公开(公告)号：JP2007265786A

公开(公告)日：2007-10-11

申请号：JP2006089023

申请日：2006-03-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ORIHASHI NOBUYUKI ,  TAKESHITA MASAHIRO ,  YUMIYA HIROYUKI ,  YAMAMOTO TAKASHI

IPC: H01M8/04

CPC classification number: H01M8/04955 ,  H01M8/0234 ,  H01M8/04223 ,  H01M8/04238 ,  H01M8/04328 ,  H01M8/04335 ,  H01M8/04388 ,  H01M8/04395 ,  H01M8/04559 ,  H01M8/04753 ,  H01M2008/1095 ,  H01M2250/20 ,  Y02T90/32

Abstract: PROBLEM TO BE SOLVED: To prevent power generation performance from being degraded by oxidation of supporting carbon in a cathode-side catalyst, in leaving a fuel cell system unattended.
SOLUTION: Molar quantities of hydrogen and oxygen in a fuel gas supply/discharge system and an oxidation gas supply/discharge system for a fuel cell 2 are calculated, and the molar ratios of hydrogen and oxygen capable of being chemically reacted in a fuel gas and an oxidation gas in stopping the fuel cell 2 are controlled to be set not smaller than 2. It is preferable that hydrogen is supplied to keep the molar ratio in response to the value of a cell voltage in the fuel cell 2. It is also preferable that an entrance valve 17 and an exit valve 18 for sealing the oxidation gas in a gas passage in the oxidation gas supply/discharge system is arranged in the gas passage.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了防止发电性能由阴极侧催化剂中的负载碳的氧化而劣化，在无人值守的情况下离开燃料电池系统。 解决方案：计算燃料气体供给/排出系统中的摩尔量的氢和氧，以及用于燃料电池2的氧化气体供给/排出系统，并且能够在 将燃料气体和使燃料电池2停止的氧化气体控制为不小于2.优选供给氢以使燃料电池2中的电池电压的值保持摩尔比。 还优选在气体通道中设置用于密封氧化气体供给/排出系统中的气体通道中的氧化气体的入口阀17和出口阀18。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2006250947A

公开(公告)日：2006-09-21

申请号：JP2006127092

申请日：2006-04-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI ,  YAMASHITA KATSUJI ,  OBA MITSURU ,  SUZUKI KOICHI

IPC: G01P21/00 ,  B60K17/348

Abstract: PROBLEM TO BE SOLVED: To provide an apparatus for further correcting output of acceleration sensors for vehicles and capable of accurately correcting the drift errors of the acceleration sensors.
SOLUTION: On the basis of output of the acceleration sensors 90 and 92, when a means (166) for determining a linear cruse over a flat road at a constant speed has determined that a vehicle is cruising linearly over a flat road at a constant speed, the output of the acceleration sensors 90 and 92 is corrected at an acceleration correction means 168. Acceleration values from the acceleration sensors are thus advantageously and corrected accurately, in comparison with a conventional correction device which considers that a vehicle is linearly cruising, when the difference between right and left rotation speeds of the vehicle remains within a prescribed value and takes the output values of the acceleration sensors 90 and 92 at the time as drift errors.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种用于进一步校正车辆的加速度传感器的输出并能够精确地校正加速度传感器的漂移误差的装置。 解决方案：基于加速度传感器90和92的输出，当用于以恒定速度在平坦道路上确定线性断裂的装置（166）确定车辆在平坦道路上线性巡航时 加速度传感器90和92的输出在加速度校正装置168处被校正。与认为车辆线性巡航的常规校正装置相比，来自加速度传感器的加速度值被有利地和精确地校正 当车辆的左右转速之差保持在规定值内时，将加速度传感器90,92的输出值作为漂移误差。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005212012A

公开(公告)日：2005-08-11

申请号：JP2004020328

申请日：2004-01-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI ,  SUGIHARA HISAYOSHI ,  SUGA KEISUKE ,  TSUSAKA YUJI ,  TAJIMA RYUSUKE

IPC: B25J13/00 ,  B25J5/00 ,  B62D57/032

CPC classification number: B62D57/032

Abstract: PROBLEM TO BE SOLVED: To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
SOLUTION: This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：为了提供腿型机器人及其行走控制方法，用于在不使用脚尖传感器的情况下进行稳定的行走。 解决方案：该腿型机器人具有身体躯干，与身体躯干可摇摆地连接的腿部连接件，用于存储用于描述随着目标脚尖运动的时间流逝而改变的脚尖行走图数据的装置210，装置210 用于存储身体躯干行走图数据，用于描述随着目标体干运动的时间流逝实现的改变，以实现目标脚尖位置变化的目标ZMP;身体躯干运动检测装置218，用于检测实际躯干运动; 偏差计算装置312，用于计算目标躯干运动与实际躯干运动之间的偏差;校正量计算装置308，用于根据计算出的偏差确定基于预定传递函数的校正量;以及校正装置306 用于基于所确定的校正量来校正用于描述目标躯干运动的数据。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005071734A

公开(公告)日：2005-03-17

申请号：JP2003298252

申请日：2003-08-22

Applicant: Nippon Soken Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社日本自動車部品総合研究所

Inventor： HIBINO KOETSU ,  YAMAMOTO TAKASHI

IPC: H01M8/02

CPC classification number: Y02E60/50

Abstract: PROBLEM TO BE SOLVED: To provide a fuel cell capable of improving a gas flow coming round to a portion directly under the projecting part of a diffusion layer, and capable of maintaining a gas flow velocity in the straight portion or the bent portion of a passage. SOLUTION: (1) This fuel cell is equipped with a separator 18 having a plurality of projecting parts 29 in the gas passage, and a groove 31 is provided on the top face of the projecting part 29. (2) The groove 31 is set up so that a collecting part 30 made by dividing the top face of the projecting part by the groove in the intra-surface direction have a uniform area. (3) The depth of the groove 31 is not less than an amount of a diffusion layer crushed when the diffusion layer is pushed by the collecting part 30. (4) The groove 31 has a first groove 31a and a second groove 31b obliquely intersecting to it. (5) The groove 31 is tilted in a direction along gas flow flowing a bent portion in the bent portion of the gas passage. (6) The groove 31 comprises a portion having a low step which is provided in a long land, and the area of the collecting part in the long land is made almost equal to the area of the collecting part in a short land. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 解决的问题：提供一种燃料电池，其能够改善到达扩散层的突出部分正下方的部分的气流，并且能够保持直线部分或弯曲部分中的气体流速 的段落 （1）该燃料电池配备有在气体通路中具有多个突出部29的隔板18，在突出部29的上表面设置有槽31。 31设置成使得通过在表面内方向上由凹槽划分突出部分的顶面而制成的收集部分30具有均匀的面积。 （3）凹槽31的深度不小于当由收集部分30推动扩散层时被粉碎的扩散层的量。（4）凹槽31具有第一凹槽31a和第二凹槽31b， 给它 （5）槽31沿着气体流路的弯曲部的弯曲部流动的气流的方向倾斜。 （6）槽31包括设置在长的地面上的具有低台阶的部分，并且在长的地面中的收集部分的区域几乎等于在短陆地中的收集部分的面积。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005022040A

公开(公告)日：2005-01-27

申请号：JP2003191179

申请日：2003-07-03

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI ,  TSUKADA TOSHIHIKO ,  KAWASE MASAO

IPC: B25J5/00 ,  B25J13/08

Abstract: PROBLEM TO BE SOLVED: To solve a problem that an actual walking locus deviates from a walking locus specified by gait data due to the occurrence of a slip on a floor because flexure is generated to a walking robot.
SOLUTION: This walking robot is provided with a gait data storage means 46; a joint angle group computing means 58 for computing a joint angle based on gait data; an actuator driving means 60 for adjusting to the joint angle computed by the joint angle group computing means; devices 4, 52, 54 for detecting the positions of a grounding foot; a device 56 for computing deviation between a position in which the grounding foot should be and a position in which the grounding foot is; and a device 48 for correcting subsequent gait data with the computed deviation. The robot continues walking while changing the relative attitude of a left leg link, the waist and a right leg link according the corrected gait data.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：为了解决实际步行轨迹偏离由步态数据指定的步行轨迹的问题，因为对于步行机器人产生挠曲，由于在地板上发生滑动。 解决方案：该步行机器人设有步态数据存储装置46; 用于基于步态数据计算关节角度的关节角度组计算装置58; 致动器驱动装置60，用于调节由关节角度组计算装置计算出的关节角度; 用于检测接地脚的位置的装置4,52,54; 用于计算接地脚应在其中的位置与接地脚的位置之间的偏差的装置56; 以及用于利用所计算的偏差校正后续步态数据的装置48。 在根据校正的步态数据改变左腿连杆，腰部和右腿连杆的相对姿态时，机器人继续行走。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2004214062A

公开(公告)日：2004-07-29

申请号：JP2003000620

申请日：2003-01-06

Applicant: Auto Network Gijutsu Kenkyusho:Kk ,  Nitto Shinko Kk ,  Sumitomo Electric Ind Ltd ,  Sumitomo Wiring Syst Ltd ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  住友電気工業株式会社 ,  住友電装株式会社 ,  日東シンコー株式会社 ,  株式会社オートネットワーク技術研究所

Inventor： MIYAZAKI TADASHI ,  YAMAMOTO TAKASHI ,  AIHARA HIROSHI ,  TAKAHASHI YOSHIKI ,  MITSUYA KEIICHI ,  TANAKA TAKEO

IPC: H01B7/17

Abstract: PROBLEM TO BE SOLVED: To prevent spaces between metal thin wires constituting a shield member from being kept expanded.
SOLUTION: This shield member 35 is provided with an elastic connection material 37 (elastic connection means) formed of a material having elasticity and integrated in a form connecting the metal thin wires 36a to one another for a braided wire 36. Even if external force is applied to the braided wire 36 due to insertion work of a wire 20 or interference of foreign matter to temporarily expand spaces 36b of the thin wires 36a, the spaces 36b of the thin wires 36a are brought back into a reduced state by the connection material 37 when the external force is removed, so that the spaces 36b of the thin wires 36a are prevented from being kept expanded.
COPYRIGHT: (C)2004,JPO&NCIPI

公开(公告)号：JP2004174652A

公开(公告)日：2004-06-24

申请号：JP2002343087

申请日：2002-11-26

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI

IPC: B25J5/00 ,  B25J13/00

Abstract: PROBLEM TO BE SOLVED: To provide a bipedal walking robot, allowed to stably walk by optimizing a gain in the case of using the so-called ZMP compensatory control in which a deviation between a target ZMP and an actual ZMP is multiplied by a gain to be converted to a trunk position correction vector, thereby controlling the target trunk position vector to be corrected, so that the robot flexibly responds to an encounter of an unexpected event to avoid falling. SOLUTION: Corresponding to the progress of walking operation, the gain is varied. For example, the gain is increased before and after a grounding point of time of the lower limb. Or the gain is increased or decreased corresponding to the grounding force of the robot. When ZMP compensatory control is needed, the control is strongly effected, and when not needed, the control is lightly effected (hardly effected). COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：为了提供一种双足步行机器人，通过在使用所谓的ZMP补偿控制的情况下优化增益来允许稳定行走，其中目标ZMP和实际ZMP之间的偏差乘以 增益转换为中继线位置校正矢量，从而控制要校正的目标主干位置矢量，使得机器人灵活地响应于意外事件的遭遇以避免掉落。

解决方案：对应步行操作的进度，增益变化。 例如，增益在下肢的接地点之前和之后增加。 或者根据机器人的接地力增加或减少增益。 当需要ZMP补偿控制时，强烈地进行控制，如果不需要，则轻轻实施控制（几乎不受影响）。 版权所有（C）2004，JPO

公开(公告)号：JP2003331906A

公开(公告)日：2003-11-21

申请号：JP2002136854

申请日：2002-05-13

Applicant: Nippon Soken Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社日本自動車部品総合研究所

Inventor： OTA HISAYOSHI ,  YAMAMOTO TAKASHI ,  HIBINO KOETSU ,  TAKAHASHI TAKESHI

IPC: H01M8/24 ,  H01M8/10

CPC classification number: Y02E60/521

Abstract: PROBLEM TO BE SOLVED: To provide a fuel cell capable of correctly detecting cell fastening force.
SOLUTION: For a solid polymer fuel cell stack 1 formed by laminating a plurality of cells 11, an end plate 10 is arranged at one end of the laminated body, and a movable plate 12, to which pressure is applied through a cylinder 13 and a cylinder pressing part 18 supported by an end plate 16 on the other end. The stack is fixed by a fastening rod 14, and the movable plate 12 is mounted to the fastening rod 14 so as to be able to move along the fastening rod 14. A cylinder pressing part 18 controls the pressure pressing the movable plate 12 through the cylinder 13 according to the order from an ECU 26 based on the pressure detected by a pressure detection means 19, and the pressure to the applied to the cells 11 is controlled. The pressure detection means 19 is arranged to at least one part of the laminated surfaces of the cells. By the above construction, the pressure applied to the cells 11 is properly controlled at all times.
COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供能够正确地检测细胞紧固力的燃料电池。 解决方案：对于通过层叠多个单电池11而形成的固体高分子型燃料电池组1，在层叠体的一端配置有端板10，并且通过气缸施加压力的可动板12 在另一端具有由端板16支撑的气缸按压部18。 堆叠由固定杆14固定，可移动板12安装在紧固杆14上，以便能够沿着紧固杆14移动。气缸按压部18控制压迫可动板12的压力 根据来自ECU26的顺序，基于由压力检测单元19检测出的压力，以及施加到单元11的压力来控制气缸13。 压力检测装置19布置在电池的层叠表面的至少一部分上。 通过上述结构，施加到电池11的压力始终被适当地控制。 版权所有（C）2004，JPO

公开(公告)号：JPH11281672A

公开(公告)日：1999-10-15

申请号：JP8730298

申请日：1998-03-31

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI ,  YAMASHITA KATSUJI ,  OBA MITSURU ,  SUZUKI KOICHI

IPC: B60G17/00 ,  B60G17/018 ,  B60K17/348 ,  B60W40/06 ,  B60W40/109 ,  B62D7/14 ,  G01P15/00 ,  G01P15/18 ,  G01P21/00

Abstract: PROBLEM TO BE SOLVED: To provide an output corrector of acceleration sensor for vehicle in which drift error of acceleration sensor can be corrected more accurately. SOLUTION: When an engine output decision means 166 makes a decision that the output from an engine 10 falls within a specified range, an acceleration correcting means 168 corrects the outputs from acceleration sensors 90, 92 based on the outputs therefrom. Alternatively, outputs from the acceleration sensors 90, 92 are corrected based on the pavement inclination θ in the longitudinal direction estimated by a pavement inclination estimating means 166. Furthermore, outputs from the acceleration sensors 90, 92 are corrected based on the outputs therefrom when flat road constant speed straight traveling is determined by the means 166. Output from the acceleration sensor can be corrected accurately as compared with a conventional corrector where a decision is made that a vehicle is traveling straight if the difference between left and right rotational speeds falls with a specified range and the outputs from the acceleration sensors 90, 92 are employed as a drift error.

Abstract translation: 要解决的问题：提供可以更精确地校正加速度传感器的漂移误差的车辆用加速度传感器的输出校正器。 解决方案：当发动机输出判定装置166判定发动机10的输出落在指定范围内时，加速度校正装置168根据加速度传感器90,92的输出校正加速度传感器90,92的输出。 或者，来自加速度传感器90,92的输出根据由路面倾斜估计单元166所估计的纵向的路面倾斜度θ进行修正。此外，来自加速度传感器90,92的输出根据平面 与传统的校正器相比，加速度传感器的输出可以被精确地校正，因此如果左右转速之间的差值与 来自加速度传感器90,92的输出被用作漂移误差。

公开(公告)号：JPH11278082A

公开(公告)日：1999-10-12

申请号：JP8730798

申请日：1998-03-31

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： OBA MITSURU ,  SUZUKI KOICHI ,  YAMAMOTO TAKASHI ,  YAMASHITA KATSUJI ,  IKEDA AKIHIKO ,  IGAKI MUNEYOSHI ,  TAKADA MANABU ,  SAKAI TAKESHI

IPC: B60K17/348

Abstract: PROBLEM TO BE SOLVED: To provide a control device of a torque distribution clutch for a vehicle capable of improving fuel consumption of the vehicle and durability of the torque distribution clutch.
SOLUTION: Fuel consumption of a vehicle and durability of a torque distribution clutch are improved as transmission torque t
r (=t
ref ) of an electromagnetic clutch 30 is controlled in accordance with a map value M
tindf (V) which is traveling resistance relational quantity computed by a traveling resistance relational quantity computing means 276 by a torque distribution clutch control means 120. That is, as the torque distribution clutch control means 120 decreases the transmission torque t
r (=t
ref ) of the electromagnetic clutch 30 toward zero as input torque t
in of the electromagnetic clutch 30 decreases, large torque is distributed and accelerating performance is improved through the electromagnetic clutch 30 in the case when the input torque t
in is larger than the map value M
tindf (V), while an engagement load on the electromagnetic clutch 30 is restrained and fuel consumption of the vehicle and durability of the torque distribution clutch are further improved in the case when the input torque t
in is smaller than the map value M
tindf (V).
COPYRIGHT: (C)1999,JPO

Abstract translation: 要解决的问题：提供一种用于车辆的扭矩分配离合器的控制装置，其能够改善车辆的燃料消耗和扭矩分配离合器的耐久性。 解决方案：根据由a值计算的行驶阻力关系量的映射值Mtindf（V）来控制电磁离合器30的传动扭矩tr（= tref），从而改善了车辆的燃料消耗和扭矩分配离合器的耐久性。 即，转矩分配离合器控制机构120将电磁离合器30的传递转矩tr（= tref）减小为零，作为电磁离合器的输入转矩tin 在输入转矩锡大于地图值Mtindf（V）的情况下，通过电磁离合器30，离合器30减小，分力大，并且通过电磁离合器30提高加速性能，同时抑制电磁离合器30的接合负荷，燃料 在这种情况下，进一步提高了车辆的消耗和扭矩分配离合器的耐久性 输入转矩锡小于地图值Mtindf（V）。