公开(公告)号：US5018068A

公开(公告)日：1991-05-21

申请号：US318130

申请日：1989-03-02

申请人： Takashi Aoki ,  Satoshi Terayama ,  Yoshihisa Iwaki ,  Takamichi Shimada

发明人： Takashi Aoki ,  Satoshi Terayama ,  Yoshihisa Iwaki ,  Takamichi Shimada

IPC分类号： F16H59/46 ,  F16H61/00 ,  F16H61/02 ,  F16H61/04 ,  F16H61/08

CPC分类号： F16H61/0437 ,  F16H2061/0087 ,  F16H2061/0258 ,  F16H2061/0477 ,  F16H59/46 ,  F16H61/08 ,  F16H63/502 ,  Y10T477/6937 ,  Y10T477/69383

摘要： Engine racing is determined during shift in an automatic transmission having clutches associated with respective gear positions, by, after a shift command is issued to effect a shift in a power-on mode, detecting the input and output rotational speed ratios of previous-gear-position and next-gear-position clutches of the transmission, and determining that engine racing has occurred if the input and output rotational speed ratio of one of the clutches which is normally greater than 1.0 during a gear shift remains below a threshold value slightly smaller than 1.0 for a predetermined period of time.

公开(公告)号：US5128868A

公开(公告)日：1992-07-07

申请号：US389851

申请日：1989-08-04

申请人： Toshitaka Imai ,  Takamichi Shimada ,  Takashi Aoki ,  Junichi Miyake ,  Satoshi Terayama ,  Yoshihisa Iwaki

发明人： Toshitaka Imai ,  Takamichi Shimada ,  Takashi Aoki ,  Junichi Miyake ,  Satoshi Terayama ,  Yoshihisa Iwaki

IPC分类号： F16H59/68 ,  F16H59/74 ,  F16H61/00 ,  F16H61/02 ,  F16H61/06 ,  F16H61/08 ,  F16H61/684

CPC分类号： F16H61/061 ,  F16H2059/6807 ,  F16H2061/0078 ,  F16H2061/0087 ,  F16H2061/0258 ,  F16H2061/0477 ,  F16H59/74 ,  F16H61/08 ,  F16H61/684 ,  Y10T477/69387

摘要： A clutch engaging torque which will be required by a hydraulically operated clutch to be engaged for a gearshift is preset. A hydraulic pressure required to obtain the clutch engaging torque while the hydraulically operated clutch is at rest is calculated. Then, a corrective action is effected by, for example, subtracting from the hydraulic pressure a centrifugal hydraulic pressure which will be developed in the hydraulically operated clutch by the rotation thereof in the gearshift, thus determining a hydraulic pressure to operate the hydraulically operated clutch.

摘要翻译： 预设了用于变速器接合的液压离合器所需的离合器接合扭矩。 计算在液压操作的离合器静止时获得离合器接合扭矩所需的液压。 然后，通过例如从液压中减去在变速中通过其旋转在液压操作的离合器中产生的离心液压来实现校正动作，从而确定用于操作液压操作的离合器的液压。

公开(公告)号：US08026955B2

公开(公告)日：2011-09-27

申请号：US12230129

申请日：2008-08-25

申请人： Takamichi Shimada ,  Nobuo Higaki

发明人： Takamichi Shimada ,  Nobuo Higaki

IPC分类号： H04N5/235

CPC分类号： H04N5/2351 ,  B25J19/022 ,  G03B7/093 ,  G03B35/08 ,  H04N5/2353 ,  H04N13/239 ,  H04N13/296

摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.

摘要翻译： 在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数 直方图。 然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否 是去除高亮度成像区域所必需的。 当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像 视图。

公开(公告)号：US07756322B2

公开(公告)日：2010-07-13

申请号：US10914338

申请日：2004-08-10

申请人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

发明人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： H04N1/00127 ,  H04N1/00137 ,  H04N1/00164 ,  H04N1/00244 ,  H04N1/00307 ,  H04N2201/0084

摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.

摘要翻译： 装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。 因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。 因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。 如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。 此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

公开(公告)号：US07254253B2

公开(公告)日：2007-08-07

申请号：US10808327

申请日：2004-03-25

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： G06K9/00335 ,  G06T7/246 ,  G06T7/254 ,  G06T7/285

摘要： In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.

摘要翻译： 在运动物体检测系统中，由CCD照相机拍摄的图像产生边缘图像，并且通过提取与其相对应的像素来生成指示到运动物体（例如人类）的距离的移动物体距离图像。 然后，将运动对象距离图像中的像素相加以生成直方图，并且在运动对象距离图像中设置轮廓提取区域，其中心线聚焦在直方图最大的位置，而边缘图像叠加在移动物体距离图像上 物体距离图像以校正轮廓提取区域的中心线，使得通过在该区域中提取其轮廓来检测移动物体。 由此，即使当两个或更多个物体在附近存在时，也可以分别检测移动物体。

公开(公告)号：US20060082944A1

公开(公告)日：2006-04-20

申请号：US11251802

申请日：2005-10-18

申请人： Takuro Koyanagi ,  Takamichi Shimada

发明人： Takuro Koyanagi ,  Takamichi Shimada

IPC分类号： H02H3/08

CPC分类号： H02H7/0833 ,  H02H3/04 ,  H02H3/093

摘要： In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.

摘要翻译： 在具有由接头连接的连杆的机器人的过电流防止系统和包括安装在接头处的电动马达的电气系统中，将电动机连接到电源的电力电路以及向电动机供应电流的驱动电路， 提供安装在电源电路中的开关装置，检测提供给电动机的电流的电流传感器和电流传感器的输出与阈值进行比较，并且切换装置被执行切换动作以切断 在电流传感器的输出超过阈值的第一预定时段期间间歇地进行电力回路，从而在检测到过电流时保护电气系统，而不会引起机器人的功能失灵和/或姿势不稳定。

公开(公告)号：US06516261B2

公开(公告)日：2003-02-04

申请号：US09382205

申请日：1999-08-23

申请人： Tatsuyuki Ohashi ,  Norio Nakauchi ,  Kazuyuki Konno ,  Yoshiharu Saito ,  Kenji Hagiwara ,  Hideki Wakamatsu ,  Yukio Morita ,  Takamichi Shimada

发明人： Tatsuyuki Ohashi ,  Norio Nakauchi ,  Kazuyuki Konno ,  Yoshiharu Saito ,  Kenji Hagiwara ,  Hideki Wakamatsu ,  Yukio Morita ,  Takamichi Shimada

IPC分类号： G06F1700

CPC分类号： F16H59/66 ,  B60W2550/402 ,  F16H59/52 ,  F16H61/0213 ,  F16H2059/663 ,  F16H2059/666 ,  F16H2061/0227 ,  Y10T477/65 ,  Y10T477/692

摘要： A system for controlling an automatic transmission of a vehicle which determines a downgrade or upgrade parameter based on the vehicle acceleration and selects one from among a plurality of shift programs based on the determined grade parameter to determine a gear ratio based on the selected shift program. The system includes a navigation system which determines the instantaneous vehicle position and outputs road information including upgrade/downgrade condition of road including the determined instantaneous vehicle position. In the system, the grade parameter is corrected based on the navigation information and the grade parameter such that the one from among a plurality of shift programs is selected based on the corrected grade parameter, thereby enhancing drivability during downgrade running, without being affected even if the navigation information is temporarily invalid.

摘要翻译： 一种用于控制车辆的自动变速器的系统，其基于车辆加速度确定降级或升级参数，并且基于所确定的等级参数从多个换档程序中选择一个，以基于所选择的换档程序来确定变速比。 该系统包括确定瞬时车辆位置并输出道路信息的导航系统，包括包括所确定的瞬时车辆位置的道路的升级/降级状态。 在该系统中，基于导航信息和等级参数来校正坡度参数，使得基于校正的坡度参数选择多个班次程序中的一个，从而提高降级运行期间的驾驶性能，即使不受影响 导航信息暂时无效。

公开(公告)号：US06270437B1

公开(公告)日：2001-08-07

申请号：US09386449

申请日：1999-08-31

申请人： Hideaki Yoshida ,  Takamichi Shimada

发明人： Hideaki Yoshida ,  Takamichi Shimada

IPC分类号： F16G122

CPC分类号： F16G5/16

摘要： By defining the contact ratio obtained by dividing the lateral width of a saddle surface of metal elements of a metal belt for a continuously variable transmission by the lateral width of a metal ring, the transmission capacity and durability of the metal belt can be enhanced. By gradually increasing the width of the metal ring in a state in which the lateral inner edges of the metal ring are in contact with the neck parts of the metal elements so as to gradually decrease the contact ratio, accompanying it the percentage change in the power transmission capacity gradually increases from the negative side and changes positive at a predetermined contact ratio. Therefore, by setting the contact ratio at the percentage change at which the transmission capacity changes from negative to positive as the upper limit of the contact ratio (92%), the percentage change in transmission capacity can be prevented from becoming negative thus preventing the transmission capacity and the durability of the metal rings from being degraded. The lower limit of the contact ratio (85%) is set at a value at which the lateral edges of the metal rings are not in contact with both the neck parts of the metal elements and the V-faces of the pulleys, when taking into consideration a misalignment between the pulleys.

摘要翻译： 通过将通过将用于无级变速器的金属带的金属元件的鞍座表面的横向宽度除以金属环的横向宽度而获得的接触比，可以提高金属带的传输能力和耐久性。 通过在金属环的横向内边缘与金属元件的颈部部分接触的状态下逐渐增大金属环的宽度，以便逐渐降低接触比，伴随着它的功率百分比变化 传输容量从负侧逐渐增加，并以预定接触比变化为正。 因此，通过将传输容量从负极变为负值的百分比变化量的接触比设定为接触比（92％）的上限，可以防止传输容量的变化百分比变为负，从​​而防止传输 金属环的容量和耐久性降低。 接触率（85％）的下限设定为金属环的横向边缘与金属元件的颈部部分和皮带轮的V面接触时的值，当进入 考虑滑轮之间的未对准。

公开(公告)号：US5726353A

公开(公告)日：1998-03-10

申请号：US752934

申请日：1996-11-20

申请人： Takahiro Matsuda ,  Takamichi Shimada

发明人： Takahiro Matsuda ,  Takamichi Shimada

IPC分类号： G01L5/00 ,  F16D47/06 ,  F16F15/30 ,  F16F15/31 ,  F16H59/16 ,  F16H61/662 ,  G01L3/10 ,  G01M13/02 ,  G01L3/14

CPC分类号： F16H59/16 ,  F16H61/6625 ,  F16H61/66259 ,  G01L3/109 ,  F16H2061/0087 ,  F16H2342/044

摘要： The torque detection system for a continuously variable transmission for a vehicle having a dual-mass flywheel connecting an output of an engine mounted on the vehicle to the transmission and a start clutch for engaging/disengaging the transmitted power to the vehicle wheels. The dual-mass flywheel comprises of two flywheel components coupled by a torsion spring. Rotational speeds of the two flywheel components are detected and a phase angle therebetween is then calculated. A torque estimated to be input to the start clutch is determined by retrieving predetermined characteristics defining a static torque set with respect to the phase angle. When the vehicle is braked to stop in engine idling state, the clutch oil pressure is determined based on the calculated torque.

摘要翻译： 一种用于车辆的无级变速器的扭矩检测系统，其具有将安装在车辆上的发动机的输出与变速器连接的双质量飞轮和用于将传递的动力接合/分离到车轮的起动离合器。 双质量飞轮包括通过扭转弹簧联接的两个飞轮部件。 检测两个飞轮部件的转速，然后计算它们之间的相位角。 通过检索限定相对于相位角设定的静态转矩的预定特性来确定估计输入到起动离合器的扭矩。 当车辆制动停止在发动机怠速状态时，基于所计算的转矩来确定离合器油压。

公开(公告)号：US5307777A

公开(公告)日：1994-05-03

申请号：US59146

申请日：1993-05-07

申请人： Kouji Sasajima ,  Takamichi Shimada

发明人： Kouji Sasajima ,  Takamichi Shimada

IPC分类号： F02D9/02 ,  F02D11/10 ,  F02D41/20

CPC分类号： F02D11/10 ,  F02D2011/102

摘要： A control system for controlling the throttle opening of an engine of an automobile has a stepping motor for actuating a throttle valve disposed in an intake passage of the engine to control the throttle opening, an accelerator operation detecting unit for detecting the amount of operation of an accelerator pedal operated on by the driver of the automobile, an engine operating condition detecting unit for detecting an operating condition of the engine, and a controller for controlling the stepping motor based on detected values from the accelerator operation detecting unit and the engine operating condition detecting unit.

摘要翻译： 用于控制汽车发动机的节气门开度的控制系统具有步进电动机，用于致动设置在发动机的进气通道中的节气门以控制节气门开度;加速器操作检测单元，用于检测汽车发动机的操作量 由驾驶员操作的加速踏板，用于检测发动机的运转状况的发动机运转状态检测部，以及基于来自加速踏板操作检测部和发动机运转状态检测的检测值来控制步进马达的控制器 单元。