公开(公告)号：JP2010019703A

公开(公告)日：2010-01-28

申请号：JP2008180667

申请日：2008-07-10

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

Inventor： EIMIYA KIYOMI ,  UEDA AKIHIRO ,  MAEDA IWAO ,  KOBORI KUNINARI

IPC: G01C21/00 ,  G08G1/0969

CPC classification number: G01C21/165 ,  G01S19/49

Abstract: PROBLEM TO BE SOLVED: To provide a positioning device for a mobile body for precisely positioning a mobile body in a real time fashion. SOLUTION: This mobile body positioning device 100 is adapted to position a mobile body at the current time so as to output it for a predetermined output cycle. When the current time is in an updating time period of GPS operation data, an initial position of the mobile body is calculated out by using the GPS operation data, an inertia navigation positioning means 30, a speed detection means 40 and an error correction means 50, and a mobile body model operation means 60 operates a mobile body model until the current time by using a correction value calculated out during the calculation of the initial position so as to position the mobile body. When the current time is not in the updating time period of the GPS operation data, the initial position of the mobile body is calculated out by using the inertia navigation positioning means, the speed detection means and the error correction means, and the mobile body model operation means operates a mobile body model until the current time by using a correction value calculated out during the calculation of the initial position so as to position the mobile body. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于移动体的定位装置，用于以实时方式精确地定位移动体。 解决方案：该移动体定位装置100适于在当前时间定位移动体以将其输出预定的输出周期。 当当前时间处于GPS操作数据的更新时间段时，通过使用GPS操作数据，惯性导航定位装置30，速度检测装置40和纠错装置50计算移动体的初始位置 ，并且移动体模型操作装置60通过使用在初始位置的计算期间计算出的校正值来操作移动体模型直到当前时间，以便定位移动体。 当当前时间不在GPS操作数据的更新时间段时，通过使用惯性导航定位装置，速度检测装置和纠错装置以及移动体模型来计算移动体的初始位置 操作装置通过使用在初始位置的计算期间计算出的校正值来操作移动体模型直到当前时间，以便定位移动体。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2008116370A

公开(公告)日：2008-05-22

申请号：JP2006300953

申请日：2006-11-06

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

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  SHIBATA NAOTO

IPC: G01C21/00 ,  G01C21/16 ,  G01S19/49 ,  G08G1/0969 ,  G09B29/10

Abstract: PROBLEM TO BE SOLVED: To properly prevent fluctuation in mobile location information arising from vehicle stop conditions by properly performing vehicle stop determination.
SOLUTION: A mobile location positioning device includes: a mobile location information deriving means for deriving mobile location information by using both satellite navigation and inertial navigation; a first mobile stop determination means for determining whether the mobile stops on the basis of an output value of an acceleration sensor and/or an angular velocity sensor; a second mobile stop determination means for determining whether the mobile stops on the basis of an output value or the like of a vehicle-mounted sensor capable of indicating a vehicle velocity; and a storage means for storing the mobile location information when the first mobile stop determination means determines that the mobile stops. When the second mobile stop determination means determines that the mobile stops after the first mobile stop determination means determines that the mobile stops, the mobile location information stored in the storage means is output as the current mobile location information.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：通过适当地执行车辆停止确定来适当地防止由车辆停止条件引起的移动位置信息的波动。 移动位置定位设备包括：移动位置信息导出装置，用于通过使用卫星导航和惯性导航来导出移动位置信息; 第一移动终止确定装置，用于基于加速度传感器和/或角速度传感器的输出值来确定移动站是否停止; 第二移动停止确定装置，用于基于能够指示车辆速度的车载传感器的输出值等来确定移动站是否停止; 以及存储装置，用于当第一移动终端确定装置确定移动站停止时存储移动位置信息。 当第一移动终端确定装置确定移动终端确定装置确定移动站停止之后移动站停止时，输出存储在存储装置中的移动位置信息作为当前移动位置信息。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2003328787A

公开(公告)日：2003-11-19

申请号：JP2002135895

申请日：2002-05-10

Applicant: Nippon Soken Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社日本自動車部品総合研究所

Inventor： MAEDA IWAO ,  HAYASE YUICHIRO ,  DEO TAKASHI ,  KAWASAKI TAKASHI ,  SHIRATANI KAZUHIKO ,  KAWAI HISASHI

IPC: F01L9/04 ,  F02D13/02 ,  F16K31/06

Abstract: PROBLEM TO BE SOLVED: To minimize the size and reduce the cost of a control device of a solenoid drive valve.
SOLUTION: The control device of the solenoid drive valve is provided at each solenoid drive valve. The device is equipped with a plurality of lift sensors 11 outputting the signal according to the lift position of each valve element, a change over switch 12 selecting one of the plurality of lift sensor 11 based on the selection signal, a sensor amplifier 13 amplifying the output of the lift sensor selected by the change over switch 12, and a control part 15 which outs put the selection signal, obtains the valve element lift position information of the solenoid drive valve respect to the selection signal by taking in the sensor amplifier output through the change over switch 12, and controls energizing current to the magnetic coil setting the valve element lift position information of each solenoid drive valve as one of the parameters.
COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：为了最小化电磁驱动阀的控制装置的尺寸和降低成本。

解决方案：电磁驱动阀的控制装置设置在每个电磁驱动阀处。 该装置配备有多个升降传感器11，该升降传感器11根据每个阀元件的升程位置输出信号，根据选择信号选择多个升降传感器11中的一个的切换开关12;放大 通过切换开关12选择的升降传感器的输出以及输出选择信号的控制部15，通过将传感器放大器的输出通过 开关12的切换，并且控制向电磁线圈的通电电流，将每个电磁驱动阀的阀元件提升位置信息设置为参数之一。 版权所有（C）2004，JPO

公开(公告)号：JP2008249660A

公开(公告)日：2008-10-16

申请号：JP2007094610

申请日：2007-03-30

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

Inventor： UEDA AKIHIRO ,  TAJIMA YASUHIRO ,  HASEGAWA NAOTO ,  EIMIYA KIYOMI ,  MAEDA IWAO

IPC: G01C21/00 ,  G01S19/28

Abstract: PROBLEM TO BE SOLVED: To properly select a satellite used for positioning, using an index value capable of accurately reflecting errors that differ for each satellite.
SOLUTION: This moving-object positioning device mounted on an moving object and for positioning a position of the moving object is provided with a moving-object stoppage determining means for determining which the moving object is moving or stopped, based on an output signal from a sensor mounted on the moving object, a moving object speed draw-out means for drawing out a speed of the moving object in each satellite, using an observed value of a satellite radio wave observed, during a period where the moving object is determined to be stopped by the moving-object stoppage determining means, and a satellite selecting means for selecting the satellite used for the positioning, based on the moving-object speed in each satellite drawn out by the moving-object speed drawing-out means.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：为了正确选择用于定位的卫星，使用能够准确地反映每个卫星不同的误差的指标值。 解决方案：安装在移动物体上并用于定位移动物体的位置的移动物体定位装置设置有移动物体停止确定装置，用于基于输出确定移动物体正在移动或停止的移动物体停止确定装置 来自安装在移动物体上的传感器的信号的运动物体速度抽出装置，用于在运动物体是运动物体的运动物体的运动物体的周期期间使用观察到的卫星电波的观测值来绘出每个卫星中的运动物体的速度的运动物体速度抽出装置 被确定为由移动物体停止确定装置停止的卫星选择装置，以及用于基于由移动物体速度抽出装置引出的每个卫星中的移动物体速度来选择用于定位的卫星的卫星选择装置。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008002992A

公开(公告)日：2008-01-10

申请号：JP2006173964

申请日：2006-06-23

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

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  SHIBATA NAOTO

IPC: G01C9/08 ,  G01C19/00

CPC classification number: G01C9/08 ,  B60W40/105 ,  B60W40/107 ,  B60W40/109 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W40/12 ,  G01P15/18

Abstract: PROBLEM TO BE SOLVED: To provide a device and method capable of accurately detecting the attitude angle of a moving body during movement by correcting an output value from an acceleration sensor.
SOLUTION: The device is characterized by comprising the acceleration sensor 2 for measuring an acceleration applied to the moving body 7; a yaw rate sensor 3 for measuring the yaw rate of the moving body 7; a speed sensor 4 for measuring the speed of the moving body 7; a moving component acceleration calculation means 5 for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed, and calculating a moving component acceleration which is a resultant force of the actual acceleration and the centrifugal force; and an attitude angle calculation means 6 for calculating the attitude angle from a gravitational acceleration acquired by correcting the acceleration by the moving component acceleration.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够通过从加速度传感器校正输出值来精确地检测移动中的移动体的姿态角的装置和方法。 解决方案：该装置的特征在于包括用于测量施加到移动体7的加速度的加速度传感器2; 用于测量移动体7的偏航率的偏航率传感器3; 用于测量移动体7的速度的速度传感器4; 移动部件加速度计算部件5，用于从速度计算实际加速度，根据横摆率和速度计算离心力，并计算作为实际加速度和离心力的合力的运动部件加速度; 以及姿态角计算装置6，用于通过由移动部件加速度校正加速度而获得的重力加速度来计算姿态角。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2003336509A

公开(公告)日：2003-11-28

申请号：JP2002143256

申请日：2002-05-17

Applicant: Nippon Soken Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社日本自動車部品総合研究所

Inventor： DEO TAKASHI ,  MAEDA IWAO ,  HAYASE YUICHIRO ,  KAWASAKI TAKASHI ,  SHIRATANI KAZUHIKO ,  KAWAI HISASHI

IPC: G01D5/14 ,  F01L3/24 ,  F01L9/04 ,  F16K37/00

Abstract: PROBLEM TO BE SOLVED: To provide a solenoid-operated valve capable of keeping the temperature of an actuator low and preventing the thermal destruction of an adjacently disposed sensor amplifier.
SOLUTION: The solenoid-operated valve, in which a valve element 12 is driven as an electric current is carried to an electromagnetic coil, comprises lift sensors 13 and 15 for detecting the lift position of the valve element 12, and the sensor amplifier 18 for amplifying outputs of the lift sensors. A cable control board 16, on which the sensor amplifier 18 is mounted and cables for connecting the lift sensors 13 and 15 and the sensor amplifier 18 are printed, is held between the actuator 17 including the electromagnetic coil and a cylinder head 11 of an internal combustion engine. The cable control board 16 is made of resin with a vibration attenuation function and high thermal conductivity. With the solenoid-operated valve, heat generated in the actuator 17 is absorbed in the cylinder head 11 via the cable control board 16, so that the temperature of the actuator 17 can be held low.
COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供一种能够将致动器的温度保持在低温并防止相邻设置的传感器放大器的热破坏的电磁阀。 解决方案：将阀元件12作为电流驱动的电磁阀被运送到电磁线圈，包括用于检测阀元件12的提升位置的升降传感器13和15，以及传感器 放大器18，用于放大升降传感器的输出。 安装有传感器放大器18的电缆控制板16和用于连接升降传感器13和15以及传感器放大器18的电缆被保持在包括电磁线圈的致动器17和内部的电动机头11之间 内燃机。 电缆控制板16由具有振动衰减功能和高热导率的树脂制成。 利用电磁阀，致动器17中产生的热量经由电缆控制板16被吸收在气缸盖11中，使得致动器17的温度可以保持低。 版权所有（C）2004，JPO

公开(公告)号：JP2009085882A

公开(公告)日：2009-04-23

申请号：JP2007259090

申请日：2007-10-02

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

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  SHIBATA NAOTO

IPC: G01C17/38 ,  G01R33/02

CPC classification number: G01C17/00 ,  G01S19/45

Abstract: PROBLEM TO BE SOLVED: To provide an azimuth detection device capable of correcting the output of a terrestrial magnetism sensor with accuracy.
SOLUTION: This azimuth detecting device is mounted in a mobile object. The device comprises a geomagnetic sensor, a GPS signal receiving means, and a means for measuring a position of the mobile object via the GPS signal. When the level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, a gain correction value is calculated, based on a method of least squares via an output value of the geomagnetic sensor; and when the level of the GPS signal is equal to or greater than the predetermined level, a declination correction value and/or an inclination correction value are calculated, based on information obtained from the GPS signal, and the output value of the geomagnetic sensor is corrected.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供能够精确地校正地磁传感器的输出的方位检测装置。

解决方案：该方位检测装置安装在移动物体中。 该装置包括地磁传感器，GPS信号接收装置和用于经由GPS信号测量移动物体的位置的装置。 当由GPS信号接收装置接收到的GPS信号的电平低于预定电平时，通过地磁传感器的输出值，基于最小平方的方法来计算增益校正值; 并且当GPS信号的电平等于或大于预定电平时，基于从GPS信号获得的信息计算偏角校正值和/或倾斜校正值，并且地磁传感器的输出值为 纠正 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008213119A

公开(公告)日：2008-09-18

申请号：JP2007056681

申请日：2007-03-07

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

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a cooperative work robot having an operator (a person) as a subject of an operation and efficiently carrying and exactly positioning an object difficult to be carried and positioned by only a person along an intention of the one operator by a cooperative work with the operator.
SOLUTION: This cooperative work robot carries and positions the object 1 difficult to be carried and positioned by one person along the intention of the person by the cooperative work with the person. The cooperative work robot is provided with: a three-dimensionally movable robot hand 10 holding one end part of the object 1 via a free joint 12; a torque sensor 17 for detecting torsion torque acted by the person holding the other end part of the object 1; a thrust sensor 15 for detecting thrust force acing on the robot hand 10 from the other end part; an angle sensor 14 for detecting a displacement angle in relation to the robot hand 10 of the object 1; and a control device 20 for detecting the intention of the person from the torsion torque, the thrust force, and the displacement angle so as to control a three-dimensional position of the robot hand 10.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种具有作为操作对象的操作者（一个人）的合作作业机器人，并且仅有一个人能够高效地携带和精确地定位难以承载和定位的对象， 一个操作员通过与操作员的合作工作。 解决方案：该合作工作机器人通过与该人的合作工作，沿着人的意图携带并定位一个人难以携带和定位的对象1。 协同作业机器人具有：通过自由接头12保持物体1的一个端部的三维可移动的机械手10; 用于检测由保持物​​体1的另一端部的人作用的扭矩的扭矩传感器17; 用于检测来自另一端部的机械手10的推力的推力传感器15; 用于检测相对于物体1的机器人手10的位移角度的角度传感器14; 以及控制装置20，用于根据扭矩，推力和位移角检测人的意图，以便控制机器人手10的三维位置。（C）2008年， JPO＆INPIT

公开(公告)号：JP2008209227A

公开(公告)日：2008-09-11

申请号：JP2007045882

申请日：2007-02-26

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

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  TAJIMA YASUHIRO ,  HASEGAWA NAOTO

IPC: G01S19/42

Abstract: PROBLEM TO BE SOLVED: To implement a weighted positioning operation for properly reflecting different errors to respective satellites. SOLUTION: A mobile positioning apparatus includes: a pseudo distance measuring means for measuring a pseudo distance between a mobile and each satellite by use of an observed value of a phase obtained while the mobile stops; an error index calculating means for calculating an index for indicating the error in the measured pseudo distance based on the pseudo distances measured by the pseudo distance measuring means at a plurality of time points while the mobile stops; a weight coefficient determining means for determining a weight coefficient of each satellite based on the error index of each satellite calculated by the error index calculating means; and a positioning operation means for positioning the moving mobile by use of the observed value of the phase obtained from the moving mobile and the weighted positioning operation using the weight coefficient of each satellite determined by the weight coefficient determining means. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：实现用于适当地反映各个卫星的不同误差的加权定位操作。 移动定位装置包括：伪距离测量装置，用于通过使用在移动站停止时获得的相位的观测值来测量移动台和每个卫星之间的伪距离; 误差指标计算装置，用于在移动站停止时，在多个时间点，基于由伪距离测量装置测量的伪距离，计算用于指示所测量的伪距离中的误差的索引; 权重系数确定装置，用于基于由所述误差指数计算装置计算的每个卫星的误差指数来确定每个卫星的加权系数; 以及定位操作装置，用于使用由权重系数确定装置确定的每个卫星的加权系数，通过使用从移动移动台获得的相位的观测值和加权定位操作来定位移动移动台。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2008134092A

公开(公告)日：2008-06-12

申请号：JP2006318847

申请日：2006-11-27

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

Inventor： HASEGAWA NAOTO ,  MAEDA IWAO ,  UEDA AKIHIRO ,  SHIBATA NAOTO

IPC: G01S19/30 ,  G01S19/42

CPC classification number: G01S19/40

Abstract: PROBLEM TO BE SOLVED: To filter a pseudo-distance by estimating a pseudo-distance variation by another means without using a measurement result of a carrier wave phase of a satellite signal in a stopped state of a mobile body.
SOLUTION: Mobile body position positioning devices 1, 2, 3 are equipped with pseudo-distance calculation means 20A, 20B for calculating the pseudo-distance ρ' between a satellite 10 and a vehicle 90, a stop determination means 70 for determining whether the mobile body is stopped or not, a satellite position calculation means 60 for calculating the satellite position, pseudo-distance variation estimation means 50A, 50B, 50C for estimating the pseudo-distance variation ▵ρ, and a positioning means 40 for positioning the position of the mobile body based on the pseudo-distance and the pseudo-distance variation. When determined stop of the mobile body by the stop determination means, the pseudo-distance variation estimation means estimates the pseudo-distance variation by using a change history of the satellite position calculated by the satellite position calculation means.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：通过在移动体的停止状态下不使用卫星信号的载波相位的测量结果来估计伪距离变化来过滤伪距离。 解决方案：移动体位置定位装置1,2,3配备有用于计算卫星10和车辆90之间的伪距离ρ'的伪距离计算装置20A，20B，用于确定 无论移动体是否停止，用于计算卫星位置的卫星位置计算装置60，用于估计伪距离变化▵ρ的伪距离变化估计装置50A，50B，50C以及用于将移动体定位的定位装置40 基于伪距离和伪距离变化的移动体的位置。 通过停止判定单元确定了移动体的停止时，伪距离变化估计单元利用由卫星位置计算单元计算出的卫星位置的变化历史来估计伪距离变化。 版权所有（C）2008，JPO＆INPIT