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1. 发明专利

JPH11230746A POSITION DETECTION EQUIPMENT FOR MOVING BODY 失效
公开(公告)号：JPH11230746A
公开(公告)日：1999-08-27
申请号：JP2900698
申请日：1998-02-12
申请人： HITACHI SHIPBUILDING ENG CO , TOYO UMPANKI CO LTD
发明人： HIRAOKA KAZUYUKI , SHIMODA HIROTOSHI , NAKAMURA YOICHIRO , ISOU YOSHIHIRO , OYOSHI KAZUNARI , NARASAKI HISATOSHI
IPC分类号： G01C15/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a position detection equipment capable of confirming a position in a moving body freely moved indoors/outdoors without the need of a body to be detected along a moving route. SOLUTION: Plural recursive type light reflectors 3 are provided in an area 1. The moving body 2 is provided with the recursive light reflector 6, a horizontal rotation laser device 8 for horizontally irradiating light beams over the entire periphery while performing rotation and detecting light recurring from the light reflector 3 or the reflector 6 of the other moving body 2, an angle detection means for detecting the rotation angle of the horizontal rotation laser device 8, an origination means for originating the coordinate data of the light reflector 6, a reception means for receiving the coordinate data of the light reflector 6 originated from the other moving body 2, and a measurement means for measuring the coordinates of a second light reflector 6 by the rotation angle of the horizontal rotation laser device 8 at the time of detecting the light recurring from a first light reflector 3 and the second light reflector 6 from the other moving body 2 and the coordinate data of the light reflectors 3 and 6 and originating them through the origination means.

2. 发明专利

JP2000346939A METHOD AND APPARATUS FOR DISCRIMINATION OF REFLECTED LIGHT AS WELL AS APPARATUS FOR DETECTING POSITION OF MOVING BODY USING APPARATUS FOR DISCRIMINATION OF REFLECTED LIGHT 失效
公开(公告)号：JP2000346939A
公开(公告)日：2000-12-15
申请号：JP16029499
申请日：1999-06-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01S17/02
摘要： PROBLEM TO BE SOLVED: To obtain a method for the discrimination of reflected light, which is precise, simple and practical. SOLUTION: A plurality of reflectors (retroreflecting bodies) whose positions are specified are arranged around a moving body 1. The beam of a semiconductor laser 11 is cast over the whole circumference from the moving body 1. The angle θ of rotation of a mirror which radiates a beam of light at a time when the reflected light of the beam is received by a light receiving element 32 is detected. Angle ranges θmin to θmax of the angle of rotation of the mirror which receives beams of reflected light from the reflectors by the light receiving element 32 are estimated. When the detected angle of rotation of the mirror is within the estimated ranges θmin to θmax of the angle of rotation, the beams of reflected light are recognized as beams of reflected light from the reflectors. By this method, a noise of the reflectors can be discriminated from a noise of other objects (a regular reflecting body such as a window, a metal frame, a pipe or the like), a disturbance noise can be removed in a laser guidance system, and it is possible to prevent the erroneous detection of the positions due to the noise.

3. 发明专利

JP2000246675A ROBOT DEVICE 失效
公开(公告)号：JP2000246675A
公开(公告)日：2000-09-12
申请号：JP4927399
申请日：1999-02-26
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAKAMURA YOICHIRO , OKADA TOSHIYUKI , SHIMODA HIROTOSHI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a robot device capable of performing specified work while moving in a narrow passage. SOLUTION: This robot device is constituted by connecting four unit bodies 5 each comprising a support plate body 2 and a fitting plate body 4 connected at four points every 90 deg. to the support plate body 2 respectively through a pair of expansion air cylinders 3. When connecting the unit bodies 5 to each other, the fitting plate body 4 of one unit body 5 is connected to the support plate body 2 side of the other unit body 5, and projecting/retreating air cylinders 8 for projecting/retreating pressing means 7 are provided on the support plate body 2 side of each unit body 5.

4. 发明专利

JP2004256164A LIQUID CHARGING EQUIPMENT 审中-公开
公开(公告)号：JP2004256164A
公开(公告)日：2004-09-16
申请号：JP2003052096
申请日：2003-02-28
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAKAMURA YOICHIRO
IPC分类号： B65B57/02 , B65B35/58 , B65B57/00 , B67B3/00 , B67C3/24 , B67C7/00
摘要： PROBLEM TO BE SOLVED: To enable prevention of lowering of charging work efficiency, regardless of the kind of a container, and restraint of increase in the cost of equipment. SOLUTION: The liquid charging equipment comprises: a carrying-in conveyor, charging equipment, a capping machine that caps the mouth part of a container; a carrying-out conveyor that carries out charged containers, a direction detecting machine 16 that detects the direction of the container based on the handle of the container being carried on the carrying-in conveyor; and a container delivery machine 17, installed between the carrying-out conveyor and the charging machine, for holding the containers on the conveyor while turning them, based on their directions detected by the direction detecting machine, so that they will be in the prescribed direction for delivery to the charging machine. The liquid charging equipment is further provided with a shift angle detecting machine 18 that detects the angle of a cap being shifted from the direction in which it is to be fitted, with respect to the container of the charged container carried out on the carrying-out conveyor, and a shift control part 19 that inputs the shift angle detected by the shift angle detecting machine and adjusts the amount of rotation of the container on the container delivery machine so that the shifted angle detected may come within a prescribed value. COPYRIGHT: (C)2004,JPO&NCIPI

5. 发明专利

JP2001075645A METHOD AND EQUIPMENT FOR DETECTING POSITION OF MOBING OBJECT 失效
公开(公告)号：JP2001075645A
公开(公告)日：2001-03-23
申请号：JP25369499
申请日：1999-09-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01C15/00 , G01B11/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide the equipment for detecting the position of a moving object by which the error caused by the inclination or ruggedness of a road surface is eliminated in a laser navigator system. SOLUTION: Conical retroreflectors 13 whose plane coordinates are already known are arranged in the plural parts of an area 11, and a moving object 12 is rotated and horizontally irradiated with light beams across the whole periphery, and the angle of rotation width of the light beams is measured while the recursive reflected lights of the retroreflectors 13 are detected, and the inclination of the moving object 12 is detected according to the measured angle of rotation width. Also, the plane coordinates at the present positions are measured from the angle of rotation of the light beams and the coordinate data of the retroreflectors 13 when the recursive reflected lights of the retroreflectors 13 are detected, and the plane coordinates are corrected by the detected inclination of the traveling object 12. Thus, the accurate position of the moving object 12 can be measured without being affected by the inclination or projecting/recession of the road surface can be measured, and stable traveling without being affected by the inclination or ruggedness of the road surface can be realized.

6. 发明专利

JP2001074458A POSITION DETECTING FACILITY FOR MOVING OBJECT 失效
公开(公告)号：JP2001074458A
公开(公告)日：2001-03-23
申请号：JP25369399
申请日：1999-09-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01C15/00 , G01C15/06 , G01S17/46 , G05D1/02 , G08G1/042
摘要： PROBLEM TO BE SOLVED: To provide a position detecting facility, for a moving object, in which errors due to the inclination or the unevenness of a road surface are eliminated in a laser navigator system. SOLUTION: Pillars 15 whose plane coordinates are known and which are composed of retroreflecting bodies 13 and regularly reflecting bodies 14 are installed in a plurality of places in an area 11. While a moving object 12 is being turned, it is irradiated with a beam of light horizontally over the whole circumference. Beams of regularly reflected light from the regularly reflecting bodies 14 are detected. The inclination of the moving object 12 is detected on the basis of displacement amounts in the vertical directions of the detected beams of light reflected regularly from the regularly reflecting bodies 14. In addition, the angle of rotation of the beam of light when beams of retroreflected light from the retroreflecting bodies 13 are detected is measured, and the plane coordinates of a present position are measured on the basis of coordinate data on the retroreflecting bodies 13. The plane coordinates are corrected by the detected inclination of the moving object 12. By this constitution, precise position of the moving object 12 can be measured, without being influenced by the inclination or the unevenness of a road surface, and a stable running operation which is not influenced by the inclination or the unevenness of the road surface can be performed.

7. 发明专利

JP2002096260A POLISHING MACHINE 失效
公开(公告)号：JP2002096260A
公开(公告)日：2002-04-02
申请号：JP2000280401
申请日：2000-09-14
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAKAMURA YOICHIRO , MIYAMOTO SHINJI , OKADA TOSHIYUKI , MIWA KENICHI
IPC分类号： B24B49/10 , B24B37/005 , B24B37/10 , B24B49/16 , B24B37/04 , B24B37/00
摘要： PROBLEM TO BE SOLVED: To solve a fault of a conventional polishing machine. SOLUTION: In the polishing machine, a working face 4a of an object to be worked 4 is pressed on a polishing face 2a of a rotary surface plate 2 to smooth the working face 4a. Parallel link structure is employed in a supporting portion 5 of the object to be worked that changes the vertical motions and the attitude at a time of removing/attaching the object to be worked and presses the object to be worked on the surface plate 2. A pressure sensor 12 senses the pressure on a rod side and a head side in air cylinders 5a constituting a link. Based on the sensed pressure, a pressing force controller 8 feed backs the pressing force for the displacement instruction at a next time point of each air cylinder 5a output from hand position/attitude setting apparatus 9 for setting a position and the attitude of each cylinder 5a. Therefore, the turning and the vertical motions of a pressing plate at the time of removing/attaching the object to be worked, the pressing of the object to be worked to the surface plate, and the swinging of the object to be worked are implemented by very simple mechanism with small number of parts. The pressing force uniformly acts on the whole area of the working face of the object to be worked according to a set value.

8. 发明专利

JP2001088992A FRAME REPLACING DEVICE FOR WINDER 失效
公开(公告)号：JP2001088992A
公开(公告)日：2001-04-03
申请号：JP27148999
申请日：1999-09-27
申请人： HITACHI SHIPBUILDING ENG CO
发明人： MIYAMOTO SHINJI , SHIMODA HIROTOSHI , NAKAMURA YOICHIRO , ISO YOSHIHIRO
IPC分类号： B65H19/22 , B65H19/26 , B65H19/30
摘要： PROBLEM TO BE SOLVED: To reduce the wrinkling of the cut end of a wound matter such as paper, when cut, in the replacement of a frame. SOLUTION: A frame replacing roll 31 is provided between the winding completion position E of a reel drum 4 and a spool 5a, and the frame replacing roll 31 is formed of a freely rotatable roll body and a cutter 32 located on the outside of the circumferential surface of the roll body to cut paper 3. The frame replacing roll 31 is movable to a retreat position A where it is retreated under the paper 3 and a frame replacement position B where the roll body is rotated in contact with the lower surface of the paper 3. This device further comprises a switching means 34 for switchingly rotating the cutter 32 in the circumferential direction of the roll body to a cutting position for cutting the paper 3 and to a separate position from the paper 3.

9. 发明专利

JP2000193440A LASER ANGLE MEASURING DEVICE 失效
公开(公告)号：JP2000193440A
公开(公告)日：2000-07-14
申请号：JP37183198
申请日：1998-12-28
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , OYOSHI KAZUNARI , NARASAKI HISATOSHI
IPC分类号： G01B11/26 , G01C1/00 , G01C15/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To detect an accurate angular position by condensing a weak recursive laser beam. SOLUTION: A reflection mirror 5 provided, tilted 45 deg., on the projection optical axis of a projection laser beam projected from a laser oscillator 4, a total-reflection rotary mirror 3 which is, tilted 45 deg. relative to the projection optical axis, provided for free rotation around the projection optical axis, a rotary encoder 17 for detecting the rotational angle of the rotary mirror 3, a light receiving element 7 wherein a recursive laser beam reflected on a recursive reflective body R is reflected on the total-reflection rotary mirror 3 and the reflection mirror 5 and then received, and a counter 9 for detecting the angular position of the recursive reflective body R with the signal of the light- receiving element 7 and the rotary encoder 17, are provided. Here, the reflection mirror 5 is provided with a half mirror part 5a of high transmissivity at its central part while a total-reflection mirror part 5b of low transmissivity is formed at its outer peripheral part.

10. 发明专利

JPH11190630A POSITION DETECTING DEVICE IN MOVABLE BODY GUIDING INSTALLATION 失效
公开(公告)号：JPH11190630A
公开(公告)日：1999-07-13
申请号：JP35867797
申请日：1997-12-26
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , ISOU YOSHIHIRO , HIRAOKA KAZUYUKI
IPC分类号： G01C15/00 , B66F9/24 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To receive reflected light simultaneously over the whole circumferential direction and heighten reliability while dispensing with mechanical rotating mechanism and power. SOLUTION: A moving body guide installation is provided with a forklift truck that can self-advance along a preset route, first to third corner cubes arranged in specified positions around the route, a light projecting device 3 provided at the forklift truck so as to irradiate projected light over the whole periphery, and a light receiving device 4 detecting reflected light reflected by the corner cubes. The light projecting device 3 irradiates laser beams irradiated from a semiconductor laser 11, to a conical light reflecting-projecting member 15 along an axial direction to form ring beams. The light receiving device 4 is provided with a light receiving part 4a detecting reflected light, and an incident angle detecting part 4b that can detect the incident angle of the reflected light on the basis of a signal from the light receiving part 4a.

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