公开(公告)号：JP2011168119A

公开(公告)日：2011-09-01

申请号：JP2010032284

申请日：2010-02-17

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

Inventor： MIURA MITSUHIRO ,  SHONO SHOICHI ,  UCHIHARA MASAFUMI ,  USAMI TOMOHIRO

IPC: B60W10/06 ,  B60K6/445 ,  B60L7/14 ,  B60L11/14 ,  B60W10/08 ,  B60W10/18 ,  B60W20/00 ,  F02D29/02

CPC classification number: Y02T10/6239 ,  Y02T10/6286 ,  Y02T10/7077 ,  Y02T10/7241

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular drive control apparatus that properly starts an internal combustion engine when the internal combustion engine is started after deceleration. SOLUTION: The vehicular drive control apparatus is applied to a vehicle including an internal combustion engine and a regeneration control means for performing regenerative braking during deceleration. The vehicular drive control apparatus starts the internal combustion engine during deceleration in the following cases: (1) the internal combustion engine is suspended; (2) surplus energy is generated due to regenerative braking during deceleration; and (3) the internal combustion engine is expected to start after the deceleration. There is no need to extract energy from a battery to start the internal combustion engine, thereby improving fuel economy. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种在减速后内燃机起动时适当启动内燃机的车辆用驱动控制装置。 解决方案：车辆驱动控制装置被应用于包括内燃机的车辆和用于在减速期间执行再生制动的再生控制装置。 在下列情况下，车辆驱动控制装置在减速期间起动内燃机：（1）内燃机停止运转; （2）减速时再生制动产生剩余能量; （3）内燃机预计在减速后启动。 不需要从电池中提取能量来启动内燃机，从而提高燃油经济性。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009264977A

公开(公告)日：2009-11-12

申请号：JP2008116309

申请日：2008-04-25

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

Inventor： KAGAWA KAZUNORI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01S19/03 ,  G01S19/04 ,  G01S19/43 ,  G01S19/44 ,  G01S19/51 ,  G08G1/09

CPC classification number: G01S5/0072 ,  G01S19/44 ,  G01S19/51

Abstract: PROBLEM TO BE SOLVED: To provide an inter-moving body interferometric positioning system can precisely grasp the relative positions of three or more moving bodies by means of efficient positioning processing. SOLUTION: An inter-moving body interferometric positioning system for carrying out positioning in coordination with three or more moving bodies that can mutually communicate, includes: reference vehicle decision means for deciding on a single moving body to function as a reference vehicle from among three or more moving bodies; and positioning means for interferometrically determining respective relative positions of other moving bodies relative to the reference moving body that is to function as a reference vehicle decided on by the reference moving body decision means using satellite wave monitoring data monitored in each of the three or more moving bodies. This inter-moving body interferometric positioning system specifies relative positions among the other moving bodies using positioning results of the positioning means. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供移动体间干涉定位系统可以通过有效的定位处理精确地掌握三个或更多个移动体的相对位置。 解决方案：一种用于与三个或更多个可相互通信的移动体协调地进行定位的移动体间干涉定位系统，包括：用于决定单个移动体用作参考车辆的参考车辆决定装置， 在三个或更多的移动体中; 以及定位装置，用于干涉地确定其它移动体相对于参考移动体的各自的相对位置，该相对位置用作参考移动体决定装置决定的参考车辆，所述参考移动体使用在三个或更多个移动中的每一个中监视的卫星波监测数据 身体。 该移动体间干涉定位系统使用定位装置的定位结果来指定其他移动体之间的相对位置。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009198185A

公开(公告)日：2009-09-03

申请号：JP2008036892

申请日：2008-02-19

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

Inventor： UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01C21/00 ,  B60W40/105 ,  G01C21/28 ,  G01S19/52 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a vehicle position attitude estimating device for improving final calculation accuracy. SOLUTION: This vehicle position attitude estimating device 1 includes a vehicle behavior detecting means 2c for detecting the acceleration of a vehicle, a wheel speed detecting means 2d for detecting the wheel speed of the wheel of the vehicle, a GPS speed detecting means 2e for detecting the GPS speed, a determining means 2f for determining whether slip or lock of the wheel occurs, and a calculating means 2g for calculating the vehicle speed based on the acceleration and wheel speed when the determining means 2f determines that slip or lock of the wheel does not occur. When the determining means 2f determines that slip or lock of the wheel occurs, the calculating means 2g calculates the vehicle speed based on the acceleration and the GPS speed. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于提高最终计算精度的车辆位置姿态估计装置。 解决方案：该车辆位置姿态估计装置1包括用于检测车辆的加速度的车辆行为检测装置2c，用于检测车辆的车轮速度的车轮速度检测装置2d，GPS速度检测装置 2e用于检测GPS速度;确定装置2f，用于确定车轮是否滑动或锁定发生;以及计算装置2g，用于当确定装置2f确定滑动或锁定时基于加速度和车轮速度计算车速 车轮不会发生。 当确定装置2f确定车轮的滑动或锁定发生时，计算装置2g基于加速度和GPS速度来计算车速。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009103509A

公开(公告)日：2009-05-14

申请号：JP2007273979

申请日：2007-10-22

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

Inventor： HASEGAWA NAOTO ,  KAGAWA KAZUNORI ,  MOTOZONO KIICHI ,  KOBORI KUNINARI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01C21/00 ,  G01S19/22 ,  G01S19/40 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To detect existence of an influence of multipath; to reduce the influence when the influence of multipath exists; and to improve measurement accuracy.
SOLUTION: This GNSS (Global Navigation Satellite System) receiving device for calculating a position based on each positioning signal transmitted from a plurality of GNSS satellites is equipped with a multipath determination means for determining whether the positioning signal is received after being influenced by the multipath or not, based on a time characteristic of a pseudo distance determined based on the positioning signal; a phase difference zero point calculation means for determining a zero point where a phase of a direct wave becomes equal to a phase of a reflected wave based on the time characteristic of the pseudo distance, when determined that the positioning signal is received after being influenced by the multipath; a pseudo distance correction means for correcting the pseudo distance based on the time characteristic of an integrated value of a Doppler frequency determined based on the positioning signal and on the zero point determined by the phase difference zero point calculation means; and a positioning operation means for determining a position based on the corrected pseudo distance.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：检测多路径影响的存在; 减少多径影响时的影响; 并提高测量精度。 解决方案：用于基于从多个GNSS卫星发送的每个定位信号来计算位置的GNSS（全球导航卫星系统）接收装置配备有多路径确定装置，用于确定定位信号是否在被 基于基于所述定位信号确定的伪距离的时间特性的多路径; 相位差零点计算装置，用于当确定定位信号受到影响之后接收定位信号时，基于伪距离的时间特性确定直接波的相位变为等于反射波的相位的零点 多路径 伪距离校正装置，用于基于基于定位信号确定的多普勒频率的积分值的时间特性和由相位差零点计算装置确定的零点来校正伪距离; 以及用于基于经校正的伪距离确定位置的定位操作装置。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008194758A

公开(公告)日：2008-08-28

申请号：JP2007029035

申请日：2007-02-08

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

Inventor： MURAYAMA HIDEYUKI ,  YAMAGUCHI TAKESHI ,  YAMAOKA MASAAKI ,  UCHIHARA MASAFUMI ,  SANO AKITO ,  MOCHIYAMA HIROMI ,  TAKEI NAOYUKI ,  KIKUUE RYO ,  FUJIMOTO HIDEO

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a working assisting device capable of easily moving a tool along a target track without dropping the working efficiency excessively.
SOLUTION: The working assisting device is to assist the operator in performing the operation for a workpiece rotating, whereby the tool is moved along the target track set on the workpiece previously. The device comprises: a workpiece rotating device to rotate the workpiece round a rotary shaft; a tool moving device to change the position and direction of the tool in accordance with the operating force applied by the operator; a tool position sensing means to sense the position of the tool; a tool direction sensing means to sense the direction of the tool; and a controlling means to control the workpiece rotating device in such a manner as decreasing the angular velocity of the workpiece rotating device with longer distance from the sensed tool position to the rotary shaft and also decreasing the angular velocity of the workpiece rotating device with greater angle formed between the counter-moving direction of the workpiece in the sensed tool position and the sensed direction of the tool.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够在不降低工作效率的情况下沿着目标轨道容易地移动工具的工作辅助装置。 解决方案：工作辅助装置是为了帮助操作者进行工件旋转操作，由此工具预先沿着工件上的目标轨道移动。 该装置包括：工件旋转装置，用于使工件绕旋转轴旋转; 工具移动装置，用于根据操作者施加的操作力改变工具的位置和方向; 工具位置检测装置，用于感测工具的位置; 工具方向检测装置，用于感测工具的方向; 以及控制装置，以这样的方式控制工件旋转装置，即以较小距离从被检测的工具位置到旋转轴的距离减小工件旋转装置的角速度，并且还以更大的角度减小工件旋转装置的角速度 在感测到的工具位置的工件的相对移动方向与工具的检测方向之间形成。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2008126888A

公开(公告)日：2008-06-05

申请号：JP2006315580

申请日：2006-11-22

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： MURAYAMA HIDEYUKI ,  MAEDA IWAO ,  UCHIHARA MASAFUMI ,  KIMURA HIDENORI ,  NAKAYAMA SATOYUKI ,  TYTUS WOJTARA ,  SHIMODA SHINGO

IPC: B62D65/06 ,  B23P19/00 ,  B23P21/00 ,  B62D65/18

Abstract: PROBLEM TO BE SOLVED: To provide a device and a method for fitting window glass capable of allowing a worker to perform window glass fitting work to a vehicle body by himself/herself by positioning the window glass with respect to the vehicle body.
SOLUTION: The window glass fitting device facilitates the fitting work of window glass by a worker to a vehicle body when the worker positions and fits the window glass held by a window glass holder at a predetermined fitting position of the vehicle body. In the window glass fitting device, two cameras mounted to the window glass holder photograph images of right and left ends of the window glass held by the window glass holder. Only one of the photographed images is subjected to mirror image inversion in the right-to-left direction and displayed on a monitor 150.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于安装窗玻璃的装置和方法，其能够允许工人通过将窗玻璃相对于车身定位而对车体进行窗玻璃装配作业。 解决方案：当工作人员将窗玻璃保持器所保持的窗玻璃放置在车身的预定安装位置时，窗玻璃配合装置便于工作者将车窗玻璃装配到车身上。 在窗玻璃装配装置中，安装在窗玻璃架上的两个摄像机拍摄由窗玻璃保持器保持的窗玻璃的左右两端的图像。 只有一个拍摄的图像在右向左方向上进行镜像反转并显示在监视器150上。版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2008036777A

公开(公告)日：2008-02-21

申请号：JP2006214618

申请日：2006-08-07

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： UCHIHARA MASAFUMI ,  MAEDA IWAO ,  YAMAOKA MASAAKI ,  MURAYAMA HIDEYUKI ,  KIMURA HIDENORI ,  TYTUS WOJTARA ,  NAKAYAMA SATOYUKI ,  SHIMODA SHINGO

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a work assisting device that assists a worker to shift an object. SOLUTION: The work assisting device 100 is provided with: a gripping device 10; and a shifting device 20 that is connected to the gripping device 10 in a manner to be rotatable around a rotation axis Q. The object W is held by the gripping device 10 and a worker T. When the object W is rotated by the worker T, the work assisting device 100 calculates a first shifting command value that directs shifting direction and distance of the rotating axis Q for giving the rotation to the object W presumably to minimize deviation between the object W and a target attitude angle. The shifting device 20 is shifted according to the first shifting command value. The gripping device 10 and the shifting device 20 are revolvably connected, so that a rotation of the object W when shifting the rotating axis Q is defined by a positional relation of the rotating axis Q and the worker T. The worker T easily understands the rotation of the object W when the rotating axis Q is shifted. The worker T shifts the object W using the work shifting device 100 in easy understanding for the worker. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种帮助工人移动物体的工作辅助装置。 解决方案：工作辅助装置100设置有：夹持装置10; 以及以能够围绕旋转轴线Q旋转的方式与夹持装置10连接的换档装置20.被夹持装置10和作业者T保持物体W.当被加工物T被工人T旋转时 工作辅助装置100计算引导用于给予对象W的旋转轴线Q的移动方向和距离的第一移动指令值，以便最小化物体W与目标姿态角度之间的偏差。 移位装置20根据第一移位指令值而移位。 夹持装置10和移动装置20可旋转地连接，使得当旋转轴线Q移动时物体W的旋转由旋转轴线Q和工人T的位置关系限定。工人T容易理解旋转 当旋转轴线Q偏移时，物体W。 工人T使用工作移动装置100对工件的容易理解来移动对象W。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007098524A

公开(公告)日：2007-04-19

申请号：JP2005292783

申请日：2005-10-05

Applicant: Nagoya Institute Of Technology ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  国立大学法人 名古屋工業大学

Inventor： SANO AKITO ,  MOCHIYAMA HIROMI ,  TAKEI NAOYUKI ,  KIKUUE RYO ,  FUJIMOTO HIDEO ,  MURAYAMA HIDEYUKI ,  MITSUDA KENICHI ,  YAMAOKA MASAAKI ,  UCHIHARA MASAFUMI

IPC: B25J13/00 ,  B05C13/02 ,  B25J13/02

Abstract: PROBLEM TO BE SOLVED: To provide a work assisting device, facilitating work regardless of the distance between the tool position and the rotational center of a workpiece when a worker performs work using a tool to the rotating workpiece.
SOLUTION: In this work assisting device, a controller 22a calculates the length of a perpendicular R drawn from the position P of an applicator 32 (a tool) to the axis C of rotation of a workpiece rotator 24. The controller 22a controls the angular velocity of a motor 28 so that the longer the perpendicular R is, the smaller the angular velocity ω of a windshield 30 (a workpiece) is. Even if the applicator 32 is located in a position distant from the axis C of rotation of the windshield 30, the relative speed of the applicator 32 and the windshield 30 is restrained to increase. Even if the distance between the applicator 32 and the axis C of rotation changes, the relative speed of the applicator 32 and the windshield 30 does not change largely, so that work using the applicator 32 to the windshield 30 can be assisted to be easily performed.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：当工作人员使用工具对旋转工件进行作业时，提供工件辅助装置，无论工件位置和工件的旋转中心之间的距离如何，都能够实现工作。 解决方案：在该工作辅助装置中，控制器22a计算从施加器32（工具）的位置P到工件旋转体24的旋转轴线C的垂线R的长度。控制器22a控制 电机28的角速度使得垂直R越长，挡风玻璃30（工件）的角速度ω越小。 即使施加器32位于远离挡风玻璃30的旋转轴线C的位置，也抑制了施加器32和挡风玻璃30的相对速度增加。 即使施加器32与旋转轴C之间的距离发生变化，涂敷器32和挡风玻璃30的相对速度也不会发生很大变化，因此能够容易地进行使用施加器32对挡风玻璃30的加工 。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007076807A

公开(公告)日：2007-03-29

申请号：JP2005266438

申请日：2005-09-14

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： NAKAYAMA SATOYUKI ,  TYTUS WOJTARA ,  SHIMODA SHINGO ,  KIMURA HIDENORI ,  FUJIMOTO HIDEO ,  UCHIHARA MASAFUMI ,  MAEDA IWAO ,  YAMAOKA MASAAKI ,  MURAYAMA HIDEYUKI

IPC: B66F19/00

Abstract: PROBLEM TO BE SOLVED: To provide a power assist device and its adaptive model prediction control method for suppressing deviation from a target final position to small extent as much as possible by smallest possible operation force in cooperation work of a man and a robot.
SOLUTION: This power assist device is provided with an articulated arm robot 10 having a fingertip part 11 for gripping an object 1 to be transported rigidly and a controller 20 for controlling the robot. The robot 10 has a sensor for detecting revolute joint angle vector q of multi-revolute joint, a fingertip part position x, and force f
e that a worker working in cooperation with the robot applies on the object to be transported. The controller 20 infers coefficient of viscosity of worker's fingertip D
e , its modulus of elasticity K
e , and a natural length position x
e of worker's fingertip based on the revolute joint angle vector q, the fingertip part position x, and worker's force f
e detected by the sensor on real time. The robot 10 generates assist force to suppress positioning error to small extent as much as possible by smallest possible operation force based on the inferred values.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种动力辅助装置及其自适应模型预测控制方法，用于通过人和机器人的协作工作中最小的可能的操作力尽可能多地抑制从目标最终位置到少量的偏移 。 解决方案：该动力辅助装置设置有铰接臂机器人10，其具有用于夹持要刚性运输的物体1的指尖部分11和用于控制机器人的控制器20。 机器人10具有用于检测与机器人协作工作的工作人员对物体进行多重旋转接头的旋转关节角度矢量q，指尖部位置x和力f e < 被运送 控制器20推测工人的指尖D e 的粘度系数，其弹性模量K e 和工人的自然长度位置x e 基于由传感器实时检测的旋转关节角度矢量q，指尖部位置x和作业者力f e 的指尖。 机器人10产生辅助力，以通过基于推断值的最小可能的操作力尽可能多地抑制定位误差。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007007801A

公开(公告)日：2007-01-18

申请号：JP2005193277

申请日：2005-07-01

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

Inventor： UCHIHARA MASAFUMI

IPC: B25J13/08 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a technology for walking while updating the action plan based upon a difference between the measured foot sole disposition and the target foot sole disposition by measuring the actual disposition of the foot sole of a support leg in a legged robot.
SOLUTION: This robot is a legged robot walking by driving joint group based upon the action plan. The legged robot includes: a means for detecting the position of a representative point of the robot seen from the coordinates system fixed on the outside of the robot; a means for detecting the direction of a representative line of the robot seen from the coordinates system fixed on the outside of the robot; a means for detecting the joint angle group of the joint group of the robot; a means for specifying the foot sole disposition of a support leg of the robot seen from the coordinates system fixed on the outside of the robot; and a means for correcting an action plan based upon the foot sole disposition of the specified support leg and the target foot sole disposition course of the support leg.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种基于测量足底配置和目标脚底配置之间的差异来更新动作计划的技术，其通过测量支撑腿的脚底的实际布置在 腿式机器人

解决方案：该机器人是基于行动计划驾驶联合组织的腿式机器人。 腿式机器人包括：用于检测从固定在机器人外部的坐标系看到的机器人的代表点的位置的装置; 用于检测从固定在机器人外部的坐标系看到的机器人的代表线的方向的装置; 用于检测机器人的联合组的关节角度组的装置; 用于指定从固定在机器人外部的坐标系看到的机器人支撑腿的脚底布置的装置; 以及用于基于所述指定支撑腿的脚底设置和所述支撑腿的目标脚底设置路线来校正动作计划的装置。 版权所有（C）2007，JPO＆INPIT