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41. 发明专利

JPH0252773B2 失效
公开(公告)号：JPH0252773B2
公开(公告)日：1990-11-14
申请号：JP16592684
申请日：1984-08-08
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： KOBAYASHI YASUMICHI , TAKENAKA KENJI
IPC分类号： F24C7/08 , F24C15/10

42. 发明专利

JPH0252772B2 失效
公开(公告)号：JPH0252772B2
公开(公告)日：1990-11-14
申请号：JP20081284
申请日：1984-09-26
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： KOBAYASHI YASUMICHI , TAKENAKA KENJI , TERAI HARUO
IPC分类号： F24C7/02 , F24C7/04 , F24C7/08 , H05B3/00

43. 发明专利

JPH02242361A CONTROL CIRCUIT FOR COMMUNICATION BETWEEN TWO CPU'S AND MOVING BODY CONTROLLER 失效
公开(公告)号：JPH02242361A
公开(公告)日：1990-09-26
申请号：JP6250389
申请日：1989-03-15
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： EGUCHI OSAMU , TERAI HARUO , KOBAYASHI YASUMICHI , YABUUCHI HIDETAKA , KONDO SHINJI
IPC分类号： G06F15/167 , G06F13/38 , G06F15/16 , G06F15/163 , H04L29/08
摘要： PURPOSE:To shorten the stop time of processing by controlling the data communication between plural microcomputers. CONSTITUTION:When a slave microcomputer 2 writes data in register files 5a and 5b for reception, an inverted output (signal /INT) 14 of a read request signal generating part 9, which outputs a signal to the clock input of a flip flop 3b for reception by an address signal and a write signal (signal /WE) 13 outputted from the slave microcomputer 2, and a flip flop 3a for transmission is inputted to the interrupt terminal of the slave microcomputer, and an inverted output (signal /IRQ) 15 of the flip flop 3b for reception is inputted to the interrupt terminal of a master microcomputer 1. Thus, interrupt is released to continue the processing before the interrupt, and data is efficiently communicated.

44. 发明专利

JPH02239830A ROBOT FOR MOVING WORK 失效
公开(公告)号：JPH02239830A
公开(公告)日：1990-09-21
申请号：JP6175589
申请日：1989-03-14
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： KOBAYASHI YASUMICHI , YABUUCHI HIDETAKA , EGUCHI OSAMU , KONDO SHINJI , TERAI HARUO
IPC分类号： A47L9/28 , G05D1/02
摘要： PURPOSE:To execute a complete charge without requiring human intervention to give a stable charging voltage, simultaneously, to execute the efficient charge, to restrict a using power and to execute the charge with good efficiency at the time of charging by providing a coil and a charging circuit for charging, providing a dislocation detecting means, switchingly adjusting the charging voltage, and providing a charged condition detecting means. CONSTITUTION:In the bottom surface rear part of a main body 1, a coil 17 for charging in an induction system is provided, and simultaneously, a charging circuit 18 to rectify the voltage induced to it and, thereafter, to connected it to a battery 16 is provided. Further, search coils 19 and 20 being the dislocation detecting means to detect the dislocation of the coil 17 to the charging position are provided on the circumference both sides of the coil 17. A charging condition detecting means 21 for execute an output to a movement control means 11 when the fact that the voltage is induced to the coil 17 is detected and the voltage runs short is provided. Thus, since the induction charge can be automatically executed, simultaneously, the voltage induced from the outside is detected by the charged condition detecting means 21 and it can be transmitted to the movement control means of a robot for moving work, by eliminating the charging voltage from the outside, the robot for moving work can be automatically re-activated.

45. 发明专利

JPH0238961B2 失效
公开(公告)号：JPH0238961B2
公开(公告)日：1990-09-03
申请号：JP10594582
申请日：1982-06-18
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： TERAI HARUO , KOBAYASHI YASUMICHI , NAKAMOTO SHIGEHARU , HAYASHIDA YUKIO , NAKAMURA MASAKI
IPC分类号： G05D23/19 , A47J27/00 , G05D23/00 , G05D23/24 , H05B3/00

46. 发明专利

JPH02209121A SELF-TRAVELING CLEANER 失效
公开(公告)号：JPH02209121A
公开(公告)日：1990-08-20
申请号：JP2905389
申请日：1989-02-08
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YABUUCHI HIDETAKA , KOBAYASHI YASUMICHI , EGUCHI OSAMU , KONDO SHINJI
IPC分类号： A47L9/28 , A47L5/24 , A47L9/00
摘要： PURPOSE:To realize a self-traveling cleaner requiring no charging work and operation at the time of starting and ending, by starting cleaning at a set cleaning start time set to a timer, connecting the cleaner to a charging device when the cleaning is finished, and repeating the charging operation. CONSTITUTION:When the cleaning is finished, the self-traveling cleaner is returned to a charging device 24, which is set to a cleaning starting point, by a guide control means 8 and connected to the charging device 24. The charging device 24 executes feeding and charging to a power source 16 by a connecting means 31 for feeding. When the cleaning starting time comes up, for a timer 30 to set the cleaning starting time in advance, a signal is transmitted to a main body 1 of the self-traveling cleaner by a connecting means 32 for signal and the cleaning is started again. This operation is repeated and the self-traveling cleaner, for which the charging work and operation at the time of starting and ending are not needed, is realized. A current detection circuit 28 detects the output current of a charging circuit 29 and detects whether a charging terminal 22 is connected to a feeding terminal 26 or not, namely, constitutes a connection detecting means to detect whether the main body 1 is connected to the charging device 24 or not. When the main body 1 is linked, the condition is displayed by a display means 33.

47. 发明专利

JPH02195289A ULTRASONIC CONTACT SENSOR AND AUTONOMOUS TYPE MOVING ROBOT EQUIPPED THEREWITH 失效
公开(公告)号：JPH02195289A
公开(公告)日：1990-08-01
申请号：JP1543789
申请日：1989-01-25
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： KONDO SHINJI , KOBAYASHI YASUMICHI , YABUUCHI HIDETAKA , EGUCHI OSAMU , TERAI HARUO
IPC分类号： G01B17/00 , G01S7/52 , G01S15/02 , G01S15/08 , G01V1/00
摘要： PURPOSE:To detect the position of contact of an object precisely by constructing the contact sensor of a waveguide, an ultrasonic element, an ultrasonic transmission-reception circuit, a timer circuit and a distance calculating means. CONSTITUTION:An ultrasonic wave is transmitted inside a waveguide 1 from an ultrasonic element 2 by an ultrasonic transmission-reception circuit 3, and it is reflected ordinarily on a closed surface of the waveguide 1 and received as a reflected wave by the ultrasonic transmission-reception circuit 3 through the ultrasonic element 2. A time T from transmission of this ultrasonic wave to reception of the reflected wave is measured by a timer circuit 4. This time T is fixed. When the outer wall of the waveguide 1 is pressed by fingers, for instance, in this constitution, the waveguide 1 is closed up and the ultrasonic wave transmitted is reflected on the surface thus closed and turned to be the reflected wave. Therefore the aforesaid time T is shortened. A distance calculating means 5 calculates from this time T a distance from the ultrasonic element 2 to the surface covered with the fingers, and thus the position of contact of the fingers can be detected linearly with excellent precision.

48. 发明专利

JPH01312489A ULTRASONIC WAVE DISTANCE MEASURING APPARATUS 失效
公开(公告)号：JPH01312489A
公开(公告)日：1989-12-18
申请号：JP14399188
申请日：1988-06-10
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： KOBAYASHI YASUMICHI , YABUUCHI HIDETAKA , EGUCHI OSAMU , KONDO SHINJI
IPC分类号： G01S15/08
摘要： PURPOSE:To prevent erroneous operations due to reflected waves from distant walls and obstacles by commonly using an amplifier circuit and a timer and providing masking means in a device wherein pulses are outputted to a plurality of output terminals and ultrasonic waves are sent out in each measuring direction. CONSTITUTION:Ultrasonic waves are transmitted in each direction from ultrasonic wave piezoelectric transducers 6a-6c which are sequentially driven with oscillating circuits 3a-3c. The reflected waves are received with the ultrasonic wave piezoelectric transducers 6a-6c and inputted into a single amplifier circuit 9 through masking means 12a-12c. Passing of unnecessary reflected waves is inhibited with the masking means 12a-12c. Therefore, the unnecessary reflected waves are not inputted into the amplifier circuit 9. The time from the start of the transmission to the generation of the reflected wave in the amplifier circuit is measured with a timer means 8. The time is converted into the distance datum. When the natural frequencies of the oscillating circuits 3a-3c and the ultrasonic wave piezoelectric transducers 6a-6c are made different, only the reflected waves of the transmitted signals of the apparatus itself become the received outputs. Erroneous operations due to transmitted signal which are oscillated in other ultrasonic wave piezoelectric transducers are not detected.

49. 发明专利

JPH01293408A SELF-TRAVELLING SYSTEM CLEANER 失效
公开(公告)号：JPH01293408A
公开(公告)日：1989-11-27
申请号：JP12430188
申请日：1988-05-20
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： EGUCHI OSAMU , KOBAYASHI YASUMICHI , YABUUCHI HIDETAKA , KONDO SHINJI
IPC分类号： A47L9/28 , A47L9/00 , G05D1/02
摘要： PURPOSE:To prevent cleaning from stopping on the way of cleaning by executing the cleaning after judging from the source voltage that the cleaning of a cleaning area can be executed. CONSTITUTION:When the title cleaner makes a tour of a room and a cleaning area is recognized, the area of the cleaning area is calculated by an area calcu lating part 7. An energy consumption calculating part 8 calculates the electric power necessary until the cleaning of the area is completely executed based on the electric power necessary for cleaning, the electric power necessary for the moving and the electric power necessary for displaying and outputs it to a judging processing part 1. Simultaneously at this time, the voltage of a power source 12 measured by a supply voltage monitoring part 9 is inputted to a judging processing part 11. Consequently, the judging processing part 11 compares the electric power necessary until the cleaning area is completely cleaned and the power source capacity of the power source 12, when the power source capacity is smaller, a 'necessary charging' 13a of a displaying part 13 is displayed, informed to a user, cleaning is not executed, and when the power source capacity is larger, the cleaning in the cleaning area is started. Thus, the cleaning is not stopped on the way of the cleaning.

50. 发明专利

JPH01258007A TRAVELING CONTROL DEVICE FOR MOVING BODY 失效
公开(公告)号：JPH01258007A
公开(公告)日：1989-10-16
申请号：JP8588188
申请日：1988-04-07
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YABUUCHI HIDETAKA , KOBAYASHI YASUMICHI , EGUCHI OSAMU , KONDO SHINJI
IPC分类号： G05D1/02
摘要： PURPOSE:To use only one feedback system by directly detecting the direction of a driving wheel by a gyroscope and traveling the driving wheel on a straight track. CONSTITUTION:A steering motor 6 is controlled by a straight traveling control means 16 to travel a moving body. An angle deflection arithmetic means 17 and a distance deflection arithmetic means 18 respectively compute an angle deflection theta and a distance deflection (x) (theta=0 and V=0 at the initial time). A decision means 21 compares the deflection (x) with a fixed value (a), and when the moving body goes far from the straight track, rotates motor 6, turns the driving wheel 2 to the straight track at a fixed angle and stores a deflection x'. When the traveling track is deflected right or left, a decision means 20 compares the angle deflection theta with a fixed value alphaand turns the driving wheel 2 to the straight direction theta=0. When the arithmetic operation of theta and (x) and the motor 6 is controlled by the means 16, the driving wheel 2 goes straight on the straight track while being corrected and the body 1 is also traveled on the straight track. Consequently, the moving body can surely travel straight without external guide by means of a control system omitting the direction of body direction and using only one direction controlling feedback system.

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