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    • 51. 发明授权
    • Robot controller
    • 机器人控制器
    • US5020001A
    • 1991-05-28
    • US407585
    • 1989-09-15
    • Katsumi YamamotoTadashi KoyamaToshio AonoToshiro Itaya
    • Katsumi YamamotoTadashi KoyamaToshio AonoToshiro Itaya
    • B23Q15/013B25J9/10B25J9/18G05B19/408G05B19/4103G05B19/425
    • G05B19/4086G05B19/425G05B2219/36446G05B2219/36458G05B2219/50353
    • A robot controller for having a workpiece held by a robot and having the workpiece machined by moving it relative to a stationary tool. The robot controller can control the velocity of relative motion, against the tool, of a machining point on the workpiece. At each teaching point, a transformation matrix is calculated to convert a position matrix of the flange center as teaching data (i.e., 4.times.4 matrix giving position and attitude in homogeneous coordinates) into a position matrix of the tool tip. Between two adjacent teaching points, interpolation points are set according to a specified velocity. Transformation matrices applicable to the two teaching points are put to interpolation calculations to provide a transformation matrix at each interpolation point. An inverse matrix of the transformation matrix at each interpolation point is applied to the position matrix for the tool tip. This allows the position matrix for the flange center keyed to each interpolation point to be calculated. Using the position matrix for the flange center, rotation angles on the controllable axes of the robot are calculated. With the distance between interpolation points set based on a given velocity, the machining velocity at any machining point may be controlled.
    • 一种机器人控制器,用于具有由机器人保持的工件,并且通过相对于固定工具移动所述工件来加工所述工件。 机器人控制器可以控制工件上加工点相对于工具的相对运动速度。 在每个教导点,计算变换矩阵,以将作为示教数据(即,将均匀坐标中的4×4矩阵赋予位置和姿态)的法兰中心的位置矩阵转换成刀尖的位置矩阵。 在两个相邻的教学点之间,根据指定的速度设置插值点。 将适用于两个教学点的变换矩阵进行插值计算,以在每个插值点提供变换矩阵。 将每个插补点处的变换矩阵的逆矩阵应用于刀尖的位置矩阵。 这允许计算与每个插补点对应的凸缘中心的位​​置矩阵。 使用位置矩阵作为法兰中心,计算机器人可控轴上的旋转角度。 通过基于给定速度设置的插补点之间的距离,可以控制任何加工点处的加工速度。
    • 59. 发明授权
    • Method for stabilizing output of rain sensor and protection method therefor
    • 稳定雨量传感器输出的方法及其保护方法
    • US06397161B1
    • 2002-05-28
    • US09211318
    • 1998-12-16
    • Shuhei TanakaTadashi KoyamaKeiji Tsunetomo
    • Shuhei TanakaTadashi KoyamaKeiji Tsunetomo
    • G01K1130
    • B60S1/0818B60S1/0833B60S1/0866
    • A rain sensor including light emitting means 7 for guiding light into a window glass so as to undergo total internal reflection within the window glass, light receiving means 8 for receiving the light which has undergone total internal reflection within the window glass, and means for detecting the amount of water drops adhered to or present upon the window glass so as to output a driving signal to a wiper driver apparatus 20, a difference signal corresponding to a difference between a preset reference value and an output signal of an amplifier circuit 17 of the light receiving means is fed back to the amplifier 17, and an amplification factor of the amplifier circuit 17 is adjusted so as to maintain the output signal thereof at a constant value irrespective of the operation condition of the wiper, when electrical power is applied to the rain sensor 2. Furthermore, in a protecting method for the rain sensor 2, a driving current fed to light emitting element 10 is measured and converted into an ambient temperature, and a driving current supplied to the light emitting element 10 by the driver circuit 12 is stopped when the converted value is outside a preset temperature range, by turning a switch circuit 14 to OFF.
    • 一种雨水传感器,包括用于将玻璃引导到窗玻璃内的发光装置7,以便在窗玻璃内进行全内反射,用于接收在窗玻璃内完全内部反射的光的光接收装置8,以及用于检测 在窗玻璃上附着或存在的水滴量,以将驱动信号输出到刮水器驱动装置20,对应于预设参考值和放大器电路17的输出信号之间的差的差信号 光接收装置被反馈到放大器17,并且调节放大器电路17的放大系数,以便在与第二实施例的电力施加电力时,将其输出信号保持在恒定值,而不管擦拭器的操作条件如何 雨传感器2.此外,在雨传感器2的保护方法中,测量并转换供给发光元件10的驱动电流 并且当转换值在预设温度范围之外时,通过将开关电路14转到OFF来停止通过驱动电路12提供给发光元件10的驱动电流。
    • 60. 发明授权
    • Wiper controller apparatus of water drop sensitive type
    • 雨滴敏感型刮水器控制装置
    • US06239570B1
    • 2001-05-29
    • US09211286
    • 1998-12-16
    • Shuhei TanakaTadashi KoyamaKeiji Tsunetomo
    • Shuhei TanakaTadashi KoyamaKeiji Tsunetomo
    • H02P300
    • B60S1/0818B60S1/0833Y10S318/02
    • A wiper controller apparatus of the water drop sensitive type comprises: light emitting means 7 for guiding light into a window glass so as to undergo total internal reflection within said window glass; light receiving means 8 for receiving the light which has undergone total internal reflection within said window glass; means for detecting the amount of water drops adhered or present upon an outside surface of said window glass based on an output of said light receiving means, and for driving a wiper thereupon; wherein the apparatus further comprises wiper driving means 18 for driving the wiper again by only one cycle if a time interval from an initiation of said wiper action exceeds a predetermined time. The apparatus further comprises anther wiper driving means 18 for driving said wiper when the signal duration time of the output signal S1 of said light receiving means 8 is equal to or greater than a predetermined time.
    • 水滴敏感型刮水器控制装置包括:发光装置7,用于将光引导到窗玻璃中,以在所述窗玻璃内进行全内反射; 用于接收在所述窗玻璃内完全内反射的光的光接收装置8; 用于基于所述光接收装置的输出检测在所述窗玻璃的外表面上附着或存在的水滴量的装置,以及用于在其上驱动擦拭器的装置; 其中所述装置还包括刮水器驱动装置18,用于如果从所述刮水器动作的启动起始的时间间隔超过预定时间,则再次驱动刮水器仅一个循环。 该装置还包括用于在所述光接收装置8的输出信号S1的信号持续时间等于或大于预定时间时驱动所述擦拭器的花药泵驱动装置18。