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1. 发明专利

JPH10311771A OIL DETECTING APPARATUS 失效
公开(公告)号：JPH10311771A
公开(公告)日：1998-11-24
申请号：JP12098897
申请日：1997-05-12
申请人： TOSHIBA CORP , TOKYO ELECTRIC POWER CO
发明人： KURODA HIDEHIKO , MUKAI SHIGEHIKO , AIKAWA TETSUO , YOKOYAMA KUNIHIKO , KOKUBO TAKASHI , KUROKI MASAHIKO , KURASAWA HIDEAKI
IPC分类号： G01N21/64 , G01M3/38
摘要： PROBLEM TO BE SOLVED: To lower an erroneous oil detection due to a disturbance and due to the degradation of the apparatus and to specify the existence of a leak and a film thickness with high sensitivity by a method wherein pulsed light containing the absorption wavelength of an oil to be detected is irradiated, the oil is excited so as to emit light and the fluorescent wavelength and the light-emitting time of the oil are selected so as to be observed and detected. SOLUTION: Pulsed light 12 from a pulse light source 11 is narrowed down by a lens 14, it is introduced into an optical fiber 13, and it is guided to an irradiation head 15. In the head 15, an irradiation-wavelength selection device 16 selects an irradiation wavelength containing the absorption wavelength of a leaked oil 39, and the leaked oil 39 is irradiated. The leaked oil 39 absorbs the pulsed light 12, it emits fluorescence, and the florescence the leaked oil 39 is observed by a photomultiplier 23 at an observation device 20 in which an observation filter 21 is set at a prescribed observation wavelength. Then, a detection signal is sent to a processor 30. In this case, after irradiation with the pulsed liquid 12 based on a timing control device 31, only a signal at a time in which the leaked oil 39 emits fluorescence is extracted. By a leaked-oil detection signal, a film-thickness computing device 34 finds a film thickness. As a result, the fluorescence of the leaked oil 39 can be detected with high accuracy.

2. 发明专利

JPH10253487A CONCENTRATION DISTRIBUTION MEASURING DEVICE 失效
公开(公告)号：JPH10253487A
公开(公告)日：1998-09-25
申请号：JP5526797
申请日：1997-03-10
申请人： TOKYO ELECTRIC POWER CO , TOSHIBA CORP
发明人： KOKUBO TAKASHI , KUROKI MASAHIKO , KURASAWA HIDEAKI , OCHIAI MAKOTO , MUKAI SHIGEHIKO , AIKAWA TETSUO , YOKOYAMA KUNIHIKO
IPC分类号： G01N29/00 , G01M3/38 , G01N21/00
摘要： PROBLEM TO BE SOLVED: To make the generation position of a pressure wave accurately identifiable by detecting the pressure wave generated by the photo-acoustic effect between the oscillation light of a light source and measurement object molecules, converting it into a concentration signal or an alarm signal, and obtaining the time difference between luminescence and the detection of the pressure wave. SOLUTION: A pulse laser beam 13 with the light absorbing wavelength of measurement object molecules 11 in a medium M is oscillated by a pulse laser light source 12a, a pressure wave PW is generated by the photo-acoustic effect with the measurement object molecules 11, and it is detected by a microphone 14a. A signal processing means 15 converts the detection signal into the concentration signal out1 of the measurement object molecules 11 and also converts it into the leakage signal out2 of molecules such as an alarm signal to operate an alarm unit. A time difference measuring means 16 detects the time difference between the oscillation time of the pulse laser light source 12a and the detection time of the microphone 14a, and a position identifying means 17 identifies the distance to the measurement object molecules 11. A concentration distribution display means 18 forms and displays the concentration distribution diagram of the measurement object molecules 11 from the position signal an the concentration signal out1.

3. 发明专利

JPH09304281A OIL DETECTOR 失效
公开(公告)号：JPH09304281A
公开(公告)日：1997-11-28
申请号：JP11467996
申请日：1996-05-09
申请人： TOKYO ELECTRIC POWER CO , TOSHIBA CORP
发明人： KURODA HIDEHIKO , MUKAI SHIGEHIKO , AIKAWA TETSUO , YOKOYAMA KUNIHIKO , KOKUBO TAKASHI , KUROKI MASAHIKO
IPC分类号： G01M3/20 , G01M3/38 , G01N21/64
摘要： PROBLEM TO BE SOLVED: To automatically detect a leak of oil without setting special environment by exciting a leak of oil to emit light and selecting the fluorescence wavelength and light emitting time thereof to observe them. SOLUTION: The pulse laser beam 2 from a pulse laser apparatus 1 is introduced into a fiber cable 3 by a lens 4 and introduced into an irradiation head 7 through a cable 3. The emitted laser beam 2 from the head uniformly irradiates a monitor region 6 in a pulse like state. By this constitution, the leak of oil 8 generated from machinery 5 emits fluorescence which is, in turn, appropriately selected by a wavelength selection element 9 to be transmitted. A camera controller 11 opens the shutter function of an image sensor 10 immediately after the extinction of laser beam 2 according to the signal from a synchronizing signal wire 12 to open the same for a preliminarily prescribed time before closes the shutter. As a result, an image signal is applied to a calculator 13 through the controller to be processed to judge the leak of oil and an alarm 14 emits a warning. By this constitution, the leak of oil can be automatically detected.

4. 发明专利

JPH1091232A AUTOMATIC MONITORING DEVICE 失效
公开(公告)号：JPH1091232A
公开(公告)日：1998-04-10
申请号：JP24210096
申请日：1996-09-12
申请人： TOSHIBA CORP , TOKYO ELECTRIC POWER CO
发明人： KOKUBO TAKASHI , KUROKI MASAHIKO , KURASAWA HIDEAKI , AIKAWA TETSUO , YOKOYAMA KUNIHIKO
IPC分类号： H04N7/18 , G05B23/02 , G08B21/00
摘要： PROBLEM TO BE SOLVED: To detect the state of an object purpose without adding any correcting function of the image slippage by converting the photographed video signals into an image whose geometric features are measured and comparing this image with an image obtained in a normal mode to evaluate the image change. SOLUTION: When the check monitoring is requested to a specific object, a turning/ elevating mechanism 2 turns an image pickup device 1 to the object based on the three-dimensional coordinate. An image processing means 14 fetches the video signals and converts them into a digital image. This image undergoes the area division and is stored after the direction pixels are counted against the centroidal coordinate in each divided area. A comparison processing means 15 compares the converted image with a normal image that is previously stored in a storage 8. In this comparison process, an area where the centroidal coordinates of the same area get closest to each other in a designated range is selected, a luminance difference is calculated between the decided areas and this minimum luminance difference is defined as a feature difference between both areas. This calculation is carried out in all areas of the image, and the presence or absence of a state change is detected based on the sum total value of differences. Then the abnormality is detected via a display device 9.

5. 发明专利

JPS63245380A INDUSTRIAL ROBOT 失效
公开(公告)号：JPS63245380A
公开(公告)日：1988-10-12
申请号：JP7434887
申请日：1987-03-30
申请人： TOSHIBA CORP
发明人： YOKOYAMA KUNIHIKO
IPC分类号： G05B19/42 , B25J9/16 , G05B19/4103

6. 发明专利

JPH10221256A PLANT INSPECTION DEVICE AND METHOD 失效
公开(公告)号：JPH10221256A
公开(公告)日：1998-08-21
申请号：JP2016397
申请日：1997-02-03
申请人： TOSHIBA CORP
发明人： KIMURA MOTOHIKO , ITO ARATA , TANAKA NOBUYUKI , OKADA SATOSHI , TAKIGUCHI YUJI , YAMASHITA YUTAKA , YOKOYAMA KUNIHIKO
IPC分类号： G01N21/84 , B61B13/06 , B61B13/08 , G21C17/013 , G21C17/08 , H01L27/146
摘要： PROBLEM TO BE SOLVED: To miniaturize a device by mounting an amplification type MOS (CMOS) composite camera on a monorail type inspection robot following a magnet piston moved in a three-dimensionally installed hollow pipe. SOLUTION: The monorail type inspection robot 1 of a plant inspection device is constituted of a travel vehicle 4 traveled on a guide rail 3 fitted with a hollow pipe 2 and a CMOS composite camera 5 fixed to its bottom face. The travel vehicle 4 is provided with an electromagnetic attracting structure 9 corresponding to a magnet piston 17 driven by compressed air in the pipe 2, and it is moved to follow the piston 17. The composite camera 5 is provided with five radial CMOS cameras 10, for example, a control device 11 synthesizing and transmitting the obtained signal, and an antenna 12. The image pickup element section 14 of each camera 10 is arranged with a CMOS sensor constituted of a light receiving element section, a vertical operation circuit section, a horizontal readout circuit section, and a noise suppression section on one chip, for example.

7. 发明专利

JPH05111892A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH05111892A
公开(公告)日：1993-05-07
申请号：JP27370491
申请日：1991-10-22
申请人： TOSHIBA CORP
发明人： YOKOYAMA KUNIHIKO
IPC分类号： B25J9/06 , B25J15/00 , B25J15/04
摘要： PURPOSE:To provide an industrial robot which can handle a multiple types of works without stopping the industrial robot. CONSTITUTION:A plurality of hands 5a, 5b, 6a, 6b are mounted on turrets 5, 6 that can be freely rotated, and the respective turrets 5, 6 are connected together in series into a multi-stage structure, which is mounted on a tool shaft 3. The hand 5a to be used is positioned vertically downward by rotating the turrets 5, 6, and after the hand mounted on the other turret is positioned horizontally upward at the same time so as to avoid interference with a work, the work is handed by the robot.

8. 发明专利

JPH04205007A FLOOR CLEANING DEVICE 失效
公开(公告)号：JPH04205007A
公开(公告)日：1992-07-27
申请号：JP32573190
申请日：1990-11-29
申请人： TOSHIBA CORP
发明人： YOKOYAMA KUNIHIKO
IPC分类号： A47L9/28 , A47L11/40 , G05D1/02
摘要： PURPOSE:To enable the device to travel accurately even in a wide floor space having no targeted object by dividing an objective cleaning area into blocks, by putting a marker at the cleaning start point each block, mounting a magnetic sensor at the predetermined position. CONSTITUTION:A floor cleaning device is equipped with traveling wheels 5, rotary brushes 1, squeezes 2, and a magnetic sensor 15 for detecting a marker on the floor, and output from the sensor is supplied to a microcomputer 10. An area on the ground side to be subject to cleaning is divided into a plural blocks, and at each traveling point on each block on the floor to be cleaned a marker is put. Further, the cleaning device is manually guided close to a marker 16, and is corrected for positioning. In such a way, the cleaning device is automatically moved to a position so that the sensors 15 can detect the angle of marker 16, starts moving for cleaning, stops at position A to reset a angle deviation of a gyro 8, is further moved to another position B to carry out the same action as done at position A, furthermore moved to the end position C. The same action of the cleaning device applies to markers 17 and 18 to complete cleaning over the entire area.

9. 发明专利

JPH0191824A TRAVELLING FLOOR CLEANER 失效
公开(公告)号：JPH0191824A
公开(公告)日：1989-04-11
申请号：JP24853787
申请日：1987-10-01
申请人： TOSHIBA CORP , TOSHIBA F A SYSTEM ENG , SHIBAURA ENG WORKS LTD
发明人： YOKOYAMA KUNIHIKO , TAKAI MIYAKO , NAITO HIROSHI
IPC分类号： A47L5/12 , A47L9/00 , A47L9/28
摘要： PURPOSE: To make uniform the state of cleaning on the surface of a floor by alternately opening/closing solenoid valves successively for every rotary pad so that the quantity of detergent to be diffused per unit area can become a set value from the traveling speed information of a traveling body. CONSTITUTION: When the cleaning device starts cleaning and the traveling speed of a traveling body from a speed detector 42 installed on the driving wheels of the traveling body is inputted to a solenoid valve opening/closing time operating device 43, this device 43 operates and output the opening time of left and right solenoid valves 31 and 32 corresponding to the traveling speed so that the quantity to be dispersed per unit area can be equal with the set value of quantity to be dispersed set to a dispersing quantity setter 41. A solenoid valve driving device 44 to be operated according to the output of this solenoid valve opening/closing time arithmetic device 43 repeatedly and alternately opens/closes the left and right solenoid valves 31 and 32 and detergent liquid 21 is supplied to the central parts of left and right rotary pads 31 and 32. The rotary pads 31 and 32 uniformly diffuse this detergent liquid onto the surface of floor while rotating.

10. 发明专利

JPS5927304A Industrial robot control device 失效
标题翻译：工业机器人控制装置
公开(公告)号：JPS5927304A
公开(公告)日：1984-02-13
申请号：JP13469782
申请日：1982-08-03
申请人： Toshiba Corp
发明人： YOKOYAMA KUNIHIKO
IPC分类号： B25J9/16 , G05B19/408 , G05B19/4093
CPC分类号： G05B19/4086 , G05B2219/33263 , G05B2219/45083
摘要： PURPOSE:To move a robot arm tip along an optional orthogonal co-ordinate system, in an optional work attitude, by adding an operation processing device for executing a prescribed operation. CONSTITUTION:Operation programs (X1, Y1, Z1)-(Xn, Yn, Zn) stored in a storage device 57 are read out successively. Subsequently, joint angles (theta, phi, psi, alpha, beta, gamma) of each joint are calculated by an operation processing device 58, and are distributed to servo-amplifiers 33-38 of each shaft through a bus line 32. Subsequently, each servo-output signal 39-44 is supplied to servo-actuators, and also a moving extent of each shaft is fed back to the servo-amplifiers 33-38 by position detecting signals 51-56. By processing in this way, a robot arm tip can be moved along an optional orthogonal co-ordinate system, in an optional work attitude.
摘要翻译：目的：通过添加用于执行规定操作的操作处理装置，以可选的工作姿态沿着可选的正交坐标系移动机器人手臂尖端。构成：存储在存储装置57中的操作程序（X1，Y1，Z1） - （Xn，Yn，Zn）被连续地读出。随后，通过操作处理装置58计算每个关节的关节角度（θ，phi，psi，α，β，γ），并通过总线32分配给每个轴的伺服放大器33-38。每个伺服输出信号39-44被提供给伺服致动器，并且每个轴的移动范围通过位置检测信号51-56反馈到伺服放大器33-38。通过以这种方式进行处理，可以以可选的工作姿态沿着任选的正交坐标系移动机器人臂尖端。

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