公开(公告)号：JP2007007800A

公开(公告)日：2007-01-18

申请号：JP2005193276

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 accurately obtain the absolute azimuth (absolute angle) required for controlling and correcting the moving locus of a robot without an expensive azimuth sensor in a walking type robot walking by repeatedly moving the free leg to the standing leg to ground.
SOLUTION: This walking type robot includes: an absolute position detector for detecting the absolute position of the grounding foot; an absolute position storage means for storing the absolute position of the grounding foot; and an absolute azimuth computing device for computing the absolute azimuth of the grounding foot. The absolute azimuth computing device estimates the absolute azimuth θ of the grounding foot of the (k-1)th step and/or the k-th step based upon the absolute position (x
k , y
k ) of the grounding foot of the k-th step, the absolute position (x
k-1 , y
k-1 ) of the grounding foot of the (k-1)th step, and the relative movement command value (Δx
k , Δx
k , Δθ
k ) of the grounding foot of the k-th step to the grounding foot of the (k-1)th step.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：为了准确地获得在步行式机器人行走中通过将自由腿重复地移动到站立腿部来控制和校正没有昂贵的方位传感器的机器人的移动轨迹所需的绝对方位角（绝对角度） 到地面 解决方案：该步行式机器人包括：绝对位置检测器，用于检测接地脚的绝对位置; 绝对位置存储装置，用于存储接地脚的绝对位置; 以及用于计算接地脚的绝对方位角的绝对方位计算装置。 绝对方位计算装置基于绝对位置（x k ，y k-1 ，y k-1 ）， 的第（k-1）步和相对移动指令值（Δx k ，Δx k ，Δθ k 第（k-1）步的接地脚的第k步的脚。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2006192564A

公开(公告)日：2006-07-27

申请号：JP2005363144

申请日：2005-12-16

Applicant: Tokyo Institute Of Technology ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  国立大学法人東京工業大学

Inventor： UCHIHARA MASAFUMI ,  YAMAOKA MASAAKI ,  MAEDA IWAO ,  YOSHIKAWA MASAHITO ,  MATSUO YOSHIKI

IPC: B25J3/00 ,  B05C21/00 ,  B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a technique for assisting a work in which trajectory of a treatment implement for a working object is regarded as important.
SOLUTION: The working auxiliary device is used to adjust the position and the attitude of the treatment implement following the human's operation to assist the operation of the human who executes the treatment for a predetermined place of the working object. The working auxiliary device is equipped with: an operation force detection means for detecting the operation force which is applied to the treatment implement by the human; a motion calculation means for calculating the position and the attitude of the treatment implement appeared after a predetermined time when the operation force detected by the operation force detection means is applied to the treatment implement model wherein the moving direction of a portion having a predetermined positional relationship with respect to the treatment implement is restricted in the predetermined direction determined by the attitude of the treatment implement; and an actuator for adjusting the position and the attitude of the treatment implement after the predetermined time to the position and the attitude calculated by the motion calculation means.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种辅助工作的技术，其中工作对象的治疗工具的轨迹被认为是重要的。 解决方案：工作辅助装置用于在人的操作之后调整处理工具的位置和姿态，以协助对工作对象的预定位置执行处理的人的操作。 工作辅助装置配备有：操作力检测装置，用于检测由人施加到处理工具的操作力; 运动计算装置，用于计算在将由操作力检测装置检测到的操作力应用于处理工具模型的预定时间之后出现的处理工具的位置和姿态，其中具有预定位置关系的部分的移动方向 治疗工具在由治疗工具的态度确定的预定方向上被限制; 以及致动器，用于在经过运动计算装置计算的位置和姿态的预定时间之后调节处理工具的位置和姿态。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005052808A

公开(公告)日：2005-03-03

申请号：JP2003311971

申请日：2003-08-01

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

Inventor： KIMURA HIDENORI ,  UCHIHARA MASAFUMI

IPC: C01B3/32 ,  B01J19/00 ,  C01B3/38 ,  H01M8/06

CPC classification number: Y02E60/50

Abstract: PROBLEM TO BE SOLVED: To provide a system identifying technique capable of obtaining a higher-precision simple model easily. SOLUTION: This control system designing technique comprises the following steps. First of all, a detailed model (12) is prepared in which the chemical reactions caused in a chemical reactor (11) are described on the basis of physical laws (step B). When the detailed model (12) is obtained, a simulator (13) functioning as an imaginary chemical reactor (11) is prepared and output data are calculated by inputting input data in the simulator (13) (step D). The simple model (14) is obtained from the relations between the input data and the output data by system identification (step E). Since the system identification using the actual chemical reactor is not necessitated, the labor and time when a control system is designed can be saved. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供能够容易地获得更高精度的简单模型的系统识别技术。

解决方案：该控制系统设计技术包括以下步骤。 首先，制备详细的模型（12），其中根据物理定律描述化学反应器（11）中引起的化学反应（步骤B）。 当获得详细模型（12）时，准备用作虚拟化学反应器（11）的模拟器（13），并通过在模拟器（13）中输入输入数据来计算输出数据（步骤D）。 通过系统识别从输入数据和输出数据之间的关系中获得简单模型（14）（步骤E）。 由于不需要使用实际的化学反应器进行系统识别，所以可以节省设计控制系统的人力和时间。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2004185988A

公开(公告)日：2004-07-02

申请号：JP2002351496

申请日：2002-12-03

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

Inventor： YAMAOKA MASAAKI ,  UCHIHARA MASAFUMI ,  SUZUKI HIROSHI

IPC: F23C99/00 ,  B60L11/18 ,  C01B3/32 ,  C01B3/38 ,  H01M8/00 ,  H01M8/04 ,  H01M8/06 ,  F23C11/00

CPC classification number: Y02T10/7022

Abstract: PROBLEM TO BE SOLVED: To uniformize combustion temperature of a fuel evaporator, for avoiding local overheat. SOLUTION: A fuel evaporator (22a) comprises a heated fluid path (70) constituting the flow path of an original fuel (90), a heating fluid path (60) which constitutes the flow path of a combustion gas for evaporating the original fuel (90) by heat exchange with the original fuel (90), a cooling water getting means (62) for jetting a cooling water to the air current in the heating fluid path (60), temperature sensors (71 and 72) for measuring the temperature distribution in the direction of air current of the heating fluid path (60), and a control part (24) that corrects the jetting amount of cooling water based on the temperature distribution in the air current direction of the heating fluid path (60) which is detected with the temperature sensors (71 and 72). COPYRIGHT: (C)2004,JPO&NCIPI

Abstract translation: 要解决的问题：为了使燃料蒸发器的燃烧温度均匀化，以避免局部过热。 解决方案：燃料蒸发器（22a）包括构成原燃料（90）的流路的加热流体路径（70），构成用于蒸发燃料的燃烧气体的流路的加热流体路径（60） 原燃料（90）通过与原燃料（90）进行热交换;冷却水获取装置（62），用于将冷却水喷射到加热流体路径（60）中的气流;温度传感器（71和72），用于 测量加热流体路径（60）的气流方向的温度分布;以及控制部（24），其根据加热流体路径的气流方向的温度分布来校正冷却水的喷射量（ 60），其由温度传感器（71和72）检测。 版权所有（C）2004，JPO＆NCIPI

公开(公告)号：JP2002323252A

公开(公告)日：2002-11-08

申请号：JP2001125281

申请日：2001-04-24

Applicant: TOYOTA MOTOR CORP ,  TRINITY IND CORP

Inventor： UCHIHARA MASAFUMI ,  YAMAMOTO TAKASHI ,  NARITA TOSHIO ,  TAKAHASHI ISAMU

IPC: F24F6/00 ,  F24F11/02 ,  G05B11/32

Abstract: PROBLEM TO BE SOLVED: To solve the problem due to change of responsiveness brought about by change of a set value or an outside air condition in the feedback control of an air conditioner, in which a control input is decided according to a deviation from set temperature and humidity. SOLUTION: A method for calculating a temperature change amount by a humidifier comprises a distance calculating step calculate a distance between an arbitrary point of a saturated vapor line on an air line and a point before the start of humidification, and an amount of temperature change calculating step to calculate a temperature change amount, before and after humidification.