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公开(公告)号：JP2006312209A
公开(公告)日：2006-11-16
申请号：JP2005135487
申请日：2005-05-09
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI , SATO YOSHIMASA , NOMURA HIDEKI
Abstract: PROBLEM TO BE SOLVED: To reduce risks such as falling-down by separating a communication path of a robot into two or more parts to improve transmission reliability of signals. SOLUTION: This leg type mobile robot 60 comprises servomotors provided on a right leg 10, a left leg 20, a right arm 40 and a left arm 50, and a CPU 36, and a control unit for controlling actuators provided on the right leg 10, the left leg 20, the right arm 40 and the left arm 50. The actuator provided on the right leg 10, the actuator provided on the left leg 20, and a gyrosensor 39 used for controlling walking are connected with the control unit by a most important communication path 80. The actuator provided on the right arm 40, and the actuator provided on the left arm are connected with the control unit by a most important communication path 81. The most important communication path 80 and the most important communication path 81 use communication means with different specifications. COPYRIGHT: (C)2007,JPO&INPIT
Abstract translation: 要解决的问题：通过将机器人的通信路径分离成两个或更多个部分来降低诸如落下的风险，以提高信号的传输可靠性。 解决方案：该腿式移动机器人60包括设置在右腿10，左腿20，右臂40和左臂50以及CPU36上的伺服电机，以及控制单元， 右腿10，左腿20，右臂40和左臂50.设置在右腿10上的致动器，设置在左腿20上的致动器以及用于控制步行的陀螺传感器39与控制器 单元由最重要的通信路径80.设置在右臂40上的致动器和设置在左臂上的致动器通过最重要的通信路径81与控制单元连接。最重要的通信路径80和最重要的通信路径 通信路径81使用具有不同规格的通信装置。 版权所有（C）2007，JPO＆INPIT
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公开(公告)号：JP2003308369A
公开(公告)日：2003-10-31
申请号：JP2002112887
申请日：2002-04-16
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： SATO YOSHIMASA , KUREBAYASHI SUSUMU
Abstract: PROBLEM TO BE SOLVED: To form an efficient vehicle deadheading plan reduced in the use of public transportation system. SOLUTION: This vehicle deadheading plan forming device 10 forms a temporary deadheading plan for assigning forwarding clerks to deadhead vehicles. After the temporary deadheading plan is formed, a plurality of forwarding clerk plans is combined thereto, whereby it is judged whether another forwarding clerk can share one deadhead vehicle or not. When the sharing of the vehicle is possible, the plan is changed to a deadheading plan with sharing. When the final branch office of deadheading is close to the starting branch office by replacing the plurality of forward clerk plans, the use of public transportation system is reduced by replacing the plurality of forwarding clerk plans. COPYRIGHT: (C)2004,JPO
Abstract translation: 要解决的问题：形成有效的车辆通行计划，减少使用公共交通系统。 解决方案：该车辆通行图计划形成装置10形成用于将转发文书分配给死路车辆的暂时性的作业计划。 在形成暂时性的死胡同计划之后，组合多个转发文员计划，由此判断另一个转发店员是否可以共享一个无人机。 当车辆共享成为可能的时候，计划就变成了一个共享的主角计划。 当最后一个分支机构通过更换多个前台员工计划来接近起始分支机构时，通过更换多个转发文员计划来减少使用公共交通系统。 版权所有（C）2004，JPO
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公开(公告)号：JP2005066742A
公开(公告)日：2005-03-17
申请号：JP2003298921
申请日：2003-08-22
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： SATO YOSHIMASA
Abstract: PROBLEM TO BE SOLVED: To easily arrange a group of boards at required positions of a multiped walking robot. SOLUTION: A multiped walking robot comprises a plurality of device sections (122), (138, 148, 156, 162), etc., each of which has one or more devices, a main processing section (106) for carrying out the process related to a plurality of device sections, subsidiary processing sections (116), (134, 144, 150, 158), etc., which are provided for every device section and carry out the process related to the corresponding device sections, and interface sections (114), (142), etc. which are provided for every device section and serve to carry out the communication between the subsidiary processing section and the main processing section of the corresponding device section. For example, one board (108) corresponds to the device section (122), and the subsidiary processing section (116) of the device section (122) and the interface section (114) are provided on the one board (108) corresponding to the device section (122). COPYRIGHT: (C)2005,JPO&NCIPI
Abstract translation: 要解决的问题：为了容易地将一组板放置在多功能步行机器人的所需位置。 解决方案：多功能步行机器人包括多个装置部分（122），（138,148,156,162）等，每个装置部分具有一个或多个装置，主处理部分（106），用于承载 排除与为每个设备部分提供的多个设备部分，辅助处理部分（116），（134,144,150,158）等相关的过程，并且执行与相应设备部分相关的处理， 和接口部分（114），（142）等，它们被提供用于每个设备部分，并用于执行辅助处理部分和相应设备部分的主处理部分之间的通信。 例如，一个板（108）对应于设备部分（122），并且设备部分（122）和接口部分（114）的辅助处理部分（116）设置在对应于 设备部分（122）。 版权所有（C）2005，JPO＆NCIPI
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公开(公告)号：JP2004013252A
公开(公告)日：2004-01-15
申请号：JP2002162402
申请日：2002-06-04
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： SATO YOSHIMASA
Abstract: PROBLEM TO BE SOLVED: To solve the problem of a vehicle rental system that transportation arrangement among a plurality of locations is complicated. SOLUTION: A sensor 8 retains a status of a vehicle inputted through a terminal 6 located at each service office as rental information 22. The sensor 8 retains a location and the operation condition of the sensor 8 notified by a transportation staff via a cellphone 10 as transportation staff information 24. The sensor 8 assigns each vehicle according to reservation made at the service office. In this case, when assigning a vehicle at the own service office is not possible, the sensor 8 assigns a vehicle at the other service office based on the rental information 22. The sensor 8 also assigns the transportation staff based on the transportation staff information 24 and transmits a transportation request to the cellphone 10. COPYRIGHT: (C)2004,JPO
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公开(公告)号：JP2004345030A
公开(公告)日：2004-12-09
申请号：JP2003145416
申请日：2003-05-22
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： HORI HIDEKI , SATO YOSHIMASA , NAKAJIMA YUICHIRO , GOTO TERUHIRO , YAMAMOTO KEIICHI , MOTOTANI TAKESHI , KOIDE MITSUO , SUKIGARA KAZUTOSHI
Abstract: PROBLEM TO BE SOLVED: To reduce effect on an inverted control due to differences of weight and shapes of gripped heavy articles in a carriage robot capable of gripping multiple kinds of heavy articles. SOLUTION: This carriage robot is provided with a carriage 1 to be controlled based on an inverted pendulum type control model, a heavy article gripping device 80 mounted on the carriage 1, and slide mechanisms 100a and 100b for guiding the heavy article gripping device 80 to be slidable and movable in a front and rear direction of a carriage advancing direction in relation to the carriage 1. The heavy article gripping device 80 is slid and moved in the front and rear direction of the carriage advancing direction according to the kind of the gripped heavy article and is positioned at a proper position. COPYRIGHT: (C)2005,JPO&NCIPI
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Patent Agency Ranking
公开(公告)号：JP2004354613A
公开(公告)日：2004-12-16
申请号：JP2003151114
申请日：2003-05-28
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： TSUKADA TOSHIHIKO , KAWASE MASAO , SATO YOSHIMASA , HATAKEYAMA YOSHIYUKI , GOTO TERUHIRO
Abstract: PROBLEM TO BE SOLVED: To realize a robot which plays a real musical instrument following direction. SOLUTION: A robot 100 in one embodiment increases and decreases the speed of playing a keyboard musical instrument 140 in accordance with the tempo of direction. To realize the above, the robot 100 is provided with: a music data storage section 108 stored with music data describing time series changes of a musical scale; an operation storage section 110 which makes the musical scale correspond to robotic operation required to generate the musical scale from the keyboard instrument and stores them; and an information processing section 106 which specifies a tempo from the state of the direction and performs various controls. The information processing section 106 successively specifies the robotic operations corresponding to the musical scale stored in the musical data storage section 108 at the specified tempo and causes the specified robotic operations to be performed. COPYRIGHT: (C)2005,JPO&NCIPI
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公开(公告)号：JPH0944253A
公开(公告)日：1997-02-14
申请号：JP19871595
申请日：1995-08-03
Applicant: TOYOTA CENTRAL RES & DEV , TOYOTA MOTOR CORP
Inventor： KOIDE MITSUO , TSUSAKA YUJI , NOMURA HIDEKI , SATO YOSHIMASA
Abstract: PROBLEM TO BE SOLVED: To enable stable and high-speed switching control by eliminating shock at the time of switching by calculating the target compensated value of the kinetic state quantity of a controlled system based on a driving command value just before switching and the prescribed inverse operation rules of a control compensating means. SOLUTION: When switching a speed control mode to a torque control mode, a switching setting means 80 finds an offset compensated value ΔOFS as the difference between the output value of a speed control compensating means 19 and the output value of a torque control compensating means just before switching. Next, an indirect torque command value τd is applied and the torque control compensating means 18 outputs a motor command value so that the torque control value can be coincident with a current torque value τ. At such a time, the compensated value ΔOFS is inputted to an adding means 36 by a switching time offset generating means 35, added to the motor command value of the torque control compensating means 18 and inputted to a switching means 20. Thus, concerning the motor command value to which the compensated value ΔOFS is added, the command value does not suddenly change before and after switching. Thus, switching can be made smooth.
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公开(公告)号：JPH08118275A
公开(公告)日：1996-05-14
申请号：JP25400694
申请日：1994-10-19
Applicant: TOYOTA CENTRAL RES & DEV , TOYOTA MOTOR CORP
Inventor： KOIDE MITSUO , TSUSAKA YUJI , NOMURA HIDEKI , ASAI SHOJI , AKAO NORIHIKO , SATO YOSHIMASA
IPC: B25J13/08
Abstract: PURPOSE: To carry out the torque control in a stable manner with high precision, by simultaneously carrying out the speed feedback of a joint actuator besides the torque sensor feedback when the calculation torque method and the torque sensor feedback are carried out. CONSTITUTION: An arm compensation torque calculating means 10 calculates the torque instruction value necessary for obtaining the target movement by using the Newton-Euler which is commonly called as the calculation torque method. A joint torque feedback control means 9 compares the joint torque instruction value of each shaft which is given by a target torque generating means 12 and the joint torque value at present which is obtained from a torque sensor 3, and a motor 1 is driven through a motor electric current generating means 8 and a motor driver 6 so that the joint torque instruction value and the joint torque value at present accord. Further, the motor angular speed feedback control is carried out at the same time, besides the torque sensor feedback control, and stabilization is enabled.
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公开(公告)号：JPS6310249A
公开(公告)日：1988-01-16
申请号：JP15392586
申请日：1986-06-30
Applicant: TOYOTA MOTOR CORP
Inventor： SATO YOSHIMASA , HASEGAWA KAZUHIKO , UCHISHIBA IZUMI
Abstract: PURPOSE:To easily detect the fundamental factor of abnormality by retrieving the abnormality in its occurrence order via an instructing means with reference to the abnormal frequency. CONSTITUTION:When the abnormal signals are successively inputted, the abnormality occurring frequency is displayed at an abnormality contents display part 12 and at the same time the codes of abnormal signals are successively stored in a RAM 38. A number instructing device 16 is operated after deciding whether a switch 18 for retrieval of the abnormality is turned on or not. Thus an abnormal number is instructed and the contents of abnormality corresponding to the instructed number are read out of the RAM 38. Then the code corresponding to the abnormality is displayed at the part 12. Then the type of abnormality can be known with collation carried out through a table, etc.
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公开(公告)号：JPS62190432A
公开(公告)日：1987-08-20
申请号：JP3157786
申请日：1986-02-15
Applicant: TOYOTA MOTOR CORP
Inventor： SATO YOSHIMASA , HASEGAWA KAZUHIKO , UCHISHIBA IZUMI
IPC: G01M1/22
Abstract: PURPOSE:To take a measurement in a short time with small-sized constitution by finding unbalance from an angle of rotation calculated from the reference rotational position of a body to be tested which is held in constant rotation and the amplitude of a signal having the same period as the rotation period of the body to be tested which is passed through a filter. CONSTITUTION:A crank shaft W as the body to be tested is placed on rollers 1a and 1b, and 2a and 2b to rotate an AC servo motor 12 with a start signal from the keyboard 56a of a terminal 56 and also detect the rotating speed by a proximity switch 6, and the shaft W is rotated at a constant speed by a motor rotation controller 50. Therefore, vibrations generated owing to the dynamic unbalance of the shaft W are detected by vibration sensors 14F and 14R. Their detection signals are supplied to a measurement controller 54 through BPFs 52F and 52R and amplifying circuits 53F and 53R. The controller 54 is controlled by a CPU 101, which calculates the extent of the unbalance and the angle where the unbalance is present to display them on a cathode-ray tube 56b.
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