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11. 发明专利

JP2006346770A CONTROL SYSTEM FOR ROBOT GROUP, AND ROBOT 审中-公开
公开(公告)号：JP2006346770A
公开(公告)日：2006-12-28
申请号：JP2005173080
申请日：2005-06-14
申请人： TOYOTA MOTOR CORP
发明人： YAMAMOTO TAKASHI , SATO YOSHIMASA , NOMURA HIDEKI
IPC分类号： B25J13/00
摘要： PROBLEM TO BE SOLVED: To improve reliability on signal transmission at low costs by dividing radio communication means of robots into two or more groups. SOLUTION: This communication method for a robot group 10 is provided with a plurality of robots and a total supervising system to perform radio communication. A trumpet robot 11, a horn robot 12, a trombone robot 13, a tuba robot 14, a drum robot 15, and a DJ robot of the robot group 10 are provided with a first communication means and a second communication means, and the total supervising system 20 is provided with the first communication means and the second communication means. Operation information is transmitted from the robot of the robot group 10 to the total supervising system 20 by the first communication means in real time, and a connection confirming signal is transmitted from the total supervising system 20 to the robot of the robot group 10 by the second communication means. COPYRIGHT: (C)2007,JPO&INPIT

12. 发明专利

JP2006312208A Emergency stop device of movable robot 有权
标题翻译：可移动机器人的紧急停止装置
公开(公告)号：JP2006312208A
公开(公告)日：2006-11-16
申请号：JP2005135476
申请日：2005-05-09
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： IZU HIROKI , YAMAMOTO TAKASHI
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide an emergency stop device of an autonomous movable robot capable of certainly emergency-stop the robot even when the robot cannot receive an emergency stop signal.
SOLUTION: This device is provided with a self position detection signal transmitter 20 to transmit a self position detection signal 21 for the robot 50 to detect its self position and a computer device 30 furnished on the robot 50 to receive a command signal from the controller 60 and the self position detection signal 21. The computer device 30 emergency-stops the robot 50 when it receives the emergency stop signal as the command signal or when it does not receive the self position detection signal 21.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种自动移动机器人的紧急停止装置，即使当机器人不能接收到紧急停止信号时，也能够肯定地紧急停止机器人。解决方案：该装置设置有自身位置检测信号发射器20，以传送用于机器人50的自身位置检测信号21以检测其自身位置，以及设置在机器人50上的计算机设备30，以接收来自控制器60和自身位置检测信号21.计算机装置30在接收到紧急停止信号作为指令信号时或者当其没有接收到自身位置检测信号21时，紧急停止机器人50.版权：（C）2007，JPO＆INPIT

13. 发明专利

JP2006250948A Apparatus for correcting output of acceleration sensor for vehicle 审中-公开
标题翻译：用于校正车辆加速度传感器输出的装置
公开(公告)号：JP2006250948A
公开(公告)日：2006-09-21
申请号：JP2006127093
申请日：2006-04-28
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI , YAMASHITA KATSUJI , OBA MITSURU , SUZUKI KOICHI
IPC分类号： G01P21/00 , B60K17/348
摘要： PROBLEM TO BE SOLVED: To provide an apparatus for further correcting output of acceleration sensors for vehicles and capable of accurately correcting the drift errors of the acceleration sensors.
SOLUTION: On the basis of a gradient θ in the forward and the backward directions estimated by a road gradient estimation means (166), output of the acceleration sensors 90 and 92 is corrected at an acceleration correction means 168. Acceleration values from the acceleration sensors are thus advantageously and accurately corrected, in comparison with a conventional correction device which considers that a vehicle is linearly cruising, when the difference between right and left rotation speeds of the vehicle remains within a prescribed value and takes output values of the acceleration sensors 90 and 92 at the time as drift errors.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于进一步校正车辆的加速度传感器的输出并能够精确地校正加速度传感器的漂移误差的装置。解决方案：基于由道路坡度估计装置（166）估计的前后方向上的梯度θ，加速度传感器90和92的输出在加速度校正装置168处被校正。加速度值因此，与现有的车辆线性巡航的校正装置相比，加速度传感器被有利地和精确地校正，当车辆的左右转速之间的差值保持在规定值内并取得加速度的输出值时传感器90和92当时作为漂移误差。版权所有（C）2006，JPO＆NCIPI

14. 发明专利

JP2005186650A Riding robot 有权
标题翻译：骑车手
公开(公告)号：JP2005186650A
公开(公告)日：2005-07-14
申请号：JP2003427207
申请日：2003-12-24
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI , KONOSU HITOSHI , MURAYAMA HIDEYUKI
IPC分类号： B25J5/00 , B25J13/00 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a robot capable of maintaining the attitude of the riding part constant. SOLUTION: The robot 10 has the riding part 100 to admit riding of a person and walks with a pair of leg links 12, and is equipped with a roll shaft actuator to change the attitude of the riding part round the advancing direction axis of the robot 10, a pitch shaft actuator to change the attitude of the riding part 100 round the lateral axis of the robot 10, a means to sense the attitude of the riding part 100 round the advancing direction axis and the lateral axis, and a controller to control the roll shaft actuator and the pitch shaft actuator so as to maintain constant the attitude of the riding part 100 round the advancing direction axis and the lateral axis sensed by the attitude sensing means. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够保持骑马部分的姿态恒定的机器人。解决方案：机器人10具有搭乘部100以承受人的骑行，并与一对腿连杆12一起行走，并且配备有辊轴致动器，以改变搭乘部分在前进方向轴上的姿态机器人10的俯仰轴致动器，用于改变搭乘部100在机器人10的横轴上的姿态，用于感测乘坐部100在前进方向轴和横轴上的姿势的装置，以及控制器来控制滚动轴致动器和俯仰轴致动器，以便保持乘坐部100在由姿态感测装置感测的前进方向轴和横向轴线上的姿态恒定。版权所有（C）2005，JPO＆NCIPI

15. 发明专利

JP2005022039A Device and method for originating gait data 审中-公开
标题翻译：用于调整GAIT数据的装置和方法
公开(公告)号：JP2005022039A
公开(公告)日：2005-01-27
申请号：JP2003191178
申请日：2003-07-03
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To create a technology for easily originating gait data. SOLUTION: A computer device 14 is provided with: a means 32 storing a standard toe x-t track describing the relation between a coordinate value x and an elapsed time t in the walking direction of a free leg toe in standard pace; a means 12 or the like for inputting pace coefficients which continuously change in relation to time; and a means 30 for calculating a free leg toe x-t track after correcting the pace described by the coordinate value x in the walking direction corrected by multiplying the coordinate value in the walking direction (x-axis direction) by the inputted pace coefficient, and the above elapsed time t. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：创建一种轻松发起步态数据的技术。计算机装置14具有：存储标准脚趾x-t轨迹的装置32，标准脚趾x-t轨迹以标准步速描述自由脚趾行进方向上的坐标值x和经过时间t之间的关系; 用于输入相对于时间连续变化的速度系数的装置12等; 以及用于在通过将步行方向（x轴方向）上的坐标值乘以输入的步速系数而校正的步行方向上的坐标值x所描述的步速来校正自由腿脚尖xt轨迹的装置30，超过经过时间t。版权所有（C）2005，JPO＆NCIPI

16. 发明专利

JP2005007496A Device and method for creating walking figure data 审中-公开
标题翻译：用于创建跑步图数据的装置和方法
公开(公告)号：JP2005007496A
公开(公告)日：2005-01-13
申请号：JP2003171967
申请日：2003-06-17
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To quickly calculate data for instructing a body trunk position time-serially, required for walking, without overturning a robot, from data for instructing a position of a left tiptoe and a right tiptoe time-serially.
SOLUTION: This device is characterized by having a making device of data for commanding a tiptoe position of the robot, a device for calculating a target ZMP (zero moment point) position from the tiptoe position, a device for converting the target ZMP position into a linearly calculable dimension from the body trunk position and its acceleration, a device for commanding the body trunk position and the acceleration to a dynamical model of the robot, a device for calculating a ZMP position provided when following the commanded tiptoe position and the body trunk position on the basis of the dynamical model of the robot, a device for converting the calculated ZMP position into the dimension, and a device for incrementally-decrementally correcting the body trunk position and the acceleration commanded by a commanding device, so that a value of conversion of the target ZMP position coincides with a value of conversion of the ZMP position calculated from the dynamical model.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：快速地计算用于指示行走时所需的用于指示身体躯干位置的数据，而不需要翻转机器人，用于指示时间顺序地指示左脚尖和右脚尖的位置的数据。解决方案：该装置的特征在于具有用于指示机器人的脚尖位置的数据制造装置，用于从脚尖位置计算目标ZMP（零力矩）位置的装置，用于转换目标ZMP的装置从身体躯干位置及其加速度位置到线性可计算的尺寸，用于命令身体躯干位置的装置和对机器人的动力学模型的加速度，用于计算遵循指令的脚尖位置时提供的ZMP位置的装置和基于机器人的动力学模型，将计算出的ZMP位置转换为尺寸的装置，以及用于递增地递减地校正身体躯干位置和由命令装置指令的加速度的装置的身体躯干位置，使得目标ZMP位置的转换值与从动力学模型计算的ZMP位置的转换值一致。版权所有（C）2005，JPO＆NCIPI

17. 发明专利

JP2004174653A Walking robot, lowering gain of inversion pendulum control at rest 有权
标题翻译：运动机器人，降低倒车时的控制力
公开(公告)号：JP2004174653A
公开(公告)日：2004-06-24
申请号：JP2002343096
申请日：2002-11-26
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To realize a robot, walking without falling by moderately making effective "inversion pendulum control" during walking, and not causing "self-excited vibration" during resting. SOLUTION: In performing the so-called inversion pendulum control in which a target ZMP is corrected on the basis of an angle ϕ made between a line connecting the actual trunk position of the robot and the target ZMP and a normal passing the target ZMP, during the walking operation, a large correction amount ΔZMP for the target ZMP is calculated to the angle ϕ, and during being at rest, a small correction amount ΔZMP for the target ZMP is calculated to the angle ϕ. That is, a first gain multiplying the angle ϕ and a second gain multiplying the change speed of the angle ϕ are made smaller during being at rest. Since "inversion pendulum control" is moderately made effective during walking, the robot walks without falling, and during resting, the effectiveness of "inversion pendulum control" is restrained not to cause "self-excited vibration". COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了实现机器人，在步行期间适度地适度地进行有效的“倒置摆控制”而不会下降，并且在休息期间不引起“自激振动”。解决方案：在执行所谓的反转摆动控制中，其中基于在连接机器人的实际主干位置的线与目标ZMP之间形成的角度φ来校正目标ZMP，并且通过目标 ZMP在步行操作期间，针对角度φ计算目标ZMP的大的校正量ΔZMP，并且在静止期间，针对角度φ计算目标ZMP的小的校正量ΔZMP。也就是说，在静止期间使角度φ乘以第一增益和乘以角度φ的变化速度的第二增益。由于“倒立摆控制”在行走中适度有效，机器人不会下落而行走，休息时，“倒摆摆”的有效性受到限制，不会引起“自激振动”。版权所有（C）2004，JPO

18. 发明专利

JP2004136889A Control device of torque distribution clutch for vehicle 审中-公开
公开(公告)号：JP2004136889A
公开(公告)日：2004-05-13
申请号：JP2004026144
申请日：2004-02-02
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OBA MITSURU , SUZUKI KOICHI , YAMAMOTO TAKASHI , YAMASHITA KATSUJI , IKEDA AKIHIKO , IGAKI MUNEYOSHI , TAKADA MANABU , SAKAI TAKESHI
IPC分类号： B60K23/08 , B60K17/348
摘要： PROBLEM TO BE SOLVED: To provide a control device of a torque distribution clutch for a vehicle whereby turning traveling-time control for performing torque distribution control at turning travel and ordinary traveling-time control for performing torque distribution control at linear travel is prevented from being repeatedly selected in a short time period. SOLUTION: When selection from turning traveling-time control to other torque distribution control is determined by a torque distribution control determination means 264, other torque distribution control is selected based on the fact that a predetermined time period passes after the determination by a torque distribution control selection delay means 266. Thus, frequent control mode switch whereby turning travel control for performing torque distribution control at turning travel, ordinary traveling-time control for performing torque distribution control at linear travel or starting-time control is repeatedly selected at a short time period is suitably solved in winding or slalom travel whereby right or left turning travel is repeatedly performed. COPYRIGHT: (C)2004,JPO

19. 发明专利

JP2004068786A Exhaust emission control device for internal combustion engine 有权
标题翻译：用于内燃机的排气排放控制装置
公开(公告)号：JP2004068786A
公开(公告)日：2004-03-04
申请号：JP2002232884
申请日：2002-08-09
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TANNO SHIRO , YAMAMOTO TAKASHI
IPC分类号： F01N3/02 , F01N3/20
摘要： PROBLEM TO BE SOLVED: To reduce quantity of reducing agent required for supplying exhaust gas of theoretical air fuel ratio or rich air fuel ratio to an exhaust gas purifying material as much as possible. SOLUTION: The exhaust gas purifying material 17 is provided in an exhaust gas passage 13 of an internal combustion engine. Bypass passages 13, 27 bypassing the exhaust gas purifying material are connected to an exhaust gas passage. A flow regulating valve 18 is arranged in a branching area of the bypass passage and the exhaust gas passage. When it is determined that it is required to make an internal atmosphere of the exhaust gas purifying material should be made reductive atmosphere by supplying exhaust gas of theoretical air fuel ratio or rich air fuel ratio to the exhaust gas purifying material, supply of exhaust gas of theoretical air fuel ratio or rich air fuel ratio and stop of the supply are intermittently carried out and the flow regulating valve is controlled to keep air fuel ratio of major portion exhaust gas supplied to the exhaust gas purifying material theoretical air fuel ratio or rich air fuel ratio. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：尽可能地减少向废气净化材料提供理论空燃比或浓空燃比的废气所需的还原剂的量。解决方案：排气净化材料17设置在内燃机的排气通道13中。旁通废气净化材料的旁路通路13,27与废气通路连接。在旁通通道和废气通道的分支区域中布置有流量调节阀18。当确定需要通过向排气净化材料提供具有理论空气燃料比或浓空燃比的排气而使排气净化材料的内部气氛成为还原气氛时，间歇地执行理论空燃比或浓空燃比和供气停止，并且控制流量调节阀以保持供给废气净化材料的主要排气的理论空燃比或富空燃料的空燃比比。版权所有（C）2004，JPO

20. 发明专利

JP2003041930A Exhaust emission control device for internal combustion engine 审中-公开
标题翻译：用于内燃机的排气排放控制装置
公开(公告)号：JP2003041930A
公开(公告)日：2003-02-13
申请号：JP2001233851
申请日：2001-08-01
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KAWAGUCHI BUNGO , KAMOSHITA SHINJI , FURUHASHI MICHIO , YAMAMOTO TAKASHI , TANNO SHIRO
IPC分类号： F02B37/12 , F01N3/08 , F01N3/20 , F01N3/24 , F01N3/36 , F02B37/24 , F02D23/00 , F02D41/02 , F02D43/00 , F02D45/00
CPC分类号： Y02T10/144 , Y02T10/47
摘要： PROBLEM TO BE SOLVED: To provide technique for recovering functions of a NOx catalyst by controlling opening of a nozzle vane of a variable displacement type turbo charger to adjust temperature of exhaust or an air-fuel ratio in exhaust in an exhaust emission control device for an internal combustion engine. SOLUTION: This device is provided with the variable displacement type turbo charger 15, the NOx catalyst 20, a toxicity eliminating control means 35 for detoxification, an NOx catalyst condition detection means 38 to detect a condition of the NOx catalyst 20, and a variable displacement type turbo charger control means 35 to open/close the nozzle vane 74 of the variable displacement type turbo charger 15 based on the condition of the NOx catalyst 20 detected by the NOx catalyst condition detecting means 38.
摘要翻译：要解决的问题：为了提供一种通过控制可变排量型涡轮增压器的喷嘴叶片的开度来调节NOx催化剂的功能的技术，以便调节排气排放控制装置中的排气温度或排气中的空燃比内燃机。解决方案：该装置设置有可变排量型涡轮增压器15，NOx催化剂20，用于解毒的毒性消除控制装置35，用于检测NOx催化剂20的状态的NOx催化剂条件检测装置38和可变排量型涡轮增压器控制装置35，用于根据由NOx催化剂条件检测装置38检测的NOx催化剂20的状况来打开/关闭可变排量型涡轮增压器15的喷嘴叶片74。

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