An optical disk reproducing device includes a division element that divides a reflected light reflected and diffracted by an optical disk into a light flux in a central region and light fluxes in end regions; a photodetector that has a central light receiver that receives the light flux in the central region and at least two end light receivers that receive the light fluxes in the end regions, and outputs a light amount signal corresponding to a light amount of each of the received light fluxes; a non-linear processor that receives each of the light amount signals from the central light receiver and the end light receivers, and outputs linear signals and non-linear signals obtained by processing the light amount signals by linear and non-linear arithmetic operations; an equalization processor that receives the linear signals and the non-linear signals and outputs signals each amplified with a predetermined gain; an adder that adds the amplified signals and outputs an equalization signal; a reproduction signal processor that processes the equalization signal and outputs a reproduction signal and an equalization error signal; and a gain controller that receives the equalization error signal and controls an amplification gain of the non-linear signals.

A detection apparatus determines whether a recording layer of an optical disc is at a focal point of an objective lens. The detection apparatus includes an objective lens, a beam splitter, a reflector, a detector, and a servo controller. The reflector and the detector are disposed opposite to each other on two sides of an optical axis of the objective lens, and a normal line of the reflector is perpendicular to the optical axis. The beam splitter is disposed between the reflector and the detector and is located on the optical axis. The servo controller is connected to the detector.

An optical disk reproducing device includes a division element that divides a reflected light reflected and diffracted by an optical disk into a light flux in a central region and light fluxes in end regions; a photodetector that has a central light receiver that receives the light flux in the central region and at least two end light receivers that receive the light fluxes in the end regions, and outputs a light amount signal corresponding to a light amount of each of the received light fluxes; a non-linear processor that receives each of the light amount signals from the central light receiver and the end light receivers, and outputs linear signals and non-linear signals obtained by processing the light amount signals by linear and non-linear arithmetic operations; an equalization processor that receives the linear signals and the non-linear signals and outputs signals each amplified with a predetermined gain; an adder that adds the amplified signals and outputs an equalization signal; a reproduction signal processor that processes the equalization signal and outputs a reproduction signal and an equalization error signal; and a gain controller that receives the equalization error signal and controls an amplification gain of the non-linear signals.

An optical information processing device writes and reads information on an information recording medium having recording layers. The optical information processing device includes: first and second light sources; a light condensing element that condenses light from the first and second light sources on the medium; a first photodetector that receives light reflected by the medium after being emitted from the first light source and generates a first focusing error signal; a second photodetector that receives light reflected by the medium after being emitted from the second light source and generates a second focusing error signal; and a focusing control circuit that controls the light condensing element by using the first focusing error signal in such a manner that the light from the second light source is condensed on each of the recording layers. The second focusing error signal is used to add a correction to the focusing control circuit.

A robot, failure diagnosis system, failure diagnosis method, and recording medium that enable easy diagnosis of a failure of a robot are provided. In a robot 100, a failure diagnosis unit 150 diagnoses a failure of the robot 100, based on a spontaneous self motion made by the robot 100 independently of a predetermined target without interaction with the predetermined target.

A detection apparatus determines whether a recording layer of an optical disc is at a focal point of an objective lens. The detection apparatus includes an objective lens, a beam splitter, a reflector, a detector, and a servo controller. The reflector and the detector are disposed opposite to each other on two sides of an optical axis of the objective lens, and a normal line of the reflector is perpendicular to the optical axis. The beam splitter is disposed between the reflector and the detector and is located on the optical axis. The servo controller is connected to the detector.

An optical information processing device writes and reads information on an information recording medium having recording layers. The optical information processing device includes: first and second light sources; a light condensing element that condenses light from the first and second light sources on the medium; a first photodetector that receives light reflected by the medium after being emitted from the first light source and generates a first focusing error signal; a second photodetector that receives light reflected by the medium after being emitted from the second light source and generates a second focusing error signal; and a focusing control circuit that controls the light condensing element by using the first focusing error signal in such a manner that the light from the second light source is condensed on each of the recording layers. The second focusing error signal is used to add a correction to the focusing control circuit.

A cross section of a luminous flux of returning light from a disc is split into a plurality of regions, and an operation is performed so that a weighting of a light amount of a region which has favorable symmetry in a radial direction and is formed on a circumference of an ellipse among the split regions is increased. Further, a lens shift detection signal is formed, and a lens shift detection signal is canceled from a push-pull signal.

A cross section of a luminous flux of returning light from a disc is split into a plurality of regions, and an operation is performed so that a weighting of a light amount of a region which has favorable symmetry in a radial direction and is formed on a circumference of an ellipse among the split regions is increased. Further, a lens shift detection signal is formed, and a lens shift detection signal is canceled from a push-pull signal.

A robot, failure diagnosis system, failure diagnosis method, and recording medium that enable easy diagnosis of a failure of a robot are provided. In a robot 100, a failure diagnosis unit 150 diagnoses a failure of the robot 100, based on a spontaneous self motion made by the robot 100 independently of a predetermined target without interaction with the predetermined target.