公开(公告)号：JP2010271535A

公开(公告)日：2010-12-02

申请号：JP2009123202

申请日：2009-05-21

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

Inventor： IZU HIROKI ,  FUWA TOSHIO

IPC: G10F1/18 ,  B25J13/00 ,  G10H1/00

Abstract: PROBLEM TO BE SOLVED: To provide an automatic performance robot of a rubbed string instrument, wherein target value followability is improved and tone is close to that of human performance.
SOLUTION: Strain of a bow 920 is measured by a strain gage 930. In a performance data-storing section 210, strain data that indicate stress with which bow hair 922 presses strings 911 upon music performance is set and stored. A press angle of bow-calculating section 310 calculates a command value of a press angle of the bow 920 required to follow the strain data. A control parameter-setting section 350 updates and sets control parameters according to a contact position between the bow hair 922 and the strings 911 upon music performance.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种摩擦弦乐器的自动演奏机器人，其中提高了目标值追随性，并且音调接近于人类的表现。 弓形管920的应变通过应变计930测量。在性能数据存储部分210中，设置并存储指示弓形头发922按压乐曲表演911的压力的应变数据。 弓计算部310的按压角度计算跟随应变数据所需的弓920的按压角度的指令值。 控制参数设定部350根据音乐演奏时的弓形头发922与琴弦911之间的接触位置来更新并设定控制参数。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009249130A

公开(公告)日：2009-10-29

申请号：JP2008100271

申请日：2008-04-08

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

Inventor： FUWA TOSHIO

IPC: B65H23/188 ,  B65H26/02

CPC classification number: B65H23/032

Abstract: PROBLEM TO BE SOLVED: To reliably remove high frequency noise, and to optimize the low-pass filtering process according to the state of the high frequency noise.
SOLUTION: A web meandering correction system includes: an edge detection means 2 that detects an edge position signal indicating the edge position in the width direction of a web; an HPF processing unit 3 that executes a high pass filtering process on the edge position signal detected by the edge detection means 2 using a predetermined lower limit frequency as a reference; a high frequency noise analyzing unit 4 that analyzes high frequency noise that has passed through the HPF processing unit 3; an LPF processing unit 5 that executes a low pass filtering process on the edge position signal detected by the edge detection means 2 using a predetermined upper limit frequency as a reference; a coefficient setting unit 6 that sets a coefficient for determining the characteristics of the low pass filtering process on the basis of a result of analysis by the high frequency noise analyzing unit 4; and a meandering correction unit 7 that corrects meandering of the web on the basis of information acquired by the LPF processing unit 5.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：为了可靠地去除高频噪声，并根据高频噪声的状态优化低通滤波处理。 网页曲折校正系统包括：边缘检测装置2，其检测指示幅材宽度方向上的边缘位置的边缘位置信号; 对由边缘检测装置2使用规定的下限频率作为基准的边缘位置信号执行高通滤波处理的HPF处理部3; 分析已经通过HPF处理单元3的高频噪声的高频噪声分析单元4; LPF处理单元5，其使用预定的上限频率作为基准，对由边缘检测装置2检测到的边缘位置信号执行低通滤波处理; 系数设定单元6，其基于高频噪声分析单元4的分析结果来设定用于确定低通滤波处理的特性的系数; 以及基于由LPF处理单元5获取的信息来校正网络曲折的曲折校正单元7.（C）2010，JPO＆INPIT

公开(公告)号：JP2008273700A

公开(公告)日：2008-11-13

申请号：JP2007119877

申请日：2007-04-27

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

Inventor： FUWA TOSHIO

IPC: B65H23/192 ,  B65H26/04

CPC classification number: B65H23/1888 ,  B65H23/042 ,  B65H23/188 ,  B65H2513/10 ,  B65H2515/31 ,  B65H2515/815 ,  B65H2220/03 ,  B65H2220/01 ,  B65H2220/02

Abstract: PROBLEM TO BE SOLVED: To provide a method of controlling the conveyance of a web capable of reducing the displacement of the lateral position of the web by accurately controlling the slip of the web, a slip amount measuring means, and a conveyance control device.
SOLUTION: This method of controlling the conveyance of a web comprises a web measuring step of measuring the conveying speed V and the tension T of the web 2 under conveyance, a slip amount calculation step of calculating the slip amount W of the web 2 from a guide roll 14 from the conveying speed V and the tension T of the web 2 measured in the web measuring step, and a web control step of so controlling the tension of the web 2 under conveyance that the slip amount W of the web 2 from the guide roll 14 calculated in the slip amount calculation step is equal to a preset target slip amount W1.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种通过精确地控制幅材的滑动来控制幅材的输送的方法，该幅材能够减小幅材的横向位置的位移，滑移量测量装置和输送控制 设备。 控制纸幅输送的方法包括测量纸幅2的输送速度V和纸张张力T的纸张测量步骤，打印量计算步骤，计算纸幅2的打印量W 2从导向辊14从卷筒纸测量步骤中测量的传送速度V和卷筒纸2的张力T到卷筒纸控制步骤，以及卷筒纸控制步骤，其在传送的同时控制卷材2的张力，使得卷筒纸2的卷纸量W 在滑移量计算步骤中计算出的导向辊14的距离等于预设目标滑移量W1。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008265697A

公开(公告)日：2008-11-06

申请号：JP2007115150

申请日：2007-04-25

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

Inventor： FUWA TOSHIO

IPC: B62K17/00 ,  B62D63/00 ,  B62K3/00

CPC classification number: B62D63/00 ,  B62K11/007

Abstract: PROBLEM TO BE SOLVED: To provide an inverted wheel type moving body capable of reducing an impact at the time of overturning and a control method for the inverted wheel type moving body. SOLUTION: This inverted wheel type moving body 100 is provided with right and left chassis 17, 19 for rotatably supporting wheels; motors 34, 36 for rotating and driving right and left driving wheels 18, 20; a vehicle body 12 rotatably supported with respect to the right and left chassis 17, 19 via right and left arms 14, 16; low joint motors 65, 95 provided in the right and left arms 14, 16 and changing the vehicle height of the moving body 100; and a control part 80 for lowering the vehicle height by controlling the lower joint motors 65, 95 based on fail signals 88 output when the inverted wheel type moving body 100 becomes an abnormal state. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够降低翻转时的冲击的倒车轮型移动体以及倒车型移动体的控制方法。 解决方案：该倒立轮型移动体100设置有用于可旋转地支撑轮子的左右底盘17,19; 用于旋转和驱动左右驱动轮18,20的马达34,36; 相对于右机架17和左机架19，通过左右臂14,16可旋转地支撑的车身12; 设置在右臂14和左臂16中的低关节马达65,95，并且改变移动体100的车高; 以及控制部分80，用于通过基于倒车轮型移动体100变为异常状态时输出的故障信号88来控制下接头马达65,95来降低车高。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008189089A

公开(公告)日：2008-08-21

申请号：JP2007024269

申请日：2007-02-02

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

Inventor： NAKAJIMA KAZUMASA ,  FUWA TOSHIO

IPC: A61G5/04 ,  B62J99/00 ,  B62K3/00 ,  B62K17/00 ,  G05D1/08

CPC classification number: B62K11/007 ,  A63C17/08 ,  A63C17/12 ,  G05D1/0891

Abstract: PROBLEM TO BE SOLVED: To execute processing to eliminate a slip between a rotor and the road surface by sensing generation of such a slip. SOLUTION: The arrangement according to the invention includes an upset pendulum type moving body 1 which is equipped with encoders 17L and 17R to sense the physical quantity representing the rotating condition of the wheels 10L and 10R and emit the signal corresponding to the size of the sensed physical quantity, a rate gyro 18 to sense physical quantity representing the revolving condition of the moving body 1 on the road surface wherewith the wheels 10L and 10R are in contact and emit the signal corresponding to the size of the physical quantity sensed, a predicted value calculation part 101 to calculate the predicted value of the revolution parameter representing the revolving amount of the moving body 1 using the output signals of the encoders 17L and 17R, and a slip sensing part 102 to sense generation of a slip at the wheel 10L/10R by comparing the measurement of the revolution parameter obtained by entering the output signal of the rate gyro 18 with the predicted value obtained by the predicted value calculation part 101. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：通过感测产生这种滑动来执行消除转子和路面之间的滑动的处理。 解决方案：根据本发明的装置包括镦锻摆式移动体1，其配备有编码器17L和17R以感测表示车轮10L和10R的旋转状态的物理量，并发出对应于尺寸的信号 的感测物理量的速率陀螺仪18，用于感测表示在车轮10L和10R接触的路面上的移动体1的旋转状态的物理量，并且发射与感测的物理量的大小对应的信号， 预测值计算部101，使用编码器17L，17R的输出信号计算表示移动体1的旋转量的旋转参数的预测值，以及滑动检测部102，用于感测车轮上的滑移的产生 10L / 10R通过比较通过将速率陀螺仪18的输出信号输入而获得的旋转参数的测量值与获得的预测值进行比较 由预测值计算部101编辑。版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2011164040A

公开(公告)日：2011-08-25

申请号：JP2010029752

申请日：2010-02-15

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

Inventor： FUWA TOSHIO ,  TAKEUCHI TAKESHI ,  DEO TAKASHI ,  ENOMOTO YUSUKE ,  KUCHIWAKI KEIICHI

IPC: G01V8/12 ,  B62J99/00 ,  B62K3/00 ,  B62K17/00

Abstract: PROBLEM TO BE SOLVED: To provide a technique for detecting that an occupant boards or starts to board and that an article other than the occupant is mounted, while differentiating between the actions. SOLUTION: A sensor unit 3 includes an infrared sensor 4 for human body detection capable of detecting infrared rays emitted by the occupant who boards a body 2 or starts to board it. Preferably, the infrared sensor 4 is disposed at a boarding position (step 6) of the body 2. Preferably, the sensor unit 3 further includes a beam sensor 12 for emitting visible light or infrared rays toward the occupant who boards the body 2 or starts to board it and detecting the presence of the occupant with the reflected light. Preferably, the beam sensor 12 is disposed at the boarding position (step 6) of the body 2. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：在区分动作的同时，提供一种用于检测乘员板或开始登机并且安装乘客以外的物品的技术。 解决方案：传感器单元3包括用于人体检测的红外传感器4，其能够检测登上身体2或开始登上的乘员所发射的红外线。 优选地，红外线传感器4设置在主体2的登机位置（步骤6）。优选地，传感器单元3还包括光束传感器12，用于向登上身体2或开始的乘员发射可见光或红外线 登上它并用反射光检测乘客的存在。 优选地，光束传感器12设置在主体2的登机位置（步骤6）。版权所有：（C）2011，JPO＆INPIT

公开(公告)号：JP2011162192A

公开(公告)日：2011-08-25

申请号：JP2011094989

申请日：2011-04-21

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

Inventor： FUWA TOSHIO ,  TAKEUCHI TAKESHI ,  DEO TAKASHI

IPC: B62K17/00 ,  B62J99/00 ,  B62K3/00

Abstract: PROBLEM TO BE SOLVED: To provide a traveling device and a control method thereof, enabling more stable traveling. SOLUTION: This traveling device 10 includes a grounding detector for detecting a grounding state of grounding a grounding member on a road surface and a controller for executing inversion control for adding rotational torque to a driving wheel so as to maintain an inverted state of the traveling device and executing driving control for adding the rotational torque to the driving wheel so as to move the traveling device. When detecting the grounding state of the grounding member by the grounding detector, the controller may stop the inversion control among the inversion control and the driving control. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种行驶装置及其控制方法，能够更稳定地行驶。 解决方案：该行进装置10包括：接地检测器，用于检测接地部件在路面上的接地状态;以及控制器，用于执行反转控制，以将旋转转矩加到驱动轮上，以便保持反转状态 行驶装置，并且执行驱动控制，用于将旋转扭矩加到驱动轮上，以使移动装置移动。 当通过接地检测器检测到接地构件的接地状态时，控制器可能会在反转控制和驱动控制之间停止反转控制。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2011131620A

公开(公告)日：2011-07-07

申请号：JP2009290258

申请日：2009-12-22

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

Inventor： FUWA TOSHIO ,  SHIBATA HIDEKI

IPC: B62K17/00 ,  B62K3/00

Abstract: PROBLEM TO BE SOLVED: To provide an inverted motorcycle improving safety by a simple construction, and a method and program for controlling the same. SOLUTION: The inverted motorcycle 1 performs desired traveling while maintaining an inverted state according to a traveling operation of an occupant. The inverted motorcycle 1 includes: a detection means for detecting a recessed or projected portion on a road surface; and a control means for controlling vehicle movement according to the recessed or projected portion detected by the detection means. The detection means includes: an acceleration sensor 6 for detecting acceleration in the vehicle vertical direction; and a recess/projection detection section 51 for detecting the position and/or shape of the recess or projected portion based on the acceleration in the vehicle vertical direction detected by the acceleration sensor 6. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种通过简单的结构提供安全性的倒车摩托车，以及用于控制它的方法和程序。 解决方案：倒车摩托车1根据乘员的行驶操作，保持倒档状态，进行期望的行驶。 倒车摩托车1包括：检测装置，用于检测路面上的凹入或突出部分; 以及控制装置，用于根据由检测装置检测到的凹进或凸起部分控制车辆运动。 检测装置包括：用于检测车辆垂直方向上的加速度的加速度传感器6; 以及用于基于由加速度传感器6检测到的车辆垂直方向的加速度来检测凹部或突出部的位置和/或形状的凹凸检测部51.版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009249047A

公开(公告)日：2009-10-29

申请号：JP2008094864

申请日：2008-04-01

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

Inventor： FUWA TOSHIO

IPC: B65H23/025 ,  B65H23/038 ,  B65H23/188

Abstract: PROBLEM TO BE SOLVED: To provide a web conveying device capable of keeping a web during the conveyance in an excellent state corresponding to various conditional changes during the operation of the web conveying device.
SOLUTION: The web conveying device 1 comprises a lateral position detection means 6 for detecting the lateral position of a web 2, a roller part 5 constituted of a plurality of division rollers 5-1, 5-2, 5-3, 5-4 which are independently driven, and a control means 7 for controlling the rotational speed of the respective division rollers 5-1, 5-2, 5-3, 5-4 based on the result of detection by the lateral position detection means 6. The control means 7 sets the rotational speed of the division rollers 5-1, 5-2, 5-3, 5-4 present on the side of moving the web 2 to be higher than that of the division rollers 5-1, 5-2, 5-3, 5-4 on the opposite side.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种卷筒纸输送装置，其能够在输送期间将幅材保持在与卷材输送装置的操作期间的各种条件变化相对应的良好状态。 纸幅输送装置1包括用于检测纸幅2的横向位置的横向位置检测装置6，由多个分割辊5-1,5-2,5-3构成的辊部分5， 独立地驱动的检测结果的控制装置7，用于根据横向位置检测装置的检测结果控制各个分割辊5-1,5-2,5-3,5-4的旋转速度 控制装置7将存在于卷筒纸2侧的分隔辊5-1,5-2,5-3,5-4的旋转速度设定为高于分隔辊5-1的旋转速度 ，相反侧的5-2,5-3,5-4。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2008089531A

公开(公告)日：2008-04-17

申请号：JP2006273622

申请日：2006-10-05

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

Inventor： FUWA TOSHIO ,  NAKAJIMA KAZUMASA

IPC: G01C9/08 ,  B62K3/00 ,  B62K17/00

CPC classification number: G01B21/22 ,  G01C9/06 ,  G01C21/16

Abstract: PROBLEM TO BE SOLVED: To provide a mobile object with an inclined angle estimation mechanism capable of estimating vehicle inclined angles with high accuracy. SOLUTION: The mobile object concerning the present invention is a mobile object equipped with an acceleration sensor detecting a biaxial acceleration, a gyro sensor detecting the angular velocity of a vehicle body, and an inclined angle estimation mechanism estimating the inclined angle of the vehicle body. The inclined angle estimation mechanism includes a means estimating inclined angles responding to the acceleration sensor based on acceleration detected from the acceleration sensor, a means estimating a second inclined angle based on angular velocity detected from the gyro sensor, and a means estimating the inclined angle by the use of a linear model formula of the mobile object as an observer. Based on the inclined angle from the acceleration sensor and the inclined angle from the gyro sensor. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为移动物体提供能够高精度地估计车辆倾斜角度的倾斜角估计机构。 解决方案：关于本发明的移动体是配备有检测双轴加速度的加速度传感器的移动体，检测车身角速度的陀螺仪传感器，以及估计倾斜角度的倾斜角估计机构 车身。 倾斜角估计机构包括基于从加速度传感器检测到的加速度来估计响应于加速度传感器的倾斜角度的装置，基于从陀螺仪传感器检测到的角速度估计第二倾斜角度的装置，以及通过 使用移动对象的线性模型公式作为观察者。 基于来自加速度传感器的倾斜角度和来自陀螺传感器的倾斜角度。 版权所有（C）2008，JPO＆INPIT