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1. 发明专利

JP2005235017A Device for recognizing vehicle traveling state 审中-公开
标题翻译：用于识别车辆行驶状态的装置
公开(公告)号：JP2005235017A
公开(公告)日：2005-09-02
申请号：JP2004045406
申请日：2004-02-20
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00 , G06T7/60 , G08G1/16 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a device for recognizing vehicle traveling state, capable of generating accurate photographed image information which will not be influenced by the initial mounting state or the like of an imaging means.
SOLUTION: The vehicle traveling state recognizing device 10 comprises the imaging means 12 mounted on a vehicle body to image the periphery of the vehicle so that the predetermined portion of the vehicle body is included in a part of the imaging area; an image processing means 14 executing image recognition processing to the taken image obtained from the imaging means, to recognize the predetermined portion of the vehicle body and a predetermined recognition object; and a recognition information generating means 16 relatively derive information for the recognition object in the taken image, based on information for the predetermined portion of the vehicle body in the same taken image.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于识别车辆行驶状态的装置，能够产生不受成像装置的初始安装状态等影响的准确的拍摄图像信息。解决方案：车辆行驶状态识别装置10包括安装在车身上的成像装置12，以对车辆的周边进行成像，使得车体的预定部分包括在成像区域的一部分中; 图像处理装置14对从成像装置获得的拍摄图像执行图像识别处理，识别车体的预定部分和预定识别对象; 以及识别信息生成装置16，基于相同拍摄图像中的车体的预定部分的信息，相对导出拍摄图像中的识别对象的信息。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2007292560A Normally vectorizing device for vehicle, and normally vectorizing method for vehicle 有权
标题翻译：用于车辆的正常驾驶装置，以及用于车辆的正常巡航方法
公开(公告)号：JP2007292560A
公开(公告)日：2007-11-08
申请号：JP2006119734
申请日：2006-04-24
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU , FUJITA KEIICHIRO
IPC分类号： G01M17/007 , G01B21/00 , G01B21/26
CPC分类号： G01M17/065 , G01M11/067 , G01M17/0074
摘要： PROBLEM TO BE SOLVED: To provide a normally vectorizing device for a vehicle and a normally vectorizing method for the vehicle, capable of bringing surely the vehicle into a normal vector, in a short time.
SOLUTION: The normally vectorizing device 1 for the vehicle is provided with a guide type normally vectorizing device 2 for guiding wheels (right front wheel 8R, left front wheel 8L, right rear wheel 9R, left rear wheel 9L) of a passenger car 7 advancing to a normally vectorizing position, and for regulating both faces of the wheels of the passenger car 7 reached to the normally vectorizing position, a run-out type normally vectorizing device 4 for rotation-driving the wheels of the passenger car 7 reached to the normally vectorizing position, and a controller 6 for controlling operations of the guide type normally vectorizing device 2 and the run-out type normally vectorizing device 4, and the controller 6 releases the regulation of the wheels by the guide type normally vectorizing device 2, during a period when a rotation speed of the each wheel is brought into a prescribed run-out speed after the wheels of the passenger car 7 are rotation-driven by he run-out type normally vectorizing device 4.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种用于车辆的正常矢量化装置和用于车辆的正常矢量化方法，能够在短时间内确保车辆成为法向量。解决方案：车辆的正向矢量装置1设有用于引导乘客的导轮（右前轮8R，左前轮8L，右后轮9R，左后轮9L）的导向型正向矢量装置2 汽车7前进到正常向量化位置，并且用于调节乘客车7的车轮正面向量化位置的两个面，达到用于旋转驾驶乘用车7的车轮的正向矢量装置4 到正常矢量化位置，以及控制器6，用于控制导向型正矢量化装置2和径向型正矢量化装置4的操作，并且控制器6通过导向型正矢量装置2释放轮的调节在乘客轿厢7的车轮旋转驱动后，将各车轮的转速设定为规定的行驶速度的期间，版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2006306162A Direction adjusting method for vehicle-mounted optical apparatus 有权
标题翻译：车辆安装光学装置的方向调整方法
公开(公告)号：JP2006306162A
公开(公告)日：2006-11-09
申请号：JP2005128357
申请日：2005-04-26
申请人： Toyota Auto Body Co Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , トヨタ車体株式会社
发明人： KONDO TOSHINARI , FUKITA KAZUTSUGU
IPC分类号： B60R1/00 , B60R11/04
摘要： PROBLEM TO BE SOLVED: To provide a direction adjusting method for a vehicle-mounted optical apparatus capable of putting the direction of the optical apparatus identical to the advancing direction of a vehicle.
SOLUTION: The vehicle 1 is positioned confronting regularly to be set at the time of adjustment while a virtual axis FA to exhibit the fore-and-aft direction of the vehicle 1 is used as reference, and the angle α which the vehicle advancing axis GA forms relative to the virtual axis FA is measured from the toe values αR and αL of the rear left and the rear right wheels RL, RR, and also measurement is made for the angle β which the view direction axis CA of a vehicle-mounted camera 2 forms relative to the virtual axis FA. The camera adjusting angle γ is calculated from the sum of the angles α and β measured, and the direction of the camera 2 is adjusted in an amount corresponding to the camera adjusting angle γ.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够使光学装置的方向与车辆前进方向相同的车载光学装置的方向调整方法。解决方案：将车辆1定位为在调整时定位为要设定，而以车辆1的前后方向的虚拟轴FA用作参考，车辆1的角度α 从后左右轮RL和RR的脚趾值αR和αL测量相对于假想轴FA的前进轴GA的形状，并且还测量车辆的视方向轴CA的角度β 安装的相机2相对于虚拟轴FA形成。从测量的角度α和β的和计算相机调整角度γ，并且相机2的方向被调整为与相机调整角度γ相对应的量。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2006133027A Vehicle confronting device 有权
标题翻译：车辆调节装置
公开(公告)号：JP2006133027A
公开(公告)日：2006-05-25
申请号：JP2004320792
申请日：2004-11-04
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU
IPC分类号： G01M17/02
CPC分类号： G01M11/067 , G01M17/0074
摘要： PROBLEM TO BE SOLVED: To provide a vehicle confronting device capable of taking highly accurate confronting attitude by avoiding generation of elastic deformation of a tire or hysteresis to a vehicle underbody. SOLUTION: This device is equipped with two wheel guiding units 10, 10 for front wheels and two wheel guiding units 10, 10 for rear wheels constituted respectively of a pair of guide members g1, g2 having respectively a prescribed length extending in parallel, while keeping the interval in accordance with each tire width W1, W2 of the front wheels 51 and the rear wheels 52 of a vehicle to be confronted. The vehicle 50 is allowed to run along the wheel guiding units in the state where each tire is constrained from both directions by the pair of guide members g1, g2, to thereby secure the confronting attitude. The device is also equipped with a mechanism for adjusting each wheel guiding unit in accordance with tread widths T1, T2 of the vehicle 50, and can thereby cope with various kinds of vehicles by one device. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够通过避免产生轮胎的弹性变形或车辆底部的滞后而能够获得高度准确的面对姿态的车辆面对装置。解决方案：该装置配备有用于前轮的两个轮引导单元10,10和用于后轮的两个轮引导单元10,10，分别由分别具有规定长度并行延伸的一对引导构件g1，g2构成同时根据车辆的前轮51和后轮52的每个轮胎宽度W1，W2保持间隔。在通过一对引导构件g1，g2从两个方向限制了各轮胎的状态下，车辆50能够沿着车轮引导单元行驶，从而确保了相对的姿态。该装置还配备有用于根据车辆50的胎面宽度T1，T2来调整每个车轮引导单元的机构，并且由此可以通过一个装置来处理各种车辆。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2004322244A Robot operation regulating method, its device and robot having this device 有权
公开(公告)号：JP2004322244A
公开(公告)日：2004-11-18
申请号：JP2003118411
申请日：2003-04-23
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU , OKURA MORIHIKO
IPC分类号： B25J19/06 , B25J9/16 , B25J9/18 , G05B19/19
CPC分类号： B25J9/1666 , G05B2219/39082 , G05B2219/40121 , G05B2219/40317 , Y10S700/90
摘要： PROBLEM TO BE SOLVED: To enhance safety of robot work, and to effectively utilize a floor space in a factory. SOLUTION: A virtual safety fence 50 contains a moving locus including a work and a tool 7 equipped on a wrist 5 of a robot 1 in operation, and is defined on a memory. A three-dimensional space area S containing a part of the robot including the work and the tool is defined by at least two places (S1 to S3) or more. Control for stopping the movement of robot arms 3 and 4 is performed, when a predicting position is included in the virtual safety fence 50 in calculating any one locus of the defined three-dimensional space area, by collating the predicting position with the virtual safety fence 50 in calculating the locus of the defined three-dimensional space area. COPYRIGHT: (C)2005,JPO&NCIPI

6. 发明专利

JP2009250617A Tire type discrimination method, and vehicle inspection method and system using the same 有权
标题翻译：轮胎类型识别方法和车辆检查方法及使用该方法的系统
公开(公告)号：JP2009250617A
公开(公告)日：2009-10-29
申请号：JP2008094867
申请日：2008-04-01
申请人： Sanyu Kogyo Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 三友工業株式会社
发明人： FUKITA KAZUTSUGU , KIMURA KAZUFUMI , HIGASHITANI RIKIO
IPC分类号： G01M17/02
CPC分类号： G01M17/02
摘要： PROBLEM TO BE SOLVED: To provide a tire type discrimination method, and a vehicle inspection device, capable of reducing the number of cameras, and coping with various car models without moving the cameras.
SOLUTION: In the tire type discrimination method for photographing a surface image of a tread portion of a tire 6 mounted on a vehicle 5, extracting image information for specifying a tire type, and discriminating the tire type by collating it with registered information, a camera 1a is fixed and arranged on the downstream of a position, where movement of the tire 6 of the vehicle 5 is started from the ground surface to the oblique upside, and an image of a tire tread portion surface is photographed, in a rearward tilted vehicle lift conveyor line 7a for lifting and conveying the vehicle 5, in the rearward tilted attitude. The vehicle inspection device is provided with a tire-type discrimination means 1 and a car model information reading means 2 of the vehicle 5. The tire type to be mounted on the vehicle is retrieved from car model information and is then compared with a tire-type discriminated by the tire type discrimination means 1, and acceptance of both tire types is determined by an acceptance determination means 3. A moving locus of the tire 6 is to have a form that approaches from the front of the camera 1a, floating, and moving rearward.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够减少相机数量并且不移动相机的情况下应对各种车型的轮胎类型识别方法和车辆检查装置。解决方案：在用于拍摄安装在车辆5上的轮胎6的胎面部分的表面图像的轮胎类型判别方法中，提取用于指定轮胎类型的图像信息，并且通过将轮胎类型与登记信息进行比较来区分轮胎类型照相机1a被固定并布置在车辆5的轮胎6的运动从地面到斜上方开始的位置的下游，并且轮胎胎面部表面的图像被拍摄在向后倾斜的车辆升降输送线7a，用于以向后倾斜的姿态提升和输送车辆5。车辆检查装置设置有车辆5的轮胎型识别装置1和车辆型号信息读取装置2.从汽车模型信息中取出要安装在车辆上的轮胎类型，然后与轮胎类型识别装置1，由轮胎类型识别装置1识别的类型，并且通过接受确定装置3确定两种轮胎类型的接受。轮胎6的移动轨迹具有从相机1a的前部移动的形式，浮动的，以及向后移动版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2004122297A Wrist mechanism for industrial robot 有权
标题翻译：工业机器人手持机械
公开(公告)号：JP2004122297A
公开(公告)日：2004-04-22
申请号：JP2002290304
申请日：2002-10-02
申请人： Nachi Fujikoshi Corp , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社不二越
发明人： MATSUMOTO HIROSHI , NADA MINORU , FUKITA KAZUTSUGU , OKURA MORIHIKO
IPC分类号： B25J9/06
摘要： PROBLEM TO BE SOLVED: To provide a wrist mechanism for an industrial robot capable of retaining a wrist part for scooping a heavy weight article up such as a container, a pallet or the like, i.e., from below in a horizontal state, not required to be installed at a high position and providing no interference of a work with an arm even if a tool becomes large.
SOLUTION: The first arm 2 rotatably supported on a vertical shaft 26 at a base 1 has first link mechanisms 33, 6, 7, 3 for retaining the wrist part 5 to the horizontal state; and second link mechanisms 11, 12, 13, 4 connected thereto. When a wrist part 5 driving motor/speed reducer 9 making a fourth arm 14 at a tip end of a third arm 4 as a base is not inputted, a vertical shaft 26 of the base 1 and a rotation shaft 19 of the wrist part 5 become parallel and gravity torque of the heavy weight article is not directly applied to the motor/speed reducer 15 of the wrist part 5.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了提供一种用于工业机器人的手腕机构，其能够保持用于从例如水平状态的下方舀取诸如容器，托盘等的重物品的腕部，不需要安装在高位置，即使工具变大，也不会使工作与臂的干扰。解决方案：第一臂2可旋转地支撑在基座1的垂直轴26上，具有用于将腕部5保持在水平状态的第一连杆机构33,6,7,3。以及与其连接的第二连杆机构11,12,13,4。当没有输入以第三臂4的前端为基底的第四臂14的手腕部5驱动马达/减速器9时，基座1的立轴26和腕部5的旋转轴19 变重平衡，重型物品的重力矩不会直接施加到腕部5的电机/减速器15上。版权所有（C）2004，JPO

8. 发明专利

JP2004074333A Carrier robot, and carrying method 有权
公开(公告)号：JP2004074333A
公开(公告)日：2004-03-11
申请号：JP2002236289
申请日：2002-08-14
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU
IPC分类号： B25J9/06 , B23P19/00
摘要： PROBLEM TO BE SOLVED: To provide a carrier robot, and a carrying method, in which a large carrying weight and a large elevation stroke is realized in spite of a slim constitution, and that is advantageous with relation to installation performance and maintenance performance.
SOLUTION: In this carrier robot, a frame 8 is installed through a first joint 3 at one end of an articulated robot comprising a first arm 1 and a second arm 2 connected by joints. An installation position of the first joint 3 to the frame 8 is set right under the frame 8. The first arm connected to the frame 8 through the first joint 3 is L-shaped having an angle θ between a first section 11 and a second section 12.
COPYRIGHT: (C)2004,JPO

9. 发明专利

JP2007168723A Steering wheel position adjusting device and position adjusting method 审中-公开
标题翻译：转向车轮位置调整装置和位置调整方法
公开(公告)号：JP2007168723A
公开(公告)日：2007-07-05
申请号：JP2005372460
申请日：2005-12-26
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OKADA TAKASHI , FUKITA KAZUTSUGU
IPC分类号： B62D65/02 , B62D1/04 , B62D1/20
摘要： PROBLEM TO BE SOLVED: To promptly and precisely adjust a steering wheel to a horizontal position when measuring and adjusting wheel alignment.
SOLUTION: A tilting detector 6 and a driving device 7 are installed to the steering wheel 1. The tilting detector 6 detects tilting of the steering wheel 1, and on the basis of that, a controller 8 controls a stepping motor 15 to rotate the steering wheel 1. In case that the steering wheel 1 tilts to a right side, the steering wheel 1 is rotated to a left side, and in case that the steering wheel 1 tilts to the left side, the steering wheel 1 is rotated to the right side, thereby adjusting the steering wheel to the horizontal position. By thus adjusting the steering wheel 1 to be rotated in a fixed direction to be adjusted to the horizontal position, dispersion of adjustment precision due to a play of the steering device can be reduced, and the horizontal position can promptly and precisely be adjusted.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：在测量和调整车轮定位时，要及时精确地将方向盘调整到水平位置。解决方案：倾斜检测器6和驱动装置7安装到方向盘1.倾斜检测器6检测方向盘1的倾斜，并且基于此，控制器8控制步进电机15至旋转方向盘1.在方向盘1向右倾斜的情况下，方向盘1向左旋转，并且在方向盘1向左倾斜的情况下，方向盘1旋转到右侧，从而将方向盘调节到水平位置。通过这样调整方向盘1，以便在固定方向上旋转以调整到水平位置，可以减少由于转向装置的播放引起的调节精度的偏差，并且可以及时且精确地调整水平位置。版权所有（C）2007，JPO＆INPIT

10. 发明专利

JP2006287789A Attitude corrector for vehicle-mounted camera, and correcting method thereof 有权
标题翻译：车载照相机的姿态矫正器及其校正方法
公开(公告)号：JP2006287789A
公开(公告)日：2006-10-19
申请号：JP2005107514
申请日：2005-04-04
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU
IPC分类号： H04N5/232 , H04N5/225
摘要： PROBLEM TO BE SOLVED: To provide an attitude corrector for vehicle-mounted camera capable of assuring precision of both image pick-up source position and the image pick-up direction, which determine the attitude of a vehicle-mounted camera. SOLUTION: In order to obtain an attitude corrector for vehicle-mounted camera 1, the corrector includes an external camera 4 for picturizing the vehicle-mounted camera 21 prepared in a vehicle 20 standing still at predetermined static position, a translational error correction means for correcting the translational error of the vehicle-mounted camera 21, based on the picture of the vehicle-mounted camera 21 picturized with the external camera 4, the target 5 for vehicle-mounted camera for being picturized with the vehicle-mounted camera 21 with which the translational error is corrected by this translational error correction means, and a rotation error correction means for correcting the rotation error of the vehicle-mounted camera 21, based on the picture of the target 5 for vehicle-mounted camera picturized with the vehicle-mounted camera 21. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种车载摄像机的姿态校正器，其能够确保确定车载摄像机的姿态的摄像源位置和摄像方向的精度。解决方案：为了获得车载摄像机1的姿态校正器，校正器包括外部照相机4，用于对静止在预定静态位置的车辆20中准备的车载摄像机21进行摄像，平移误差校正用于校正车载摄像机21的平移误差的装置，基于用外部照相机4拍摄的车载摄像机21的图像，用于车载摄像机21拍摄的车载摄像机的目标5 通过该平移误差校正装置校正平移误差的旋转误差校正装置，以及用于校正车载摄像机21的旋转误差的旋转误差校正装置，基于用车辆照射的车载摄像机的目标5的图像（C）2007，JPO＆INPIT

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