公开(公告)号：US5797821A

公开(公告)日：1998-08-25

申请号：US627406

申请日：1996-04-04

申请人： Shuichi Fujimoto ,  Hisashi Kunii ,  Kazumi Sato ,  Yoshiyuki Ura ,  Takamichi Shimada

发明人： Shuichi Fujimoto ,  Hisashi Kunii ,  Kazumi Sato ,  Yoshiyuki Ura ,  Takamichi Shimada

IPC分类号： F16H61/06 ,  F16H59/36 ,  F16H59/38 ,  F16H59/68 ,  F16H61/02 ,  F16H61/04 ,  F16H1/28

CPC分类号： F16H61/0437 ,  F16H2059/385 ,  F16H2059/425 ,  F16H2059/6807 ,  F16H2061/0255 ,  F16H2061/0485 ,  F16H2061/0488 ,  F16H59/36 ,  F16H61/061 ,  Y10T477/6895

摘要： An automatic transmission includes a frictionally engaging element for establishing a predetermined speed range. This predetermined speed range may be a second or higher speed range, and it is set temporarily in N-D squat control and also used for establishing a reverse range. In this transmission, engagement-actuation control of the frictionally engaging element for establishing the predetermined speed range which is executed when a shift is made from a N range to a R range comprises a plurality of control stages. When a shift to the R range is made via the N range following a N-D shift, a shift control apparatus detects the engagement condition of the the frictionally engaging element for establishing the predetermined speed range, selects one of the control stages in correspondence with the engagement condition, and initiates the engagement-actuation control of the frictionally engaging element from the control stage selected, so as to execute an engagement control for establishing the reverse range. Thus, in-gear shifts are executed smoothly without any delay in a N-D-N-R range shift.

摘要翻译： 自动变速器包括用于建立预定速度范围的摩擦接合元件。 该预定速度范围可以是第二或更高速度范围，并且其被暂时设定在N-D蹲下控制中，并且也用于建立倒档范围。 在该变速器中，摩擦接合元件的接合致动控制用于建立从N档向R档位移动时所执行的预定速度范围包括多个控制级。 当通过ND移位后的N档进行向R范围的换档时，变速控制装置检测用于建立预定速度范围的摩擦接合元件的接合状态，与接合对应地选择一个控制级 并且从所选择的控制级启动摩擦接合元件的接合致动控制，以便执行用于建立倒档范围的接合控制。 因此，在N-D-N-R范围换档中没有任何延迟地平滑地执行换档。

公开(公告)号：US5655993A

公开(公告)日：1997-08-12

申请号：US630212

申请日：1996-04-10

申请人： Shuichi Fujimoto ,  Kazumi Sato ,  Yoshiyuki Ura ,  Hisashi Kunii ,  Takamichi Shimada

发明人： Shuichi Fujimoto ,  Kazumi Sato ,  Yoshiyuki Ura ,  Hisashi Kunii ,  Takamichi Shimada

IPC分类号： F16H59/38 ,  F16H59/46 ,  F16H59/68 ,  F16H61/00 ,  F16H61/04

CPC分类号： F16H61/0437 ,  F16H2059/363 ,  F16H2059/385 ,  F16H2059/425 ,  F16H2059/6807 ,  F16H2061/0078 ,  F16H2061/0448 ,  F16H2061/0488 ,  F16H2306/24 ,  F16H2312/02 ,  F16H59/46 ,  Y10T477/689 ,  Y10T477/6895

摘要： A shift control apparatus for an automatic transmission for a vehicle wherein D-N-D in-gear shifts are carried out quickly without any shift shock. Engagement-actuation control for a frictionally engaging element to establish a D range when a shift is made from a N range to the D range comprises a plurality of control stages, for example, an invalid-stroke clearing stage, an intermediate-pressure retaining stage, a feedback stage, etc. When the shift to the D range is made following a shift from the D range to the N range, a shift control apparatus detects the engagement condition of the the frictionally engaging element for establishing the D range, selects one of the control stages in correspondence with the engagement condition, and initiates the engagement-actuation control for the frictionally engaging element from the control stage selected.

摘要翻译： 一种用于车辆的自动变速器的变速控制装置，其中快速执行D-N-D换档，而没有任何换档冲击。 当从N范围向D范围进行换档时，用于摩擦接合元件的接合致动控制以建立D范围包括多个控制级，例如无效行程清除级，中压保持级 ，反馈级等。当从D档向N档移动到D档范围时，换档控制装置检测用于建立D档的摩擦接合元件的接合状态，选择一个 与所述接合状态对应的所述控制级，并且从所选择的控制级开始所述摩擦接合元件的接合致动控制。

公开(公告)号：US5679095A

公开(公告)日：1997-10-21

申请号：US627405

申请日：1996-04-04

申请人： Noboru Sekine ,  Shuichi Fujimoto ,  Kazumi Sato ,  Hisashi Kunii ,  Yoshiyuki Ura ,  Takamichi Shimada

发明人： Noboru Sekine ,  Shuichi Fujimoto ,  Kazumi Sato ,  Hisashi Kunii ,  Yoshiyuki Ura ,  Takamichi Shimada

IPC分类号： F16H59/36 ,  F16H59/38 ,  F16H59/42 ,  F16H59/46 ,  F16H61/04 ,  B60K41/02 ,  F16H25/14

CPC分类号： F16H61/0437 ,  F16H2059/385 ,  F16H2059/425 ,  F16H2061/0485 ,  F16H2061/0488 ,  F16H59/36 ,  F16H59/38 ,  F16H59/42 ,  F16H59/46 ,  Y10T477/689 ,  Y10T477/6895

摘要： An engagement-actuation control for a frictionally engaging element to establish a driving range in response to a shift command to shift from a neutral range to the driving range comprises a plurality of control stages including an invalid-stroke-clearing control. This invalid-stroke-clearing control is finished when invalid-stroke clearing is judged complete on the basis that the absolute value of the rate of rotational change of a turbine shaft is equal to or greater than a predetermined rate and that the difference between the rotational speed of an engine and the rotational speed of the turbine shaft is equal to or greater than a predetermined value.

摘要翻译： 用于摩擦接合元件的接合致动控制器响应于从中立范围转换到驱动范围的换档指令来建立驱动范围包括多个包括无效行程清除控制的控制级。 无效行程清除控制结束，当无效行程清除判断完成时，基于涡轮轴的旋转变化率的绝对值等于或大于预定速率，并且旋转 发动机的转速和涡轮轴的转速等于或大于预定值。

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：US5853349A

公开(公告)日：1998-12-29

申请号：US775928

申请日：1997-01-02

申请人： Takamichi Shimada ,  Noboru Sekine

发明人： Takamichi Shimada ,  Noboru Sekine

IPC分类号： F16H59/46 ,  F16H61/00 ,  F16H61/06 ,  F16H61/08

CPC分类号： F16H61/061 ,  F16H2061/0087 ,  F16H59/46 ,  Y10T477/6937 ,  Y10T477/69387

摘要： A control for shifting from an off-going speed range to an on-coming speed range comprises an off-going range releasing stage, an on-coming range void-stroke-clearing stage, an on-coming range engaging stage and an on-coming range final stage. During the off-going range releasing stage, an off-going engaging element is released in response to a shift command signal. During the on-coming range void-stroke-clearing stage, the engagement-actuation pressure of the on-coming engaging element is set at a predetermined high-pressure for a predetermined time period after the shift command signal is generated, whereby the void stroke of the on-coming engaging element is cleared. During the on-coming range engaging stage, after the completion of the on-coming range void-stroke-clearing stage, the on-coming engaging element is engaged. During the on-coming range final stage, following the on-coming range engaging stage, the on-coming engaging element is engaged completely. In this control, based on the condition of the engaging operation of the on-coming engaging element during the on-coming range engaging stage, the predetermined time period for the on-coming range void-stroke-clearing stage is corrected for a next shift operation.

摘要翻译： 从越野速度范围转换到即将到来的速度范围的控制包括离场范围释放阶段，即将到来的范围空行程清除阶段，即将到来的范围接合阶段和在线范围接合阶段， 即将到来的最后阶段。 在脱离范围释放阶段期间，响应于移位指令信号释放脱离的接合元件。 在即将到来的范围空行程清除阶段，在产生换档指令信号之后，预定接合元件的接合致动压力被设定在预定的高压预定时间段，由此空位行程 的即将到来的接合元件被清除。 在即将到来的范围接合阶段，在完成即将到来的空白行程清除阶段之后，接合即将到来的接合元件。 在即将到来的最后阶段，随着即将到来的射程接合阶段，即将到来的啮合元件完全啮合。 在该控制中，基于接通前进接合工序中的接合元件的接合动作的条件，对于下一个换档期间的前进范围空隙行程清除阶段的预定时间段进行修正 操作。