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1.发明申请Autonomous mobile equipment and position-of-object and own position detecting system 有权自主移动设备和物体位置及其位置检测系统公开(公告)号：US20060104502A1
公开(公告)日：2006-05-18
申请号：US11274322
申请日：2005-11-16
申请人： Junichi Tamamoto , Yuji Hosoda , Saku Egawa , Toshihiko Horiuchi
发明人： Junichi Tamamoto , Yuji Hosoda , Saku Egawa , Toshihiko Horiuchi
IPC分类号： G06K9/00
CPC分类号： G05D1/0236 , G05D1/0274
摘要： Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.
摘要翻译： 自主移动设备包括物体位置和自身位置检测系统和移动单元，并且自主移动。 物体位置和位置检测系统包括数据库，其中记录关于物体的表面形状和位置的信息。 由位置测量单元检测到的物体的表面形状与记录在数据库中的物体的表面形状进行整理。 如果整理的表面形状彼此一致，则将记录在数据库中的对象的信息传送到行驶计划单元。 如果整理的表面形状彼此不一致，则由位置测量单元获取的对象的信息被传送到行驶计划单元。
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2.发明授权Autonomous mobile equipment and position-of-object and own position detecting system 有权自主移动设备和物体位置及其位置检测系统公开(公告)号：US07660665B2
公开(公告)日：2010-02-09
申请号：US11274322
申请日：2005-11-16
申请人： Junichi Tamamoto , Yuji Hosoda , Saku Egawa , Toshihiko Horiuchi
发明人： Junichi Tamamoto , Yuji Hosoda , Saku Egawa , Toshihiko Horiuchi
IPC分类号： G01C21/00
CPC分类号： G05D1/0236 , G05D1/0274
摘要： Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.
摘要翻译： 自主移动设备包括物体位置和自身位置检测系统和移动单元，并且自主移动。 物体位置和位置检测系统包括数据库，其中记录关于物体的表面形状和位置的信息。 由位置测量单元检测到的物体的表面形状与记录在数据库中的物体的表面形状进行整理。 如果整理的表面形状彼此一致，则将记录在数据库中的对象的信息传送到行驶计划单元。 如果整理的表面形状彼此不一致，则由位置测量单元获取的对象的信息被传送到行驶计划单元。
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公开(公告)号：US07649331B2
公开(公告)日：2010-01-19
申请号：US11270599
申请日：2005-11-10
CPC分类号： B62D57/024 , B25J5/007 , B62K11/007
摘要： A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
摘要翻译： 移动机器人具有移动机构，摆动机构和控制单元。 移动机构为同轴两轮式，通过倒立摆控制控制向前推力。 摆动机构主动地相对于移动机构横向上摆动上身。 离心力和重力作用在移动机器人的重心上。 控制摆动姿态，使得作用于移动机器人的重心的力的复合矢量的延伸与车轮的接地面之间的交点的位置保持在左右轮之间。
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公开(公告)号：US20060097683A1
公开(公告)日：2006-05-11
申请号：US11270599
申请日：2005-11-10
IPC分类号： B25J5/00
CPC分类号： B62D57/024 , B25J5/007 , B62K11/007
摘要： A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
摘要翻译： 移动机器人具有移动机构，摆动机构和控制单元。 移动机构为同轴两轮式，通过倒立摆控制控制向前推力。 摆动机构主动地相对于移动机构横向上摆动上身。 离心力和重力作用在移动机器人的重心上。 控制摆动姿态，使得作用于移动机器人的重心的力的复合矢量的延伸与车轮的接地面之间的交点的位置保持在左右轮之间。
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公开(公告)号：US06427528B1
公开(公告)日：2002-08-06
申请号：US09019117
申请日：1998-02-05
申请人： Makoto Yamakado , Toshihiko Horiuchi , Takao Konno
发明人： Makoto Yamakado , Toshihiko Horiuchi , Takao Konno
IPC分类号： G01L528
CPC分类号： G01M17/045 , G01M17/0072 , G01M17/0074 , G01M17/065
摘要： Provided is a vehicle testing apparatus which involves load variation and alignment variation, for analyzing a maneuverability of a vehicle on flat belts or rollers adapted to be rotated together with wheels of the vehicle, and in particular, maneuver variation. Load variation caused by an inertia force and a gravitational force which are produced during actual running of the vehicle, and tire alignment variation caused by suspension strokes, are forcibly reproduced by forces produced by actuators or a gravitational force, thereby it is possible to evaluate a maneuverability of the vehicle in a condition substantially the same as that during actual running of the vehicle.
摘要翻译： 提供了一种车辆测试装置，其涉及负载变化和对准变化，用于分析适于与车辆的车轮一起旋转的平坦带或滚子上的车辆的机动性，特别是机动变化。 由车辆实际行驶期间产生的惯性力和重力造成的载荷变化以及由悬挂冲程引起的轮胎对准变化被强制地由致动器或重力产生的力再现，从而可以评估 在与车辆的实际运行情况基本相同的情况下车辆的机动性。
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公开(公告)号：US5737239A
公开(公告)日：1998-04-07
申请号：US597405
申请日：1996-02-08
CPC分类号： G01H13/00
摘要： A shaking test system for testing a structure including a shaking device for shaking the structure, measuring devices mounted on the shaking device for shaking the structure, external signal input device for inputting data indicative of external force for shaking the structure, as well as other calculating arrangements. The shaking test system permits the setting of a large time interval of a shaking test by converting natural modes of vibration expressed by a second-order differential equation, namely second-order lag system of a vibration differential equation into a first-order lag system or (O)th order lag system for short period mode.
摘要翻译： 一种用于测试结构的振动测试系统，包括用于摇动结构的振动装置，用于振动结构的安装在摇动装置上的测量装置，用于输入指示用于振动结构的外力的数据的外部信号输入装置，以及其他计算 安排 摇动测试系统允许通过将由二阶微分方程表示的自然振动模式（即振动微分方程的二阶滞后系统）转换成一阶滞后系统来设定振动测试的较大时间间隔，或 （O）阶滞后系统。
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公开(公告)号：US06718270B2
公开(公告)日：2004-04-06
申请号：US10244746
申请日：2002-09-17
申请人： Toshihiko Horiuchi , Takao Konno
发明人： Toshihiko Horiuchi , Takao Konno
IPC分类号： G01F1700
CPC分类号： G01M7/00
摘要： A vibration testing device includes a computer system having: a measurement processing block for inputting an output of the monitoring sensor and processing the output; a model substituting block for modeling characteristics of the test piece, calculating a response quantity corresponding to a drive condition of an actuator, and inputting the calculation result to a numerical simulation block and the parameter changing block; the parameter changing block for comparing the calculation result of the model substituting block with the processing result of the measurement processing block, and changing the parameter; the numerical simulation block for calculating a vibration response in accordance with a previously input structure numerical model; and a waveform generating block for calculating a time function of a deformation to be applied to the test piece, and outputting the time block to the actuator controlling device.
摘要翻译： 振动测试装置包括：计算机系统，具有：测量处理块，用于输入监视传感器的输出并处理输出; 模型替代块，用于对所述试件进行建模特性，计算与致动器的驱动条件对应的响应量，并将所述计算结果输入到数值模拟块和所述参数改变块; 用于将模型替换块的计算结果与测量处理块的处理结果进行比较的参数改变块，并且改变参数; 用于根据先前输入的结构数值模型计算振动响应的数值模拟块; 以及波形发生块，用于计算要施加到试件的变形的时间函数，并将该时间块输出到致动器控制装置。
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公开(公告)号：US06598480B2
公开(公告)日：2003-07-29
申请号：US09994863
申请日：2001-11-28
IPC分类号： G01M702
CPC分类号： G01M7/00
摘要： A main computer for performing numerical simulation and a sub-computer for controlling each shaking machine are provided. Data transfer between the main computer and sub-computer is performed by communications. The main computer is provided with a model substituting function of modeling a specimen to be shaken, a parameter modification function of sequentially modifying parameters of a model in accordance with the vibration test result, and an abnormality inspection function of judging an abnormality of each shaking system and if an abnormality is detected, substituting the measured value of a reaction force with an output of the model substituting function. It is possible to make an experiment of evaluating the strength and reliability of a massive structure, for example, relative to an earthquake and to make a vibration test at a high precision and with an economical cost.
摘要翻译： 提供用于执行数字模拟的主计算机和用于控制每个振动机的子计算机。 主计算机和子计算机之间的数据传输由通信进行。 主计算机具有对要振动的样本进行建模的模型替换功能，根据振动试验结果依次修改模型的参数的参数修改功能，以及判断每个抖动系统的异常的异常检查功能 并且如果检测到异常，则用模型替换函数的输出代替反作用力的测量值。 可以进行大型建筑物的强度和可靠性评估的实验，例如相对于地震，并以高精度和经济的成本进行振动试验。
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9.发明授权Apparatus for and method of testing dynamic characteristics of components of vehicle 失效车辆部件动态特性测试装置及其测试方法公开(公告)号：US06247348B1
公开(公告)日：2001-06-19
申请号：US09054391
申请日：1998-04-03
IPC分类号： G01M1300
CPC分类号： G01M17/045
摘要： Measured values obtained from a running test of an object to be tested and a module on a test bench such as a flat belt type chassis dynamo, and computation based upon numerical models of components other than the object to be tested and the module, are related to each other so as to reproduce a condition near to an actual running condition, for the object to be tested and the module so as to precisely analyze how the object to be tested and the module affects upon the motion of the overall vehicle during actual running of the vehicle. Thus it is possible to evaluate dynamic characteristics of respective vehicle components and a module which relate to the maneuvering performance of the vehicle, on a test bench in a condition in which a load variation and an alignment variation are taken into consideration.
摘要翻译： 从待测物体的运行试验得到的测量值和平板式底盘发电机等试验台上的模块，以及基于被测试对象以外的部件的数值模型和模块的计算，与 以便再现实际运行状态附近的条件，对于被测试对象和模块，以便精确地分析在实际运行过程中待测对象和模块对整个车辆的运动的影响 的车辆。 因此，在考虑了负载变化和对准变化的状况下，可以在试验台上评估各车辆部件的动态特性和与车辆的机动性能有关的模块。
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公开(公告)号：US06763311B2
公开(公告)日：2004-07-13
申请号：US10034306
申请日：2002-01-03
IPC分类号： G01F1700
摘要： A calculating device and method provided for a shaking test apparatus for carrying out a shaking test on a structure by using a partial structure and a numerical model which is virtually connected to the partial structure. The calculating device includes a calculation part which identifies a vibration model corresponding to the partial structure on the basis of displacement and reaction force detected in response to shaking and which combines the vibration model and the numerical model with each other to construct a model of the overall system corresponding to the structure and calculates the shaking response of the overall system model.
摘要翻译： 一种用于振动测试装置的计算装置和方法，用于通过使用虚拟连接到部分结构的部分结构和数值模型对结构进行振动测试。 计算装置包括：计算部，其基于响应于振动检测到的位移和反作用力来识别对应于部分结构的振动模型，并且将振动模型和数值模型相互组合以构成整体的模型 系统对应的结构，并计算整个系统模型的振动响应。
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