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公开(公告)号：JP2012081829A
公开(公告)日：2012-04-26
申请号：JP2010228363
申请日：2010-10-08
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： TAJIMA YASUHIRO , UEDA AKIHIRO , MOTOZONO KIICHI , UCHIHARA MASAFUMI , MIURA MITSUHIRO , SHONO SHOICHI
IPC: B60W50/00 , B60T7/12 , B60W10/06 , B60W10/115 , B60W10/184 , B60W30/18 , G01C21/26
Abstract: PROBLEM TO BE SOLVED: To provide a vehicle control device that properly divides a predetermined zone to a request to divide the zone into mutually different divisions by several kinds of traveling controls, while considering the restriction of a storage capacity.SOLUTION: When the storage capacity of a memory part 82 to store traveling load information for each division produced by dividing a link, becomes insufficient to a request to divide the link into mutually different divisions by the several kinds of traveling controls, the requests for different divisions are adjusted because a division adjustment part 84 sorts out the different division requests, and then the link is properly divided in consideration of the restriction of storage capacity of the memory part 82.
Abstract translation: 要解决的问题：提供一种车辆控制装置，其在考虑到存储容量的限制的同时，通过几种行驶控制将适当地划分预定区域的请求划分为相互不同的区段。 解决方案：当通过分割链路存储每个分区的行驶负载信息的存储器部分82的存储容量变得不足以通过几种行驶控制将链路划分成相互不同的分区的请求时， 调整不同分区的请求，因为分割调整部分84排除不同的分割请求，然后考虑到存储器部分82的存储容量的限制，适当地划分链接。（C）2012年， JPO＆INPIT
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公开(公告)号：JP2010243216A
公开(公告)日：2010-10-28
申请号：JP2009089600
申请日：2009-04-01
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI , TAJIMA YASUHIRO
Abstract: PROBLEM TO BE SOLVED: To calculate a velocity vector in such a way as to make an error small while reducing an effect on a control due to deterioration in continuity.
SOLUTION: A device for positioning a moving body which is mounted on a moving body includes: a receiving means for receiving radio waves transmitted from a plurality of satellites; a velocity-vector calculation means for calculating a velocity vector of the moving body by using the radio waves received by the receiving means; and a standstill detection means for detecting a standstill of the moving body. In the device for positioning a moving body, when a satellite which the velocity vector calculation means uses for calculation of the velocity vector is switched with the moving body detected to be at a standstill by the standstill detection means, the velocity vector calculation means performs processing of resetting the magnitude of the velocity vector to zero.
COPYRIGHT: (C)2011,JPO&INPITAbstract translation: 要解决的问题：以减小对连续性劣化对控制的影响的方式计算出一个误差小的方法来计算速度矢量。 解决方案：一种用于定位安装在移动体上的移动体的装置，包括：接收装置，用于接收从多个卫星发射的无线电波; 速度矢量计算装置，用于通过使用由接收装置接收的无线电波来计算移动体的速度矢量; 以及用于检测所述移动体的停止的停止检测装置。 在用于定位移动体的装置中，当速度矢量计算装置用于计算速度矢量的卫星被停止检测装置检测为停止的移动体切换时，速度矢量计算装置执行处理 将速度矢量的大小重置为零。 版权所有（C）2011，JPO＆INPIT
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3.发明专利Inter-moving object interference positioning apparatus and method for moving object 有权移动对象干扰定位装置和移动对象的方法
公开(公告)号：JP2009270927A
公开(公告)日：2009-11-19
申请号：JP2008121477
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 , G01S19/04 , G01S19/28 , G01S19/43 , G01S19/51 , G01S19/54 , G08G1/09 , H04W4/04 , H04W64/00
CPC classification number: G01S19/44
Abstract: PROBLEM TO BE SOLVED: To provide an inter-moving object interference positioning apparatus and a method having high positioning accuracy.
SOLUTION: The inter-moving object interference positioning apparatus includes a first observation data acquisition means for acquiring observation data on phase integrated values observed at a first moving object; a second observation data acquisition means for acquiring observation data on phase integrated values observed at a second moving object; a satellite pair determination means for determining a pair of satellites to be used for interference positioning; and an interference positioning means for determining a single phase difference or a double phase difference between the observation data obtained by the first observation data acquisition means and the observation data obtained by the second observation data acquisition means, using observation data of which the single phase difference or the double phase difference has been determined, and specifying the relative positional relation between the first moving object and the second moving object by interference positioning.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供一种相互移动物体干涉定位装置和具有高定位精度的方法。 移动物体干涉定位装置包括：第一观测数据取得单元，取得在第一移动体上观察到的相位积分值的观测数据; 第二观测数据获取装置，用于获取在第二移动物体上观察到的相位积分值的观测数据; 卫星对确定装置，用于确定要用于干扰定位的一对卫星; 以及干涉定位装置，用于使用观测数据确定由第一观测数据获取装置获得的观测数据和由第二观察数据获取装置获得的观测数据之间的单相位差或双相位差， 或者确定了双相位差，并且通过干涉定位来指定第一移动物体与第二移动物体之间的相对位置关系。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2009039814A
公开(公告)日：2009-02-26
申请号：JP2007207152
申请日：2007-08-08
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： ODAJIMA TADASHI , UCHIHARA MASAFUMI , TYTUS WOJTARA , SHIMODA SHINGO , KIMURA HIDENORI
Abstract: PROBLEM TO BE SOLVED: To provide a power assist device controlling the position and posture of a workpiece by providing a virtual guide as an area which the fingertip of a robot or the workpiece cannot enter, and by determining the end-point velocity of the robot.
SOLUTION: This power assist device includes: a robot arm 3 having a plurality of revolute joints 3a; a suction tool 5 three-dimensionally swingably connected to the robot arm 3 through a free joint 4 and holding a window 2; an encoder 10 detecting the angles of the revolute joints 3a and free joint 4; a first calculation section 8a calculating the position of the fingertip 3c of the robot arm 3 or the position of the window 2 based on the angles; a storage section 8c storing the virtual guide G as the area not admitting the entering of the window 2; a second calculation section 8b calculating a velocity command value for putting restrictions not to exceed the virtual guide G by comparing the position of the fingertip 3c or the position of the window 2 with the position of the virtual guide G; and control means 8 controlling the fingertip 3c by the velocity command value.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：提供一种通过提供作为机器人或工件不能进入的区域的虚拟引导件来控制工件的位置和姿势的动力辅助装置，并且通过确定终点速度 的机器人。 解决方案：该动力辅助装置包括：具有多个旋转接头3a的机器人手臂3; 通过自由关节4三维可摆动地连接到机器人手臂3并保持窗口2的吸引工具5; 检测旋转接头3a和自由接头4的角度的编码器10; 第一计算部分8a，基于角度计算机器人手臂3的指尖3c的位置或窗口2的位置; 存储虚拟导轨G作为不允许进入窗口2的区域的存储部8c; 第二计算部分8b通过将指尖3c的位置或窗口2的位置与虚拟引导件G的位置进行比较来计算用于施加不超过虚拟引导件G的限制的速度指令值; 以及通过速度指令值控制指尖3c的控制装置8。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2009034758A
公开(公告)日：2009-02-19
申请号：JP2007200206
申请日：2007-07-31
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI , ODAJIMA TADASHI
Abstract: PROBLEM TO BE SOLVED: To provide a power assist device having improved responsiveness to the operation of a worker while improving the efficiency of moving and mounting work for an object, and to provide its control method.
SOLUTION: The power assist device 1 is provided for moving the object 2 in cooperation with the operation of the worker. It comprises a hand part 10 for gripping the object 2, a vertical drive part 11 for driving the hand part 10 in the vertical direction, a free joint part 12 for rockingly connecting the hand part 10 to the vertical drive part 11 in any three-dimensional direction, cylinder devices 13, 14 for imparting viscous resistance to the hand part 10 in a predetermined direction, a force sensor 15 for detecting the operating force of the worker operating the hand part 10, and a control part 16 for calculating an impedance control command value for the vertical drive part 11 from the operating force detected by the force sensor 15 to drive the vertical drive part 11 in accordance with the impedance control command value.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：提供一种提高对作业者的操作的响应性的动力辅助装置，同时提高对物体的移动和安装作业的效率，并提供其控制方法。 解决方案：动力辅助装置1用于与工人的操作协同运动物体2。 其包括用于夹持物体2的手部10，用于在垂直方向上驱动手部10的垂直驱动部11，用于以任意三维方式将手部10与垂直驱动部11摇摆连接的自由关节部12， 尺寸方向，用于在预定方向上对手部10施加粘性阻力的气缸装置13,14;用于检测操作手部10的作业员的操作力的力传感器15，以及用于计算阻抗控制的控制部16 根据由力传感器15检测到的操作力，垂直驱动部11的指令值，根据阻抗控制指令值驱动垂直驱动部11。 版权所有（C）2009，JPO＆INPIT
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Patent Agency Ranking
公开(公告)号：JP2003212504A
公开(公告)日：2003-07-30
申请号：JP2002018691
申请日：2002-01-28
Applicant: TOYOTA MOTOR CORP
Inventor： UCHIHARA MASAFUMI , YAMAOKA MASAAKI , EIMIYA KIYOMI
Abstract: PROBLEM TO BE SOLVED: To provide a technology for generating steam having a stable steam quality and an excellent response to load changes. SOLUTION: In a first steam generator, flow rates Y1 and Y2 of combustion fuel supplied to a vapor phase of a heat exchanger are feedback-controlled based on steam temperature Tm, while the flow rate Y3 of combustion fuel supplied to a liquid phase is feedback-controlled based on steam flow rate Fm. The two types of feedback controls are carried out independently from each other. A second steam generator is controlled based on the steam temperature Tm, calculated as a weighted average of a plurality of local steam temperatures measured at points near the outlets of a plurality of small channels wherein the steam flows. COPYRIGHT: (C)2003,JPO
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公开(公告)号：JP2013022998A
公开(公告)日：2013-02-04
申请号：JP2011157644
申请日：2011-07-19
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： MIURA MITSUHIRO , SHONO SHOICHI , UCHIHARA MASAFUMI , USAMI TOMOHIRO , HASEGAWA NAOTO , MOTOZONO KIICHI , UEDA AKIHIRO , TAJIMA YASUHIRO
CPC classification number: Y02T10/6239 , Y02T10/7077 , Y02T10/7275
Abstract: PROBLEM TO BE SOLVED: To provide a learning value updating control device for a vehicle, allowing a learning value that has been learned so far to be succeeded and utilized, when a mounted component of the vehicle is exchanged.SOLUTION: When the mounted component of the vehicle 6 is exchanged, a learning value updating means 72 updates the stored learning value based on a characteristic of the mounted component after the exchange. Therefore, since the learning value obtained by running of the vehicle before the exchange of the mounted component is transformed into the value suitable for the characteristics of the mounted component after exchange, the learning value is succeeded and utilized after the exchange of the mounted component. As a result, the learning value suitable for control (for example, regeneration early stage control) of the vehicle 6 after the exchange of the mounted component is obtained at an earlier stage than when the learning value is initialized at the exchange time of the mounted component.
Abstract translation: 要解决的问题：为了提供一种用于车辆的学习值更新控制装置，当交换车辆的安装部件时，允许迄今已经学习的学习值成功和利用。 解决方案：当交换车辆6的安装部件时，学习值更新装置72基于交换后的安装部件的特性来更新所存储的学习值。 因此，由于在安装部件的交换之前通过车辆行驶而获得的学习值被变换为适合于交换后的安装部件的特性的值，所以在更换安装部件之后，学习值成功并被利用。 结果，在安装的部件的更换之后，比在安装的交换时的学习值初始化时更早的阶段获得适合于车辆6的控制（例如，再生早期控制）的学习值 零件。 版权所有（C）2013，JPO＆INPIT
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公开(公告)号：JP2009098099A
公开(公告)日：2009-05-07
申请号：JP2007272459
申请日：2007-10-19
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI , KOBORI KUNINARI , TAJIMA YASUHIRO
Abstract: PROBLEM TO BE SOLVED: To precisely position a location etc. of a mobile body by appropriately combining the calendar data of the navigation message and the prediction data of the precise calendar.
SOLUTION: A positioning device for mobile body of this invention is provided with a means for receiving the calendar data of a navigation message, a means for receiving prediction data of the precise calendar data, a satellite location calculating means for calculating the location of the satellite using both the calendar data and the prediction data of the precise calendar, and a positioning means for positioning the location or speed of the mobile body using the calculated location of the satellite. The satellite location calculating means is characterized by using the weighted average of calendar data and the prediction data of the precise calendar using the weight corresponding to the freshness of data at least on the basis of either of the data between the calendar data and the prediction data of the precise calendar.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：通过适当地组合导航消息的日历数据和精确日历的预测数据来精确地定位移动体的位置等。 解决方案：本发明的移动体的定位装置设置有用于接收导航消息的日历数据的装置，用于接收精确日历数据的预测数据的装置，用于计算位置的卫星位置计算装置 使用所述日历数据和所述精确日历的预测数据，以及定位装置，用于使用所计算的所述卫星的位置来定位所述移动体的位置或速度。 卫星位置计算装置的特征在于，至少基于日历数据和预测数据之间的数据之一，使用与数据的新鲜度对应的权重的日历数据的加权平均和精确日历的预测数据 的精确日历。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2009034757A
公开(公告)日：2009-02-19
申请号：JP2007200205
申请日：2007-07-31
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI , ODAJIMA TADASHI
IPC: B25J3/00
Abstract: PROBLEM TO BE SOLVED: To provide a power assist device for accurately controlling the three-dimensional attitude of an object while improving the efficiency of mounting work for a target, and to provide its control method.
SOLUTION: The power assist device comprises a hand part 10 for gripping the object, a vertical drive part 11 for driving the hand part 10 in the vertical direction, a free joint part 12 for rockingly connecting the hand part 10 to the vertical drive part 11 in any three-dimensional direction, an angle sensor 13 for detecting three-dimensional displacing angles (a pitch angle α, a rolling angle β, and a yawing angle γ) of the object to the free joint part 12, and a control part 14 for calculating a projecting angle θ
p of the object 2 in an absolute coordinate space projected on a x-z plane, from the displacing angles (the pitch angle α, the rolling angle β, and the yawing angle γ) of the object detected by the angle sensor 13, to drive the vertical drive part 11 so that the projecting angle θ
p is a reference displacing angle θ
s .
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：提供一种用于在提高目标的安装工作效率的同时精确地控制物体的三维姿态并提供其控制方法的动力辅助装置。 解决方案：动力辅助装置包括用于夹持物体的手部10，用于在垂直方向上驱动手部10的垂直驱动部11，用于使手部10与垂直方向摇摆连接的自由关节部12 驱动部件11，用于检测物体与自由关节部件12的三维位移角（俯仰角α，滚动角度β，偏航角γ）的角度传感器13，以及 控制部14，用于根据投影在xz平面上的绝对坐标空间，从位移角（俯仰角α，滚动角β和偏转角θ）计算对象2的投影角度θSB < 角度γ），驱动垂直驱动部11，使得突出角θ
P 为基准位移角θSB。 版权所有（C）2009，JPO＆INPIT -
公开(公告)号：JP2007007803A
公开(公告)日：2007-01-18
申请号：JP2005193279
申请日：2005-07-01
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI
Abstract: PROBLEM TO BE SOLVED: To provide technology for returning to foot sole disposition course described by gait data by natural action in a robot walking while correcting gait data based upon deviation between the actual foot sole disposition and the foot sole disposition course described by the gait data by measuring the foot sole disposition of the actual support leg. SOLUTION: This control method includes: a process of measuring the actual foot sole disposition; a process of specifying the virtual foot sole disposition corresponding to the actual foot sole disposition; a process of calculating deviation between the actual foot sole disposition and the virtual foot sole disposition; a process of deciding the number of steps until return to the foot sole disposition course described by gait data based upon the deviation; a process of calculating the foot sole disposition course in walking based upon the gait data from the actual foot sole disposition at least up to the number of steps; a process of calculating the correction amount for each one step so that the foot sole disposition when walking up to the number of steps is performed from the actual foot sole disposition coincides with the foot sole disposition when walking up to the number of steps is performed from the virtual foot sole disposition; and a process of correcting gait data based upon the correction amount. COPYRIGHT: (C)2007,JPO&INPIT
Abstract translation: 要解决的问题：提供通过步态数据通过自然动作在机器人行走中返回到脚底部位置的技术，其中基于实际足底部位与脚底部位之间的偏差来校正步态数据， 步态数据通过测量实际支撑腿的脚底部位。
解决方案：该控制方法包括：测量实际足底配置的过程; 指定对应于实际足底配置的虚拟足底配置的过程; 计算实际足底处置与虚拟足底配置之间的偏差的过程; 基于偏差，通过步态数据描述的步骤直到返回到脚底设置过程为止的步骤; 基于来自实际足底配置的步态数据至少达到步骤数量的步行计算步骤的步骤; 计算每个步骤的校正量的处理，使得当从实际足底处置执行步行到步骤数时的脚底设置与步行到步数的步数一致时与步骤的步骤一致，从步骤 虚拟足底处置; 以及基于校正量来校正步态数据的处理。 版权所有（C）2007，JPO＆INPIT
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