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公开(公告)号：EP2490001B1
公开(公告)日：2016-12-14
申请号：EP09850379.0
申请日：2009-10-14
发明人： MUROYAMA, Masanori , ESASHI, Masayoshi , TANAKA, Shuji , MATSUZAKI, Sakae , MAKIHATA, Mitsutoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , NAKAYAMA, Takahiro , YAMAGUCHI, Ui , YAMADA, Hitoshi
IPC分类号： G01L1/00 , G01L5/00 , G06F13/362 , H04L12/413
CPC分类号： H04L12/40032 , G01L1/142 , G01L1/146 , G01L5/228 , G06F13/376 , H04L12/40013
摘要： A touch sensor system 100 includes buses 110, a plurality of touch sensor devices 200 disposed on the buses 110, and an information integrating device 140 that is connected to all the buses 110 and integrates information from the touch sensor device 200. The touch sensor device 200 includes a sensor unit and a signal processing unit that transmits a sensor data signal generated by processing an analog sensor signal to the information integrating device through the bus. The signal processing unit includes a digital converting unit, a threshold evaluating unit that gives a start permission of the signal process when a sensor value exceeds a preset threshold, an ID adding unit that adds a transmitter identification number to the sensor signal, and a data transmitting unit that outputs the sensor data signal to a signal line of the bus. Fast responses are made possible without increasing the amount of data and host processing load while including many touch sensor elements.
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公开(公告)号：EP2490004A1
公开(公告)日：2012-08-22
申请号：EP09850381.6
申请日：2009-10-14
发明人： MUROYAMA, Masanori , ESASHI, Masayoshi , TANAKA, Shuji , MATSUZAKI, Sakae , MAKIHATA, Mitsutoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , NAKAYAMA, Takahiro , YAMADA, Hitoshi , YAMAGUCHI, Ui
CPC分类号： G01L5/228 , G01L1/142 , G01L1/144 , G01L1/146 , G06F3/0414
摘要： Provided are multiple normal stress detection sensor units 300 capable of detecting a normal stress, and a sheet layer portion 200. The sheet layer portion 200 includes an exterior sheet layer portion 210, a force detection sheet layer portion 230 incorporating normal stress detection units 300, and an intermediary layer 220 sandwiched between the exterior sheet layer portion 210 and the force detection sheet layer portion 230. The exterior sheet layer portion 210 and the force detection sheet layer portion 230 include multiple protrusions 212 and 232 protruding in directions opposed to each other, and are disposed such that the protrusions 212 and 232 engage each other with the intermediary layer 220 interposed therebetween. Each normal stress detection sensor unit 300 includes a central portion detection sensor device 310 disposed immediately below a central portion of the protrusions 232 provided on the force detection sheet portion 230, and at least two edge detection sensor devices 321 to 324 disposed immediately below edge portions of the protrusion 232 provided on the force detection sheet portion 230.
摘要翻译： 提供能够检测法向应力的多个法向应力检测传感器单元300和片层部分200.片层部分200包括外部片层部分210，包含法向应力检测单元300的力检测片层部分230， 以及夹在外部片层部210和力检测用片层部230之间的中间层220.外部片层部210和力检测片层部230具有在彼此相反的方向突出的多个突起212,232， 并且被布置成使得突起212和232彼此接合，中间层220插入其间。 每个法向应力检测传感器单元300包括设置在力检测片部分230上的突起232的中心部分的正下方的中心部分检测传感器装置310，以及至少两个边缘检测传感器装置321至324， 设置在力检测片部230上的突起232。
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公开(公告)号：EP2490004B1
公开(公告)日：2016-03-23
申请号：EP09850381.6
申请日：2009-10-14
发明人： MUROYAMA, Masanori , ESASHI, Masayoshi , TANAKA, Shuji , MATSUZAKI, Sakae , MAKIHATA, Mitsutoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , NAKAYAMA, Takahiro , YAMADA, Hitoshi , YAMAGUCHI, Ui
CPC分类号： G01L5/228 , G01L1/142 , G01L1/144 , G01L1/146 , G06F3/0414
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4.发明公开SENSOR DEVICE AND METHOD FOR PRODUCING SENSOR DEVICE 审中-公开SENSORVORRICHTUNG UND VERFAHREN ZUR HERSTELLUNG DER SENSORVORRICHTUNG
公开(公告)号：EP2500704A1
公开(公告)日：2012-09-19
申请号：EP10823197.8
申请日：2010-10-13
发明人： TANAKA, Shuji , ESASHI, Masayoshi , MUROYAMA, Masanori , MATSUZAKI, Sakae , MAKIHATA, Mitsutoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , NAKAYAMA, Takahiro , YAMAGUCHI, Ui , YAMADA, Hitoshi
CPC分类号： B81C1/00238 , B81B2201/0264 , B81B2207/012 , B81C2201/019 , B81C2203/032 , B81C2203/0792 , G01L1/146 , G01L1/148 , G01L5/228 , H01L23/10 , H01L24/04 , H01L24/29 , H01L24/32 , H01L24/82 , H01L24/94 , H01L2924/01004 , H01L2924/01006 , H01L2924/01013 , H01L2924/01023 , H01L2924/01029 , H01L2924/01033 , H01L2924/01057 , H01L2924/01078 , H01L2924/01079 , H01L2924/01082 , H01L2924/014 , H01L2924/09701 , H01L2924/14 , H01L2924/1461 , H01L2924/15787 , H01L2924/15788 , H01L2924/19041 , H01L2924/30105 , H01L2924/3011 , H01L2924/3025 , H01L2924/3512 , H01L2924/00
摘要： Provided is a technique for packaging a sensor structure (300) having a contact sensing surface and a signal processing LSI (420) that processes a sensor signal. The sensor structure (300) has the contact sensing surface and sensor electrodes (320, 330). The signal processing integrated circuit (420) is embedded in a semiconductor substrate (400). The sensor structure (300) and the semiconductor substrate (400) are bonded by a bonding layer (500), forming a sensor device (200) as a single chip. The sensor electrodes (320, 330) and the integrated circuit (420) are sealed inside the sensor device (200), and the sensor electrodes (320, 330) and external terminals of the integrated circuit (420) are led out to the back surface of the semiconductor substrate (400) through a side surface of the semiconductor substrate (400).
摘要翻译： 提供了一种用于封装具有接触感测表面的传感器结构（300）和处理传感器信号的信号处理LSI（420）的技术。 传感器结构（300）具有接触感测表面和传感器电极（320,330）。 信号处理集成电路（420）嵌入在半导体衬底（400）中。 传感器结构（300）和半导体衬底（400）通过接合层（500）接合，形成作为单个芯片的传感器装置（200）。 传感器电极（320,330）和集成电路（420）被密封在传感器装置（200）内部，并且集成电路（420）的传感器电极（320,330）和外部端子被引出到背面 半导体衬底（400）的表面通过半导体衬底（400）的侧表面。
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公开(公告)号：EP2490001A1
公开(公告)日：2012-08-22
申请号：EP09850379.0
申请日：2009-10-14
发明人： MUROYAMA, Masanori , ESASHI, Masayoshi , TANAKA, Shuji , MATSUZAKI, Sakae , MAKIHATA, Mitsutoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , NAKAYAMA, Takahiro , YAMAGUCHI, Ui , YAMADA, Hitoshi
IPC分类号： G01L1/00 , G01L5/00 , G06F13/362 , H04L12/413
CPC分类号： H04L12/40032 , G01L1/142 , G01L1/146 , G01L5/228 , G06F13/376 , H04L12/40013
摘要： A touch sensor system 100 includes buses 110, a plurality of touch sensor devices 200 disposed on the buses 110, and an information integrating device 140 that is connected to all the buses 110 and integrates information from the touch sensor device 200. The touch sensor device 200 includes a sensor unit and a signal processing unit that transmits a sensor data signal generated by processing an analog sensor signal to the information integrating device through the bus. The signal processing unit includes a digital converting unit, a threshold evaluating unit that gives a start permission of the signal process when a sensor value exceeds a preset threshold, an ID adding unit that adds a transmitter identification number to the sensor signal, and a data transmitting unit that outputs the sensor data signal to a signal line of the bus. Fast responses are made possible without increasing the amount of data and host processing load while including many touch sensor elements.
摘要翻译： 触摸传感器系统100包括总线110，布置在总线110上的多个触摸传感器装置200以及连接到所有总线110并且集成来自触摸传感器装置200的信息的信息集成装置140.触摸传感器装置 200包括传感器单元和信号处理单元，其通过总线将通过处理模拟传感器信号而生成的传感器数据信号发送到信息积分装置。 信号处理单元包括数字转换单元，当传感器值超过预设阈值时给出信号处理的开始许可的阈值评估单元，将传感器信号加上发射机标识号的ID添加单元和数据 发送单元，其将传感器数据信号输出到总线的信号线。 快速响应成为可能，而不增加数据量和主机处理负载，同时包含许多触摸传感器元件。
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6.发明公开
公开(公告)号：EP3617682A1
公开(公告)日：2020-03-04
申请号：EP19191169.2
申请日：2019-08-12
摘要： A sensor unit 10 includes at least three kinesthetic-sense sensors 11 arranged along a plane, each including a first force-receiving part 111 configured to receive an external force. The sensor unit 10 includes a connecting member 12 including a second force-receiving part 13 configured to receive an external force, configured to transfer the external force received by the second force-receiving part 13 to each first force-receiving part 111 and connecting the first force-receiving parts 111 with each other. The sensor unit 10 includes an output unit 15 configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part 13, received by the respective first force-receiving parts 111 through the connecting member 12.
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公开(公告)号：EP3015822B1
公开(公告)日：2019-08-14
申请号：EP15187051.6
申请日：2015-09-28
发明人： KIDA, Yusuke , NAKAYAMA, Takahiro , TODA, Takahiro
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公开(公告)号：EP3015822A1
公开(公告)日：2016-05-04
申请号：EP15187051.6
申请日：2015-09-28
发明人： KIDA, Yusuke , NAKAYAMA, Takahiro , TODA, Takahiro
IPC分类号： G01C25/00
CPC分类号： G01P21/00 , B62K11/007 , G01C25/005 , G01P15/18
摘要： An inverted two-wheel vehicle includes: an inverted two-wheel vehicle body; an acceleration sensor and a gyro sensor which are mounted on the same substrate; and an ECU. The ECU calculates a mounting angle error of the acceleration sensor with respect to the inverted two-wheel vehicle body based on an output value of the acceleration sensor obtained when the inverted two-wheel vehicle is brought into a stationary state in a state where a reference yaw axis of the inverted two-wheel vehicle is made coincident with a vertical direction, and corrects an output value of the gyro sensor by using the mounting angle error of the acceleration sensor with respect to the inverted two-wheel vehicle body as a mounting angle error of the gyro sensor with respect to the inverted two-wheel vehicle body.
摘要翻译： 倒车两轮车包括：倒车两轮车体; 安装在同一基板上的加速度传感器和陀螺传感器; 和ECU。 ECU根据反转后的两轮车辆处于静止状态时获得的加速度传感器的输出值，计算加速度传感器相对于倒置的两轮车体的安装角度误差， 使倒车两轮车辆的偏转轴与垂直方向一致，并且通过使用加速度传感器相对于倒置的两轮车体的安装角度误差来校正陀螺传感器的输出值作为安装角度 陀螺传感器相对于倒车两轮车体的误差。
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9.发明公开INVERTED MOBILE BODY AND CONTROL METHOD THEREOF 有权INVERTIERTER MOBILERKÖRPERUND STEUERUNGSVERFAHRENDAFÜR
公开(公告)号：EP2910460A1
公开(公告)日：2015-08-26
申请号：EP12886689.4
申请日：2012-10-16
CPC分类号： B62K3/007 , B62K3/00 , B62K11/007 , B62K17/00 , G05B9/02 , G05D1/08 , G05D1/0891 , G05D13/62
摘要： An inverted vehicle for which inversion control is performed comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, a pitch-axis acceleration detection unit that detects an acceleration along the pitch axis, a roll-axis acceleration detection unit that detects an acceleration along a roll axis, a yaw-axis acceleration detection unit that detects an acceleration along the yaw axis, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.
摘要翻译： 执行反转控制的反转车辆包括第一传感器，其检测围绕从俯仰轴倾斜第一预定角度的轴的角速度;第二传感器，其检测围绕从俯仰轴倾斜的轴的角速度 第二预定角度，检测围绕俯仰轴的角速度的第三传感器，检测沿俯仰轴的加速度的俯仰轴加速度检测单元，检测沿着滚动轴的加速度的滚动轴加速度检测单元， 偏航轴加速度检测单元，其检测沿着偏航轴的加速度;以及控制单元，其基于检测到的角速度进行反转控制。 控制单元基于由基于由第一和第二传感器检测到的角速度计算的俯仰轴之间的第一角速度与由第三传感器检测到的俯仰轴之间的第二角速度的相互关系，使特定的安全功能运动 传感器以及基于检测到的加速度计算的围绕俯仰轴的第三角速度。
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公开(公告)号：EP3587055A1
公开(公告)日：2020-01-01
申请号：EP19170239.8
申请日：2019-04-18
发明人： NAKAYAMA, Takahiro , MIMA, Kazuhiro
摘要： Provided is a manipulator including: a link; a joint unit configured to rotate the link; and a distance sensor configured to detect an obstacle entering in a monitoring space that is determined so as to include at least a rotating direction side of the link, the distance sensor being installed so that a sensing direction faces a direction parallel to a surface of the link. Further, provided is a moving robot including the aforementioned manipulator.
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