connect a base portion and a leading end portion; a first driving mechanism that connects the first link and the second link and that rotates the second link by using, as a first rotation axis, an axis that forms an angle with an extension direction of the first link, the angle thereof being larger than a prescribed angle; and a second driving mechanism that connects the second link and the leading end portion and that rotates the leading end portion by using, as a second rotation axis, an axis that forms an angle with the extension direction of the second link, the angle thereof being larger than the prescribed angle. The second link comprises: a first portion; a second portion; a third portion; a third driving mechanism that rotates the second portion by using, as a third rotation axis, an axis that forms an angle with the extension direction of the first portion, the angle thereof being equal to or less than the prescribed angle; and a first expansion/contraction mechanism that causes the third portion to move along the extension direction of the first portion, thereby expanding and contracting the second link.
This currency processing device comprises: an identification unit for identifying types of media having a plurality of types and the same frontal plane; a storage unit for storing the media identified by the identification unit; and a display unit for displaying the number of media stored in the storage unit per type in graph form.
[Problem] To provide a paper sheet processing device capable of smoothly feeding paper sheets into a machine body. [Solution] A banknote processing device 1 that presses banknotes S placed on an intake unit 5 toward a feed roller 9 with a bill press 100 and takes the banknotes S into a machine body 4. The bill press 100 is equipped with: a main pressing unit 110 that is installed so as to be vertically movable within the intake unit 5 and is capable of pressing the approximate center of the banknotes S; and a first auxiliary pressing unit 120 and a second auxiliary pressing unit 130 that are installed independently of the main pressing unit 110 and are capable of pressing the region of the banknotes S excluding the approximate center.
B65H 1/06 - Supports or magazines for piles from which articles are to be separated adapted to support articles substantially horizontally, e.g. for separation from top of pile for separation from bottom of pile
B65H 1/18 - Supports or magazines for piles from which articles are to be separated with means for advancing the pile to present the articles to a separating device controlled by height of pile
B65H 1/26 - Supports or magazines for piles from which articles are to be separated with auxiliary supports to facilitate introduction or renewal of the pile
9.
INFORMATION PROCESSING DEVICE, ROBOT CONTROL METHOD, PROGRAM, MOVING BODY, AND ROBOT SYSTEM
A robot controller comprises: an information acquiring unit for acquiring position information indicating a position of a terminal device, and attitude information indicating an attitude of the terminal device; and an information generating unit for generating path information for a robot by sequentially defining a position and attitude of a tip end portion of the robot on the basis of the position information and the attitude information acquired by the information acquiring unit.
In the present invention, a character recognition device comprises: a written content recognition unit for recognizing one character included in an application form image as a result of executing each of a plurality of character recognition processes for recognizing characters included in an image and calculating the accuracy of the recognized characters; and a recognition result determination unit for determining one of a plurality of candidate characters, obtained as the result of recognition of the one character according to each of the plurality of character recognition processes, to be a confirmed character corresponding to a recognition result for the one character. The application form image is an image of a document including one or more items. Priorities of the character recognition processes used to recognize the characters are determined for each of the items. The recognition result determination unit determines one of the plurality of candidate characters to be a confirmed character on the basis of the accuracies of each of the plurality of candidate characters and the priorities of each of the plurality of character recognition processes.
Provided is a paper sheet processing device that smoothly delivers paper sheets held on a drum. This paper sheet processing device (10) comprises a temporary holding unit (18) that holds a bank note (S) by holding and winding the bank note (S) with a tape (30) onto a drum (31), and delivers the held bank note (S). The temporary holding unit (18) comprises: a pressing roller (32) that presses the bank note (S) accommodated on the drum (31) against the drum (31) and corrects warping of the bank note (S); and a scraper (33) that peels the bank note (S), of which the warp has been corrected and which is to be delivered from the drum (31), off the drum (31).
B65H 29/51 - Piling apparatus of which the discharge point moves in accordance with the height of the pile piling by collecting on the periphery of cylinders
In the present invention, a terminal device comprises: an acquisition unit that acquires recognition information including character information indicating a plurality of characters read from a character image by character recognition processing that recognizes characters included in an image, and accuracy information indicating the accuracy of a recognition result for each of the plurality of characters; a display control unit that displays, on a display device, the plurality of characters indicated by the character information; and a control unit that controls, on the basis of the accuracy indicated in the accuracy information, an operation performed on protected characters, from among the plurality of characters, which satisfy a condition related to the accuracy of the recognition result.
[Problem] To provide a wireless power-supplying system and method whereby a positional relationship between a power-supplying device and a power-supplied device is understood with high accuracy and power is stably transmitted and received without impairing the mobility of a moving body on which the power-supplied device is mounted. [Solution] A wireless power-supplying system 1 that transmits power by using a magnetic resonance method comprises: power-supplying devices 2a-2c, each provided with a power transmission coil 21; a power-supplied device 3 provided with a power reception coil 31 that receives AC power of a first frequency from the power transmission coils 21, and a transmission circuit 37 that outputs an AC signal of a second frequency, which is a frequency differing from the first frequency, and causes the AC signal to be transmitted from the power reception coil 31; and a position-estimating device 6 that estimates the position of the power reception coil 31 in relation to each power-supplying device 2a-2c on the basis of the intensity of the AC signal propagated to each of the power-supplying devices 2a-2c from the power reception coil 31.
H02J 50/90 - Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
H02J 50/12 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
H02J 50/40 - Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
14.
WIRELESS POWER FEEDING SYSTEM AND METHOD, AND WIRELESS POWER TRANSMISSION SYSTEM
[Problem] To provide a wireless power feeding system and method, and a wireless power transmission system which enable mitigation of decrease in power transmission efficiency even in the case where impedance of a load-side circuit fluctuates. [Solution] This wireless power feeding system 1 for transmitting/receiving power by using magnetism is provided with: a power transmission device 3 comprising a transmission-side resonance circuit 36 that includes a power transmission coil 32 and a power feeding coil 31 that is provided so as to be capable of magnetic-field coupling with the power transmission coil 32 and that transmits power fed from an input terminal IE to the power transmission coil 32; and a power reception device 4 that comprises a reception-side resonance circuit 43 including a power reception coil 41 and that feeds power received by the power reception coil 41 to a load 8; and an impedance matching mechanism 9 that, by changing the coupling strength of the magnetic-field coupling between the power feeding coil 31 and the power transmission coil 32, performs an impedance matching process for reducing the difference between a load-side impedance which is an impedance of a circuit at a load 8 side from the input terminal IE of the power transmission device 3 and an input-side impedance which is an impedance of a circuit at an AC power source 5 side from the input terminal IE of the power transmission device 3.
H02J 50/12 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
H02J 50/40 - Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
H02J 50/80 - Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
15.
WIRELESS POWER SUPPLY SYSTEM AND METHOD, AND WIRELESS POWER RECEIVING SYSTEM
[Problem] To provide a wireless power supply system and method, and a wireless power receiving system, with which a decrease in power transmission efficiency is reduced even if a load-side circuit impedance fluctuates. [Solution] A wireless power supply system 1 for transmitting electric power by means of magnetic resonance is provided with: a power transmitting device 3 provided with a power transmission-side resonance circuit 36 including a power transmitting coil 32; a power receiving device 4 which is provided with a power reception-side resonance circuit 43 including a power receiving coil 41, and which supplies electric power received via the power receiving coil 41 to a load; a DC-DC converter 7 which is provided between the power receiving device 4 and the load 8 to control a voltage supplied to the load 8; and an impedance adjusting device 9 for alleviating fluctuations in a load-side impedance.
This division card can be taken in from an insertion port of a paper sheet processing device for processing paper sheets, is arranged overlapping at least one processing target paper sheet to form a paper sheet group together with the processing target paper sheet, and enables identification information to be read by an intake sensor of the paper sheet processing device, wherein the division card comprises a card main body portion which has an identification portion including the identification information, and which is formed from a synthetic resin sheet.
The present invention comprises: a base machine having a base machine conveyance path which conveys sheet paper, and an identification part which identifies sheet paper conveyed by the base machine conveyance path; an expansion unit having an extension conveyance path which extends from the base machine conveyance path, a branching conveyance path which branches off of the extension conveyance path, and a plurality of accumulation parts which are connected to the branching conveyance path and accumulate the sheet paper after identification by the identification part; and a control part which, when a conveyance abnormality occurs, immediately continues the conveyance operation of at least one of the extension conveyance path and the branching conveyance path without stopping on the basis of the spot where the conveyance abnormality occurred and the type of the conveyance abnormality, so as to convey the sheet paper to any prescribed accumulation part from among the plurality of accumulation parts.
B65H 7/06 - Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
This paper sheet handling device is provided with an accumulation storage part that accumulates and stores paper sheets conveyed by a conveyance part while aligning the paper sheets. The accumulation storage part has: an accumulation section for accumulating the paper sheets such that a first direction which is one of a vertical width direction and a horizontal width direction and a second direction which is the other of the vertical width direction and the horizontal width direction are oriented in predetermined directions; a first alignment section that is movable between a first retreat position spaced apart from the paper sheets and a first alignment position in contact with one end edges of the paper sheets positioned in the first direction; and a second alignment section that is movable between a second retreat position spaced apart from the paper sheets and a second alignment position in contact with other end edges of the paper sheets positioned in the first direction. A control part causes the first alignment section and the second alignment section to move from the first retreat position and the second retreat position to the first alignment position and the second alignment position, causes the first alignment section and the second alignment section to tap the paper sheets accumulated in the accumulation section from both sides of the first direction, and thereby aligns the paper sheets in the first direction.
The present invention is provided with: an identification unit for reading a plurality of pieces of identification information including the same inherent information provided to a division card; and a control unit for determining that the division card is usable when the inherent information acquired from each of the plurality of pieces of inherent information coincide, and that the division card is unusable when the inherent information does not coincide. Since whether the division card is usable or unusable is determined on the basis of the coincidence or non-coincidence of the inherent information of the plurality of pieces of identification information provided to the division card, it is possible to easily determine whether the division card is usable or unusable.
G07D 7/0043 - Testing specially adapted to determine the identity or genuineness of valuable papers or for segregating those which are unacceptable, e.g. banknotes that are alien to a currency using digital security elements, e.g. information coded on a magnetic thread or strip using barcodes
G07D 7/12 - Visible light, infrared or ultraviolet radiation
This coin deposit processor transfers coins set in a deposit part one by one, sorts deposited coins into denominations, stores the coins in denominations in a storage part without temporarily holding the coins, and confirms the deposited coins for each transaction. The coin deposit processor comprises a control unit for performing special control, in which if the storage part is filled with coins confirmed in a previous transaction and coins unconfirmed in the current transaction and a failure occurs after the coins filling the storage part are removed, data on the coins unconfirmed in the current transaction and included in the coins filling the storage part is calculated as a partial confirmation, and the data on the coins calculated as the partial confirmation is recorded and reflected at the time of another transaction after recovery from the failure.
The present invention is provided with: an imaging means capable of imaging a bill processing device and the surroundings of a person in charge of a transaction operation who operates the bill processing device; and a recording means for recording imaging data of the imagining means, wherein an identification number that can be visually identified is attached on at least one surface of a partitioning card, the imaging means can image the identification number, and the recording means records the imaging data by the imaging.
A medium processing device is provided with a first unit and a plurality of second units connected to the first unit. The plurality of second units are each provided with: a conveying mechanism that conveys a medium; and a medium detection unit that detects the medium being conveyed by the conveying mechanism and transmits a signal indicating detection of the medium to the first unit. The first unit determines, on the basis of the signals transmitted from the medium detection units of the plurality of second units, an order of connection of the plurality of second units to the first unit.
A coin processing device comprises: a feed belt that rotates normally in contact with the upper side of a coin to convey the coin to a conveyance path leading from an inlet side passage to an outlet side passage; a conveyance motor that rotates the feed belt normally during normal rotation; a detection unit that detects the coin passing through a predetermined position on the conveyance path; and a control unit that, in response to the detection of the coin by the detection unit, rotates the conveyance motor by switching from a first rotation state in which the conveyance motor rotates normally at a first rotation speed to a second rotation state in which the conveyance motor rotates normally at a second rotation speed lower than the first rotation speed.
A paper sheet detection device comprising: an optical sensor having a light-emitting unit that emits light, and a light-receiving unit that receives the emitted light; a storage unit that stores a first threshold value used for determining whether or not a paper sheet is present in the path of the emitted light, a target light-receiving level set as a target value of the level of light received by the light-receiving unit in the absence of the paper sheets, and a second threshold value that is set to a value that is equal to or greater than the first threshold value and less than the target light-receiving level; an estimation unit that determines whether the level of light received by the light-receiving unit is equal to or greater than the first threshold value and less than the second threshold value, and that estimates whether or not the paper sheet is present; and a light amount adjusting unit that adjusts the amount of light emitted by the light-emitting unit such that the level of the light received by the light-receiving unit becomes the target light-receiving level in the absence of the paper sheets when it is estimated that the paper sheets are absent by the estimation unit after the estimation unit determines that the level of light received by the light-receiving unit is equal to or higher than the first threshold value and less than the second threshold value.
G07D 7/00 - Testing specially adapted to determine the identity or genuineness of valuable papers or for segregating those which are unacceptable, e.g. banknotes that are alien to a currency
B65H 7/14 - Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors by photoelectric feelers or detectors
G07D 7/121 - Apparatus characterised by sensor details
25.
PAPER SHEET PROCESSING DEVICE AND PAPER SHEET PROCESSING METHOD
A paper sheet processing device that counts a plurality of paper sheets set in a depositing unit for each preset batch number and dispenses the paper sheets to a dispensing unit, wherein: the paper sheet processing device comprises a temporary holding unit that holds the paper sheets set in the depositing unit and feeds out the held paper sheets, and a control unit that controls the feeding out of the paper sheets in the temporary holding unit and controls conveyance of the paper sheets set in the depositing unit; and the control unit performs control for feeding out the paper sheets held in the temporary holding unit by the batch number and dividing and dispensing the sheets into the dispensing unit.
This medium processing device is provided with a main body unit which is for counting media and configured to be connectable to at least one medium processing unit that accommodates the media. The main body unit has: a plurality of power supply lines including first and second power supply lines which are mutually independent and supply power to the at least one medium processing unit; and an output unit for outputting a control signal to the at least one medium processing unit.
This paper sheet processing device comprises: a case that houses paper sheets; and a sliding stage portion that is provided within the case and supports the paper sheets housed in the case. The sliding stage portion slides with respect to the case to protrude partially to the outside of the case and also slides with respect to the case to push the paper sheets to the outside of the case and cause the leading ends of the paper sheets to protrude to the outside of the case.
This paper sheet processing device includes an ejection roller for ejecting paper sheets, and a bill press for pressing the paper sheets against the ejection roller, wherein the bill press includes a bill press main body which moves in a direction approaching and moving away from the ejection roller, a pressing portion which is provided on the ejection roller side of the bill press main body and moves in a direction approaching and moving away from the bill press main body, and an elastic portion provided between the pressing portion and the bill press main body.
This paper sheet processing device comprises an introducing unit into which paper sheets are introduced from the outside, an identification unit which identifies the paper sheets fed out from the introducing unit while causing the same to pass through in a first direction, and identifies the paper sheets while causing the same to pass through in a second direction opposite to the first direction, a temporary storage unit for temporarily storing the paper sheets identified by the identification unit as capable of being accepted, a dispensing unit which accommodates paper sheets identified as not capable of being accepted, in such a way as to be capable of being extracted to the outside, and an accommodating unit for accommodating paper sheets which have been fed out from the temporary storage unit and identified by the identification unit while being caused to pass through the identification unit in the second direction, wherein the paper sheets fed out from the temporary storage unit and identified by the identification unit while being caused to pass through the identification unit in the second direction can be conveyed to the introducing unit.
G07D 9/00 - Counting coins; Handling of coins not provided for in the other groups of this subclass
G07D 7/00 - Testing specially adapted to determine the identity or genuineness of valuable papers or for segregating those which are unacceptable, e.g. banknotes that are alien to a currency
Provided is a paper sheet processing device, comprising: a receiving slot open to the exterior of the device, wherein paper sheets from outside the device are placed and wherefrom the paper sheets placed in a stacked state therein are dispensed one by one; a conveyance part for conveying the paper sheets dispensed from the receiving slot; an identification part for identifying whether the paper sheets conveyed by the conveyance part are to-be-counted paper sheets or reject paper sheets, and which counts the paper sheets identified as the to-be-counted paper sheets; a post-count housing slot which houses the counted paper sheets; and a plurality of reject housing slots which house, in a sorted state, the paper sheets identified as the reject paper sheets and sorted by reason for rejection.
This coin identification apparatus has: a line sensor that detects line image data relating to a currently conveyed coin that is to be identified; an acquisition unit that acquires the line image data at a prescribed sampling interval; an estimation unit that calculates the similarity between the acquired line image data and reference line data that is for each angle and that is a part of reference pattern image data indicating a coin having a reference pattern, for each of the acquired line image data sets, and estimates the rotary angle of the coin to be identified on the basis of the calculated similarity; a correction unit that corrects the line image data on the basis of the estimated rotary angle; and an identification unit that identifies the coin to be identified on the basis of the corrected line image data.
This service robot is capable of communicating with a reception machine that at least assigns a reception number. The service robot is provided with: an image information acquisition unit that acquires image information including an image of a customer; a reception number acquisition unit that acquires the reception number from the reception machine, in accordance with a reception operation by the customer; and a storage unit that stores the acquired reception number and the acquired image information such that the number and the information are associated with each other.
A paper sheet processing device equipped with: an identification unit that identifies a paper sheet; a temporary storage unit that temporarily stores the identified paper sheet; and a linear transport path that connects the identification unit and the temporary storage unit, extends in a straight line, and transports the paper sheet identified by the identification unit to the temporary storage unit.
This inspection device 1 is provided with: a THz wave irradiation unit 3 for irradiating a specimen 2 with waves; a THz wave-sensing unit 5 for detecting transmitted waves 4 or reflected waves 22 of THz waves irradiating the specimen 2; and an information-processing unit 10 for acquiring an intensity distribution of transmitted waves 4 or reflected waves 22 from the specimen 2, from intensity data for transmitted waves 4 or reflected waves 22 from the specimen 2 irradiated with the THz waves. The information-processing unit 10 acquires a two-dimensional intensity distribution of transmitted waves 4 or reflected waves 22, and by comparing the intensity distribution detected in the absence of foreign matter 7 adhering to the specimen 2, and the intensity distribution during inspection, obtained when the specimen 2 is detected during inspection, detects whether foreign matter 7 is adhering to the specimen 2 during inspection. The specimen is, e.g., a sheet of paper. Alternatively, the information-processing unit 10 may detect foreign matter 7 adhering to the specimen 2, from intensity changes based on a lens effect of the difference between the refractive index of the foreign matter 7 and the refractive index of the specimen 2 in the absence of adhering foreign matter 7.
G01N 21/892 - Investigating the presence of flaws, defects or contamination in moving material, e.g. paper, textiles characterised by the flaw, defect or object feature examined
G01N 21/3581 - Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using Terahertz radiation
G01N 22/00 - Investigating or analysing materials by the use of microwaves or radio waves, i.e. electromagnetic waves with a wavelength of one millimetre or more
G07D 7/00 - Testing specially adapted to determine the identity or genuineness of valuable papers or for segregating those which are unacceptable, e.g. banknotes that are alien to a currency
G07D 7/12 - Visible light, infrared or ultraviolet radiation
patents
