公开(公告)号：JP2007007804A

公开(公告)日：2007-01-18

申请号：JP2005193280

申请日：2005-07-01

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

Inventor： UCHIHARA MASAFUMI ,  TSUKADA TOSHIHIKO

IPC: B25J19/02 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a technology for detecting abnormality of a position measuring means and a direction measuring means in an autonomous moving robot.
SOLUTION: This method of detecting abnormality of the position measuring means and the direction measuring means mounted on the autonomous moving robot includes: a process of obtaining a position measured value; a process of obtaining a direction measured value; a process of diagnosing presence/absence of abnormality of the position measured value; a process of diagnosing presence/absence of abnormality of the direction measured value; a process of storing the position measured value diagnosed to be no abnormality in association with the measured time; and a process of storing the direction measured value diagnosed to be no abnormality in association with the measured time, wherein in the process of diagnosing presence/absence of abnormality of the position measured value, the presence/absence of abnormality of the obtained position measured value is diagnosed based upon the position measured value and the direction measured value measured at the past same time, and in the process of diagnosing presence/absence of abnormality of the direction measured value, the presence/absence of abnormality of the obtained direction measured value is diagnosed based upon the aged change of the position measured value measured and stored in the past.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于检测自动移动机器人中的位置测量装置和方向测量装置的异常的技术。 检测位置测量装置和安装在自动移动机器人上的方向测量装置的异常的方法包括：获得位置测量值的过程; 获得方向测量值的过程; 诊断位置测量值的异常的存在/不存在的处理; 诊断方向测量值的异常存在/不存在的过程; 与被测定的时间相关联地存储诊断为无异常的位置测量值的处理; 以及与测定时间相关联地存储被诊断为无异常的方向测定值的处理，其中，在诊断位置测定值的异常的有无的诊断过程中，所获得的位置测定值的有无异常 根据在同一时间测量的位置测量值和方向测量值进行诊断，并且在诊断方向测量值异常存在/不存在的过程中，获得的方向测量值的有无异常为 根据过去测量和存储的位置测量值的老化变化进行诊断。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2014095662A

公开(公告)日：2014-05-22

申请号：JP2012248432

申请日：2012-11-12

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

Inventor： UCHIHARA MASAFUMI

IPC: G01R31/04

Abstract: PROBLEM TO BE SOLVED: To provide an inspection method for electrically verifying whether a spring and a terminal are in contact with each other in an appropriate position in design.SOLUTION: An inspection method of an electronic control device 200 which electrically connects an electronic component 25 with a terminal 51 via a conductive elastic member 52 includes: a voltage applying step of applying a voltage between the above terminal and a second terminal 21 electrically connected to the electronic component; a current value measurement step of measuring a current value of a current flowing from the terminal to the second terminal; a step of ensuring contact between the electronic component and the elastic member when a resistance value obtained from the applied voltage value and the current value is equal to or less than a first threshold; and a step of detecting a contact failure between the electronic component and the elastic member when the resistance value is not equal to or less than the first threshold.

Abstract translation: 要解决的问题：提供用于电气验证弹簧和端子在设计中的适当位置是否彼此接触的检查方法。解决方案：电子控制装置200的检查方法，其将电子部件25 通过导电弹性构件52的端子51包括：电压施加步骤，在上述端子和电连接到电子部件的第二端子21之间施加电压; 电流值测量步骤，测量从端子流向第二端子的电流的电流值; 当从所施加的电压值和当前值获得的电阻值等于或小于第一阈值时，确保电子部件和弹性部件之间的接触的步骤; 以及当所述电阻值不等于或小于所述第一阈值时检测所述电子部件和所述弹性部件之间的接触故障的步骤。

公开(公告)号：JP2009270928A

公开(公告)日：2009-11-19

申请号：JP2008121479

申请日：2008-05-07

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

Inventor： TAJIMA YASUHIRO ,  KAGAWA KAZUNORI ,  UCHIHARA MASAFUMI

IPC: G01C21/00 ,  G01C21/28 ,  G01S19/07 ,  G01S19/25 ,  G01S19/40 ,  G01S19/44 ,  G08G1/09 ,  H04W64/00

Abstract: PROBLEM TO BE SOLVED: To provide a positioning system for moving objects and highly accurate positioning etc. of moving objects through the use of speed correction data derived on the side of a reference station.
SOLUTION: The positioning system for moving objects includes correction data generating means 50 and 52 provided for the reference station 20 for measuring the speed of the reference station on the basis of the Doppler range of satellite radio waves obtained by observation at the reference station and generating speed correction data on the basis of results of the measurement; a data transmission means 54 provided for the reference station for transmitting both observation data of satellite radio waves obtained by observation at the reference station and the speed correction data to a moving object; a data reception means 40 provided for the moving object 30 for receiving the observation and speed correction data transmitted from the reference station; and positioning means 42, 44, 46 and 48 provided for the moving object for positioning the moving object on the basis of the observation data of satellite radio waves obtained by observation at the moving object and the observation and speed correction data received by the data reception means.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：通过使用在参考站侧导出的速度校正数据来提供用于移动物体的定位系统和移动物体的高精度定位等。 解决方案：用于移动物体的定位系统包括校准数据产生装置50和52，该校正数据产生装置50和52用于参考站20，用于根据参考点观察获得的卫星无线电波的多普勒范围来测量参考站的速度 基于测量结果生成速度校正数据; 为参考站提供的数据发送装置54，用于将通过在参考站观测获得的卫星无线电波的观测数据和速度校正数据发送到移动对象; 为运动对象30提供的用于接收从参考站发送的观察和速度校正数据的数据接收装置40; 以及基于通过在移动对象观察获得的卫星无线电波的观测数据和通过数据接收接收到的观测和速度校正数据的移动物体而设置的用于移动物体的定位装置42,44,46和48 手段。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009122020A

公开(公告)日：2009-06-04

申请号：JP2007297798

申请日：2007-11-16

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

Inventor： TAJIMA YASUHIRO ,  HASEGAWA NAOTO ,  UCHIHARA MASAFUMI ,  KAGAWA KAZUNORI ,  MATSUMOTO HIDENORI ,  HIWA TSUYOKI

IPC: G01C21/00 ,  G01S19/28 ,  G01S19/33 ,  G01S19/42 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a GPS positioning device and a method capable of properly computing positioning even when new and old satellite information is intermingled in a GPS receiver. SOLUTION: Provided is a GPS positioning device comprising a satellite information memorizing means for memorizing the newest satellite information of a plurality of respective GPS satellites periodically received from the GPS satellites; a new/old mixture determining means for determining whether the newest satellite information and the satellite information received in the last time and not newest are mixedly memorized in the newest satellite information of the plurality of respective GPS satellite memorized by the satellite information memorizing means; and a positioning computing means for computing positioning coordinates of the GPS positioning device depending on the result of determination by the new/old mixture determining means. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种GPS定位装置和即使当新的和旧的卫星信息被混合在GPS接收机中时也能够适当地计算定位的方法。 解决方案：提供一种GPS定位装置，包括：卫星信息存储装置，用于存储周围从GPS卫星接收的多个相应GPS卫星的最新卫星信息; 一种用于确定最新的卫星信息和最新时间​​接收的卫星信息是否被卫星信息存储装置存储的多个相应GPS卫星的最新的卫星信息中的混合地存储的新的/旧的混合确定装置; 以及定位计算装置，用于根据新旧混合物确定装置的确定结果来计算GPS定位装置的定位坐标。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2007245244A

公开(公告)日：2007-09-27

申请号：JP2006067797

申请日：2006-03-13

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

Inventor： TAKEISHI SHINJI ,  UCHIHARA MASAFUMI

IPC: B25J19/02 ,  B25J5/00 ,  B25J13/08 ,  G01S19/14 ,  G01S19/42

Abstract: PROBLEM TO BE SOLVED: To provide a movable body controlling system which precisely calculates the absolute position of a moving part of a movable body.
SOLUTION: The movable body controlling system including the movable body and a device to transmit signals containing the transmission time information, is equipped with: the main body; the moving part; an actuator to drive the moving part; a signal reception part mounted on the main body and receiving the signals; a position calculating part to calculate the absolute position of the signal reception part from the signals, a driving amount sensing part for the actuator; and a functional part to calculate the absolute position of the moving part from the position information calculated by the position calculating part and the driving amount obtained through sensing. The absolute position calculating part is equipped with: a timer; a memory part to store both the driving amount sensed and the sensing time; a specifying part to specify the driving amount at the point when a signal is transmitted from the transmitting time information out of the memory part; and a calculation part to calculate the absolute position of the moving part at the time of transmitting the signal, from the driving amount and the position information calculated by a main body position calculating device.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 解决的问题：提供一种精确计算移动体的移动部件的绝对位置的移动体控制系统。 解决方案：包括可移动体的移动体控制系统和传递包含传输时间信息的信号的装置配备有：主体; 移动部分; 用于驱动移动部件的致动器; 信号接收部，安装在主体上并接收信号; 位置计算部分，用于根据信号计算信号接收部分的绝对位置;致动器的驱动量检测部分; 以及功能部件，用于根据由位置计算部分计算的位置信息和通过感测获得的驱动量来计算移动部件的绝对位置。 绝对位置计算部分配有：定时器; 存储部分，用于存储感测的驱动量和感测时间; 指定部，从发送时刻信息中指定发送信号时的驱动量; 以及计算部，根据由主体位置计算装置计算的驾驶量和位置信息来计算发送信号时的运动部分的绝对位置。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007007802A

公开(公告)日：2007-01-18

申请号：JP2005193278

申请日：2005-07-01

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

Inventor： UCHIHARA MASAFUMI

IPC: B25J13/00 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a technology for quickly returning to the target foot sole disposition course in a legged robot walking while updating the action plan based upon a difference from the target foot sole disposition course of the measured foot sole disposition by measuring the actual foot sole disposition of the support leg.
SOLUTION: This robot includes: a means for measuring the foot sole grounding position and the grounding direction of the support leg; a means for estimating the grounding position and the grounding direction of the foot sole of the support leg next scheduled to ground based upon the measured grounding position and grounding direction; a means for specifying the deviation between the grounding position of the foot sole and the target grounding position of the foot sole; a means for specifying the deviation between the grounding direction of the foot sole and the target grounding direction of the foot sole; a means for specifying the deviation of the grounding position of the foot sole sideways of the foot sole; a means for calculating the correction amount of the grounding position of the foot sole and the correction amount of the grounding direction; and a means for updating the action plan. The means for calculating the correction amount sets the correction amount of the grounding direction of the foot sole to a larger value as the deviation of the grounding position of the foot sole sideways of the foot sole becomes larger.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种技术，用于在基于与所测量的脚底处置的目标脚底设置过程的差异来更新动作计划时，在腿式机器人行走中快速返回到目标脚部设置过程， 测量支撑腿的实际足底位置。

解决方案：该机器人包括：用于测量脚底接地位置和支撑腿的接地方向的装置; 基于测量的接地位置和接地方向，估计下一次预定接地的支脚的脚底的接地位置和接地方向的装置; 用于指定脚底的接地位置与脚底的目标接地位置之间的偏差的装置; 用于指定脚底的接地方向与脚底的目标接地方向之间的偏差的装置; 用于指定脚底的脚底的接地位置偏离的装置; 用于计算脚底的接地位置的校正量和接地方向的校正量的装置; 以及更新行动计划的手段。 用于计算校正量的装置将脚底的接地方向的校正量设定为较大的值，因为足底侧脚的接地位置的偏差变大。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2005288520A

公开(公告)日：2005-10-20

申请号：JP2004109892

申请日：2004-04-02

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

Inventor： UCHIHARA MASAFUMI ,  UEDA AKIHIRO ,  YAMAOKA MASAAKI ,  EIMIYA KIYOMI

IPC: B22D11/06 ,  B22D46/00

Abstract: PROBLEM TO BE SOLVED: To enable a stable manufacturing of a metal sheet with high quality, in an apparatus for manufacturing a metal sheet from molten metal using a pair of cooling rollers.
SOLUTION: A modeled zone 50 is set up in an aperture of the cooling rollers 12 and 14 and its vicinity. The modeled zone 50 includes a molten metal zone 28 and a part of the cooling roller 14. In the modeled zone 50, a solidification model to calculate solidifying state of the molten metal divided into a plurality of cells is formed. Sensors 31, 38, 39 measure designated physical quantities from the modeled zone 50. A controller 40 estimates the current solidifying state of the molten metal using the measured physical quantities. Then, according to the estimated solidifying state, rotation speed of the cooling rollers 12, 14, cooling capacity of the cooling rollers 12, 14, coating amount of a parting agent on the cooling rollers 12, 14, pressuring load of the cooling rollers 12, 14, temperature of the molten metal 28 and supplying amount of the molten metal 28 and so on are adjusted.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了能够使用一对冷却辊从熔融金属制造金属板的装置中高质量地稳定地制造金属板。 解决方案：建模区域50设置在冷却辊12和14及其附近的孔中。 模型区域50包括熔融金属区域28和冷却辊14的一部分。在建模区域50中，形成用于计算分成多个单元的熔融金属的固化状态的凝固模型。 传感器31,38,39从建模区域50测量指定的物理量。控制器40使用测量的物理量估计熔融金属的当前固化状态。 然后，根据估计的凝固状态，冷却辊12,14的转速，冷却辊12,14的冷却能力，冷却辊12,14上的脱模剂的涂布量，冷却辊12的加压负荷 ，14，调整熔融金属28的温度和熔融金属28的供给量等。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2004185987A

公开(公告)日：2004-07-02

申请号：JP2002351476

申请日：2002-12-03

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

Inventor： UCHIHARA MASAFUMI

IPC: C01B3/32 ,  B60L11/18 ,  C01B3/38 ,  H01M8/00 ,  H01M8/04 ,  H01M8/06

CPC classification number: Y02P20/123

Abstract: PROBLEM TO BE SOLVED: To improve energy efficiency for an entire system by controlling the power consumption of an air pump supplying fuel air within a range of permissible power consumption. SOLUTION: The fuel evaporator is equipped with an air pump (61) exchanging heat with raw fuel (90) and supplying combustion air to generate combustion gas to a heating fluid passage (70) as a passage of the combustion gas for evaporating the raw fuel (90), a cooling means (62) to cool the burning air, and a control part (24) to control the air pump (61) and the cooling means (62). The control part (24) increases the volume density by lowering combustion air temperature by controlling the cooling means (62) when an amount of combustion air required to evaporate the raw fuel (90) exceeds the possible supply of the combustion air amount within the permissible power consumption of the air pump (61), and then, the power consumption of the air pump (61) is limited within a permissible power consumption range. COPYRIGHT: (C)2004,JPO&NCIPI

公开(公告)号：JP2001124653A

公开(公告)日：2001-05-11

申请号：JP30699599

申请日：1999-10-28

Applicant: TOYOTA MOTOR CORP

Inventor： HORIKAWA HIROSHI ,  UCHIHARA MASAFUMI ,  SUZUKI NOBUAKI

IPC: G01M1/30

Abstract: PROBLEM TO BE SOLVED: To reduce the frequency of working necessary for the correction of an unbalance and set the magnitude of acceleration within a standard by performing the working once or twice. SOLUTION: This method comprises a first measuring process of measuring the magnitude and phase of acceleration; processes of reading correction quantity and correcting direction from correction quantity and correcting direction maps; a first working process of working a rotator to correct the unbalance; a second measuring process of remeasuring the magnitude and phase of the acceleration; processes of renewing the correction quantity within the correction quantity map and the correcting direction within the correcting direction map; processes of reading correction quantity and correcting direction from the renewed correction quantity map and correcting direction map by use of the magnitude and phase of the acceleration measured in the second measuring process with retrieval keys; and a process of reworking the rotator on the basis of the correction quantity and correcting direction read from the renewed maps to correct the unbalance.

公开(公告)号：JP2012081857A

公开(公告)日：2012-04-26

申请号：JP2010229514

申请日：2010-10-12

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

Inventor： UEDA AKIHIRO ,  MOTOZONO KIICHI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: B60W40/09 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W40/072 ,  B60W40/076 ,  F02D29/00

Abstract: PROBLEM TO BE SOLVED: To reduce a driver's feeling of strangeness to a control of a power train.SOLUTION: A vehicle travel control device 100 controls the power train 5 including an engine 51 and a transmission 52, installed on a vehicle. The vehicle travel control device 100 also includes: a road surface information memory unit 22 storing in advance road surface information including a gradient value information showing a gradient value of a road, while associating the road surface information with map information; an operation history memory unit 23 storing operation history information as operation information showing operations performed by the driver of the vehicle while the vehicle has traveled so far, while associating the operation history information with the map information; and a first traveling control part 111 controlling the power train 5, based on the road surface information and the operation history information.

Abstract translation: 要解决的问题：减少驾驶员对动力传动系的控制的陌生感。 解决方案：车辆行驶控制装置100控制包括安装在车辆上的发动机51和变速器52的动力传动系5。 车辆行驶控制装置100还包括：道路面信息存储单元22，其将路面信息与地图信息相关联，预先存储包括表示道路的坡度值的坡度值信息的路面信息; 操作历史存储单元23，存储作为操作信息的操作历史信息，该操作信息表示当车辆行驶到目前为止，车辆的驾驶员执行的操作，同时将操作历史信息与地图信息相关联; 以及基于路面信息和操作历史信息来控制动力传动系5的第一行驶控制部111。 版权所有（C）2012，JPO＆INPIT