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1. 发明专利

JPH05215850A ULTRASONIC RANGE FINDER 失效
公开(公告)号：JPH05215850A
公开(公告)日：1993-08-27
申请号：JP28925591
申请日：1991-10-08
申请人： TOKIMEC INC
发明人： TAKEUCHI NAOYUKI , ONARI YASUKE , SUGANO KENJI , HISHINUMA YASUAKI
IPC分类号： G01S7/526 , G01S7/52 , G01S15/10
摘要： PURPOSE:To enable the correct measurement of distance to a target even with the level fluctuation of reflected waves from the target in a range finder utilizing ultrasonic waves. CONSTITUTION:A receiving part 1 receives reflected waves from a target based on ultrasonic transmit waves sent out synchronously with transmit timing pulses. A comparing part 14 generates a detection signal when the level of an input signal exceeds the threshold value, and a time difference signal generating part 15 generates a signal of time difference between the detection signal and transmit timing pulse. The distance to the target is measured by this time difference. In this case, a low-pass filter 16 is provided to convert the waveform of the input signal into envelope waveform, and this envelope waveform is used as the threshold value. As a result, even if the level of a reflection signal is fluctuated, the detection threshold value is changed accordingly so as to allow the distance to the target to be measured always correctly.

2. 发明专利

JPH0476412A TURNING ANGLE DETECTION DEVICE FOR TRAVELING BODY 失效
公开(公告)号：JPH0476412A
公开(公告)日：1992-03-11
申请号：JP19021990
申请日：1990-07-18
申请人： TOKIMEC INC
发明人： ONARI YASUKE , HISHINUMA YASUAKI , SUGANO KENJI , OTSUKA KAZUHIKO , AKIFUJI KENJI , TAKEUCHI NAOYUKI
IPC分类号： G01B21/22
摘要： PURPOSE:To improve operability by providing a sensor wheel on an offset axis installed in the front of a traveling body, and mounting an angle sensor detecting an angle between the proceeding direction of the sensor wheel at the time of proceeding and the center line of the traveling body. CONSTITUTION:An offset axis 28 is rotatably supported with a supporting part 26, forwardly protruded along the center line of a pair of driving wheels 4 and 6 in the front of a robot main body 2. An angle sensor, such as an optical rotary encorder detecting the rotation angle alpha of the offset axis 28, is provided on the supporting part 26, and also a turning angle, when the main body 2 is in a turning motion, is detected by measuring the travel distance of a sensor wheel 30. A turning sensor such as an optical rotary encorder is provided, and a detection signal is transferred to a control part in the main body 2. The turning angle of the main body 2 is detected by the inputted detection signal in the control part, and various kinds of control, such as the drive of driving wheels 4 and 6 and trowels 10 and 12, are made.

3. 发明专利

JPH05100023A ULTRASONIC RANGE FINDER 失效
公开(公告)号：JPH05100023A
公开(公告)日：1993-04-23
申请号：JP28925491
申请日：1991-10-08
申请人： TOKIMEC INC
发明人： TAKEUCHI NAOYUKI , ONARI YASUKE , SUGANO KENJI , HISHINUMA YASUAKI
IPC分类号： G01S7/526 , G01S7/52 , G01S15/10
摘要： PURPOSE:To measure the distance from a target object correctly with a range finder using ultrasonic waves by removing influence of reflected waves from other objects situated closer. CONSTITUTION:A signal reception part 1 receives reflected waves from a target object originating from the ultrasonic waves transmitted in synchronization with transmission timing pulses, and a comparator 14 generates a sensing signal when the threshold is exceeded by the level of the reception signal, and a time difference signal generating circuit 15 generates a signal about time difference between the sensing signal and the transmission timing pulse to serve for measuring the distance from the target. Therein a mask signal generation part 16 is furnished to generate a time mask signal which can be set any as desired from the transmission timing pulse, while a gate part 17 prohibits emission of sensing signals in conformity to the mask signal. This accomplishes removal of influence of reflected waves by other object situated closer and provides correct measurability for the distance from the target object.

4. 发明专利

JPH04261960A CONCRETE FLOOR FINISHING MACHINE 失效
公开(公告)号：JPH04261960A
公开(公告)日：1992-09-17
申请号：JP2234691
申请日：1991-02-15
申请人： TOKIMEC INC
发明人： ONARI YASUKE , TAKEUCHI NAOYUKI , SUGANO KENJI , HISHINUMA YASUAKI , AKIFUJI KENJI , OTSUKA KAZUHIKO
IPC分类号： E04F21/24 , E04G21/10
摘要： PURPOSE:To carry out the finishing work of a concrete floor automatically or in a remote control operation by fixing a frame furnishing a pitch regulating plate, a holder plate held to the frame, and rotors held rotatable to each holder plate, and providing a driving means to rotate the rotors and to move the regulating plate up and down. CONSTITUTION:A machine body 1 is composed of a frame 2, a motor 3, rotary shafts 4 and 4a, rotors 5 and 5a, a holder plate 6, and a pitch regulating plate 7. And, while the holding plate 6 is moved up and down through a sleeve 63 by moving the pitch regulating plate 7 up and down by a motor 45, a rotor shaft 56 is inclined to all directions to the axial line of the sleeve 63. Then, by driving the motor 3, the rotors 5 and 5a, and a plate 53 are rotated by the rotation of rotor shafts 56 and 56a. Consequently, the finishing work of a concrete floor can be carried out automatically and in a remote control operation.

5. 发明专利

JPH03297799A WORKING RANGE REGULATING DEVICE FOR ELEVATED PLACE WORKING VEHICLE 失效
公开(公告)号：JPH03297799A
公开(公告)日：1991-12-27
申请号：JP9857090
申请日：1990-04-13
申请人： TOKIMEC INC
发明人： ONARI YASUKE , TAKEUCHI NAOYUKI , HISHINUMA YASUAKI
IPC分类号： B66F9/06 , B66C23/90 , B66F9/24 , B66F11/04
摘要： PURPOSE:To improve safety by operating a boom to a boundary position be tween a safety range and a risk range, inputting indication, by which a current calculating height and rotary radius data form new regulation data, from the outside, and rewriting actual data in a newly mounted rewriting and erasable semiconductor memory. CONSTITUTION:A rise and fall angle signal Stheta and a stroke signal SL for a boom are converted into digital data by means of a converter 23 and transferred to a pass line 24 of a microcomputer. A central control part 25, a memory 26 for a reading use only storing data showing a boom safe range, an RAM 27, a semiconductor memory 28 capable electrically rewriting an erasing, and circuits 29 and 30 are connected to the pass line 24. An external input device 31 is connected to the circuit 29, and an alarm display unit 32 and solenoids 33 and 34 for regulation are connected to the circuit 30. This constitution easily corrects data for regulating a working range by means of an external force when an error occurs to regulation of safety range and ensures safety.

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