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    • 1. 发明申请
    • VEHICLE ELECTRIC POWER SUPPLY SYSTEM
    • 车用电力系统
    • US20110233996A1
    • 2011-09-29
    • US13038586
    • 2011-03-02
    • Takeshi KATOHiroyoshi SUZUKITakamichi SHIMADA
    • Takeshi KATOHiroyoshi SUZUKITakamichi SHIMADA
    • B60L1/00
    • B60L11/1887B60L11/1892B60L11/1896Y02T90/34
    • A vehicle electric power supply system includes: an electric power generating source; a battery; a first voltage converter configured to raise a voltage of the electric power generating source; a second voltage converter configured to raise a voltage of the battery; and an electric power converter configured to supply voltages, which are obtained by conversions by the respective first and second voltage converters, to a vehicle load. A power control unit, which includes the first voltage converter, the second voltage converter and the electric power converter, and the battery are integrated into a unitary component, and are placed in a front portion of a vehicle while isolated from a vehicle interior. Accordingly, it is possible to widen the vehicle interior and a luggage containing space in the vehicle's rear portion, and to avoid increase in the weight of the vehicle.
    • 一种车辆电力供应系统,包括:发电源; 一个电池 第一电压转换器,被配置为升高所述发电源的电压; 配置成升高电池电压的第二电压转换器; 以及电力转换器,被配置为将通过各个第一和第二电压转换器的转换获得的电压提供给车辆负载。 包括第一电压转换器,第二电压转换器和电力转换器的电力控制单元和电池被集成到一体的部件中,并且被放置在与车辆内部隔离的车辆的前部。 因此,可以使车辆内部和车辆后部的行李容纳空间扩大,并且避免车辆重量的增加。
    • 2. 发明授权
    • Camera exposure controller including imaging devices for capturing an image using stereo-imaging
    • 相机曝光控制器包括用于使用立体成像拍摄图像的成像装置
    • US08026955B2
    • 2011-09-27
    • US12230129
    • 2008-08-25
    • Takamichi ShimadaNobuo Higaki
    • Takamichi ShimadaNobuo Higaki
    • H04N5/235
    • H04N5/2351B25J19/022G03B7/093G03B35/08H04N5/2353H04N13/239H04N13/296
    • 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.
    • 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。
    • 3. 发明授权
    • Picture taking mobile robot
    • 图片拍摄移动机器人
    • US07756322B2
    • 2010-07-13
    • US10914338
    • 2004-08-10
    • Youko SaitouKoji KawabeYoshiaki SakagamiTomonobu GotouTakamichi Shimada
    • Youko SaitouKoji KawabeYoshiaki SakagamiTomonobu GotouTakamichi Shimada
    • G06K9/00
    • H04N1/00127H04N1/00137H04N1/00164H04N1/00244H04N1/00307H04N2201/0084
    • 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.
    • 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。
    • 4. 发明授权
    • Moving object detection system
    • 移动物体检测系统
    • US07254253B2
    • 2007-08-07
    • US10808327
    • 2004-03-25
    • Nobuo HigakiTakamichi Shimada
    • Nobuo HigakiTakamichi Shimada
    • G06K9/00
    • G06K9/00335G06T7/246G06T7/254G06T7/285
    • 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.
    • 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。
    • 5. 发明申请
    • Robot overcurrent prevention system
    • 机器人过电流预防系统
    • US20060082944A1
    • 2006-04-20
    • US11251802
    • 2005-10-18
    • Takuro KoyanagiTakamichi Shimada
    • Takuro KoyanagiTakamichi Shimada
    • H02H3/08
    • H02H7/0833H02H3/04H02H3/093
    • 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.
    • 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。
    • 7. 发明授权
    • Belt for continuously variable transmission
    • 皮带用于连续变速传动
    • US06270437B1
    • 2001-08-07
    • US09386449
    • 1999-08-31
    • Hideaki YoshidaTakamichi Shimada
    • Hideaki YoshidaTakamichi Shimada
    • F16G122
    • F16G5/16
    • 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.
    • 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。
    • 8. 发明授权
    • Shift control method for automatic transmission
    • 自动变速箱换档控制方式
    • US5853349A
    • 1998-12-29
    • US775928
    • 1997-01-02
    • Takamichi ShimadaNoboru Sekine
    • Takamichi ShimadaNoboru Sekine
    • F16H59/46F16H61/00F16H61/06F16H61/08
    • F16H61/061F16H2061/0087F16H59/46Y10T477/6937Y10T477/69387
    • 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.
    • 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。