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1. 发明专利

JP2007078610A Sensing object value estimating device, and method therefor 审中-公开
标题翻译：感测对象价值评估装置及其方法
公开(公告)号：JP2007078610A
公开(公告)日：2007-03-29
申请号：JP2005269774
申请日：2005-09-16
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , FUJIYOSHI MOTOHIRO , NONOMURA YUTAKA
IPC分类号： G01D3/00
摘要： PROBLEM TO BE SOLVED: To provide a sensing object value estimating device for improving detection precision by estimating a sensing object value when there is input exceeding a dynamic range of a sensor, and to provide its estimating method.
SOLUTION: An integration value estimating device 20 has a first loop memory 21 for recording transition of a sensor output value, a range-over start/range-in return determining part 27 for detecting deviation from the inside of a dynamic range of the sensing object value on the basis of the sensor output value and detecting return to the inside of the dynamic range, and a sensing object value estimating part 28 for estimating the transition of the sensing object value on the basis of the transition of the sensor output value before deviation recorded to the first loop memory 21.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于通过在输入超过传感器的动态范围的情况下估计检测对象值来提高检测精度的检测对象值估计装置，并提供其估计方法。解决方案：积分值估计装置20具有用于记录传感器输出值的转换的第一循环存储器21，用于检测从动态范围内的偏差的范围开始/范围返回确定部27 基于传感器输出值和检测到动态范围内部的检测对象值，以及感测对象值估计部28，用于基于传感器输出的转变来估计感测对象值的转变偏差前的值记录到第一循环存储器21中。（P）版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2007040763A Correction device of acceleration sensor 审中-公开
标题翻译：加速度传感器校正装置
公开(公告)号：JP2007040763A
公开(公告)日：2007-02-15
申请号：JP2005223504
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01P21/00
CPC分类号： G01P21/00
摘要： PROBLEM TO BE SOLVED: To provide a device capable of correcting the sensor output of an acceleration sensor with a simple constitution and capable of precisely detecting the acceleration, in its turn detecting the attitude angle of a moving body.
SOLUTION: An attitude angle operation unit 14 operates the attitude angle of a robot from the output of acceleration sensor 10. An attitude angle comparator 16 compares the angle at a prescribed attitude angle set in a register 20 with a detected attitude angle, and outputs the difference to a correction operator unit 18. A correction operator 18 outputs the correction value to a zero point corrector 26 or a sensitivity corrector 28 so as to eliminate the difference. The attitude angle set in the register 20 can be set via the input unit 22.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够以简单的结构校正加速度传感器的传感器输出并且能够精确地检测加速度的装置，从而检测移动体的姿态角度。姿态角度运算单元14根据加速度传感器10的输出对机器人的姿势角进行动作。姿势角比较器16将设定在寄存器20中的规定姿态角度的角度与检测到的姿势角进行比较，并将差值输出到校正运算器单元18.校正运算器18将校正值输出到零点校正器26或灵敏度校正器28，以消除差异。寄存器20中设置的姿态角可以通过输入单元22来设定。版权所有：（C）2007，JPO＆INPIT

3. 发明专利

JP2007040765A Zero point correction device of angular velocity sensor 审中-公开
标题翻译：角速度传感器的零点校正装置
公开(公告)号：JP2007040765A
公开(公告)日：2007-02-15
申请号：JP2005223508
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01C19/00
CPC分类号： G01C25/005 , G01P13/00
摘要： PROBLEM TO BE SOLVED: To correct a zero point of an angular velocity sensor with a simple constitution.
SOLUTION: The angular velocity sensor 10 is provided on a moving body such as a robot. A change range setter 14 determines a static state by whether the change width of an angular velocity is below a prescribed value or not, and a static state determiner 20 determines whether the static state is continued over a determination time or not. A total sum averaging unit 34 calculates the total sum average of data to the number of (n-i) determined by removing data to the number of i just before a finish timing from data to the number of n in a period determined to be in the static state, and performs zero point offset. A zero point corrector 36 corrects the zero point of a sensor output and outputs the result to an output unit 28.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：以简单的结构校正角速度传感器的零点。解决方案：角速度传感器10设置在诸如机器人的移动体上。变化范围设定器14通过角速度的变化宽度是否低于规定值来决定静止状态，静止状态判断部20判定静止状态是否在判定时间内持续。总和平均单元34计算数据的总和平均值，其数量与通过在确定为静态的周期中从数据到数目n之间的数据去除数据之前i完成定时之前的i的数量确定状态，并执行零点偏移。零点校正器36校正传感器输出的零点并将结果输出到输出单元28.版权所有：（C）2007，JPO＆INPIT

4. 发明专利

JP2007040764A Abnormality detection device of optical fiber gyroscope 审中-公开
标题翻译：光纤陀螺异常检测装置
公开(公告)号：JP2007040764A
公开(公告)日：2007-02-15
申请号：JP2005223506
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01C19/00 , G01C19/72
CPC分类号： G01C19/721
摘要： PROBLEM TO BE SOLVED: To detect easily abnormality of an optical fiber gyroscope.
SOLUTION: Each number of pulses in a predetermined sampling period of a CW signal and a CCW signal of the optical fiber gyroscope 10 is detected by samplers 12, 18. An abnormality determiner 28 determines the normality of the gyroscope when each number of pulses is not less than a threshold, and determines that an abnormality such as a disconnection or a connection failure is generated when both numbers of pulses are lower than the threshold, and outputs the result to an output unit 26. The abnormality determiner 28 may determine an abnormality by existence of a quantized noise.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：易于检测光纤陀螺仪的异常。
解决方案：采样器12,18检测CW信号的预定采样周期中的每个脉冲数和光纤陀螺仪10的CCW信号。异常确定器28确定陀螺仪的每个数量脉冲不小于阈值，并且当两个脉冲数都低于阈值时，确定发生诸如断开或连接故障的异常，并将结果输出到输出单元26.异常确定器28可以确定通过存在量化噪声的异常。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2007040762A Optical gyro calibration system, robot equipped with optical gyro, and optical gyro calibration program 审中-公开
标题翻译：光学陀螺仪校准系统，配备光学陀螺仪的机器人和光学校准程序
公开(公告)号：JP2007040762A
公开(公告)日：2007-02-15
申请号：JP2005223503
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： MORI TAKEMITSU , KATO TAKASHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01C19/00 , G01B11/00
CPC分类号： G05D1/0891 , G01C19/00 , G01C25/00
摘要： PROBLEM TO BE SOLVED: To facilitate the measurement of the position and direction of a robot and perform the calibration of a gyro with reduced influence of noise in the robot equipped with the gyro. SOLUTION: Performing the calibration of the robot equipped with the gyro comprises irradiating a target wall with a laser beam from the robot, measuring the position of a laser point on the target wall and acquiring the position data in that state as an initial value (S10, S12), and displaying the start of calibration or the like (S14, S16). A calibration period is reset (S18) to start timing processing for the calibration period. During a predetermined calibration period, detection values of the optical gyro are continuously acquired through sampling (S20). When disturbance is involved during the acquisition, an alarm is output, and the calibration is started over. When disturbance is not involved during the calibration period, and the calibration is completed, a calibration value is set on the basis of the detection values during the calibration period (S26, S28). COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了便于机器人的位置和方向的测量，并且在装备有陀螺仪的机器人中具有减小的噪声影响的陀螺仪的校准。解决方案：对配备有陀螺仪的机器人进行校准包括用来自机器人的激光束照射目标壁，测量目标壁上的激光点的位置，并将该状态下的位置数据作为初始值（S10，S12），并显示校准开始等（S14，S16）。校准周期被复位（S18），以开始校准周期的定时处理。在预定的校准周期期间，通过采样连续地获取光学陀螺仪的检测值（S20）。当采集过程中出现干扰时，输出报警，并开始校准。当在校准周期内不涉及干扰并且校准完成时，基于校准期间的检测值来设定校准值（S26，S28）。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2008002867A Attitude angle determining apparatus and determining method for the same 有权
标题翻译：姿态角度测定装置及其测定方法
公开(公告)号：JP2008002867A
公开(公告)日：2008-01-10
申请号：JP2006170896
申请日：2006-06-21
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01B21/22 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide an attitude angle determining apparatus for easily and accurately obtaining the positional relation, even if there is a complex relation among coordinate systems, and to provide its determining method. SOLUTION: The attitude angle determining apparatus comprises an inclination angle, acquiring section for acquiring an inclination angle as an angle between the axial direction and the gravity vector direction, on each axis of a three-axis orthogonal coordinate system configured to each link; an attitude change indicating section 28 for providing three combinations of global attitudes at maximum, as attitude relation between first and second links is fixed; inclination vector calculating sections 33, 34 for obtaining an inclination vector from the inclination angle in each axial direction of the each link in each global attitude; an inclination matrix calculating section 36 for obtaining an inclination matrix from the inclination vector obtained from each global attitude in each link; and a link matrix calculating section 38 for calculating a link matrix, representing the attitude angle by obtaining a product of one and the other inverse matrices. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：即使在坐标系之间存在复杂的关系，也提供一种姿态角确定装置，用于容易且准确地获得位置关系，并提供其确定方法。解决方案：姿态角确定装置包括倾斜角度获取部分，用于在构造成每个连杆的三轴正交坐标系的每个轴上获取倾斜角度作为轴向方向和重力矢量方向之间的角度 ; 作为第一和第二连杆之间的姿态关系的姿态改变指示部分28，用于提供最大全局态度的三种组合; 倾斜矢量计算部33,34，用于从每个全局姿态中的每个连杆的每个轴向方向上的倾斜角度获得倾斜矢量; 倾斜矩阵计算部36，用于从每个链接中的每个全局姿态获得的倾斜向量获得倾斜矩阵; 以及链路矩阵计算部分38，用于通过获得一个和其它逆矩阵的乘积来计算表示姿态角度的链接矩阵。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2007041735A Robot control system 审中-公开
标题翻译：机器人控制系统
公开(公告)号：JP2007041735A
公开(公告)日：2007-02-15
申请号：JP2005223511
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G08C19/00 , B25J19/02 , G08C15/06
CPC分类号： G05B19/042 , B25J9/1602 , G05B2219/21065 , G05B2219/39059 , G05B2219/40536
摘要： PROBLEM TO BE SOLVED: To change a function of a sensor unit in real time even during operation of a robot in a robot control device comprising the sensor unit.
SOLUTION: A CPU 22 of the sensor unit 10 transmits a sensor output of a sensor 15 to a robot CPU 12 in a transmitting cycle within a control cycle during the operation of the robot. In the remaining receiving cycle of the control cycle, the robot CPU 12 transmit an updating parameter to the CPU 22. The CPU 22 receives the updating parameter and writes it in a second region which is different from a first region where a default parameter is stored of a storage region of a RAM 16. When further receiving an updating command from the robot CPU 12, the CPU 22 switches the parameter from the default one to the updating one stored in the second region, and performs a process.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使在包括传感器单元的机器人控制装置中的机器人的操作期间，也可实时地改变传感器单元的功能。解决方案：传感器单元10的CPU 22在机器人的操作期间在控制周期内的发送周期中将传感器15的传感器输出传送到机器人CPU 12。在控制周期的剩余接收周期中，机器人CPU 12向CPU 22发送更新参数.CPU 22接收更新参数并将其写入与存储默认参数的第一区域不同的第二区域在进一步从机器人CPU 12接收到更新命令时，CPU 22将参数从默认值切换到存储在第二区域中的更新命令，并执行处理。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2007041733A Attitude angle detection device for motion object 审中-公开
标题翻译：用于运动对象的姿态角度检测装置
公开(公告)号：JP2007041733A
公开(公告)日：2007-02-15
申请号：JP2005223507
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G05D1/08 , B25J19/02 , G01C15/00
CPC分类号： B25J9/163 , G05B2219/37024 , G05B2219/37388 , G05B2219/40536 , G05B2219/41166 , G05B2219/42152
摘要： PROBLEM TO BE SOLVED: To highly precisely detect the attitude angle of a motion object. SOLUTION: An angular velocity detected by an angular velocity sensor 10 is integrated by a micro-angular matrix arithmetic unit 12 and a matrix addition arithmetic unit 14, and restored into a attitude angle(angular speed attitude angle) by a matrix attitude angle arithmetic unit 16. A posture matrix is calculated from acceleration detected by an acceleration sensor 20 by an inclination angle arithmetic unit 22 and an acceleration matrix arithmetic unit 24, and restored into a attitude angle(acceleration attitude angle) by a matrix attitude angle arithmetic unit 26. Low pass filters 18 and 28 extract respective low pass components, and a difference unit 30 calculates a difference between them to extract only a part for drift. A subtractor 32 removes the part for drift from the angular velocity attitude angle, and an output device 34 outputs it, and a posture angular matrix arithmetic unit 36 converts it into a posture matrix, and feeds it back to a matrix addition arithmetic unit 14. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：高精度地检测运动物体的姿态角。解决方案：由角速度传感器10检测的角速度由微角矩阵运算单元12和矩阵加法运算单元14积分，并通过矩阵姿态恢复为姿态角（角速度姿态角）角度运算单元16.由倾斜角运算单元22和加速度矩阵运算单元24由加速度传感器20检测的加速度计算出姿势矩阵，并且通过矩阵姿态角算术将其恢复为姿态角（加速度姿态角）低通滤波器18和28提取相应的低通分量，并且差分单元30计算它们之间的差异以仅提取漂移的一部分。减法器32从角速度姿态角度去除用于漂移的部分，输出装置34输出，并且姿势角矩阵运算单元36将其转换为姿势矩阵，并将其馈送回矩阵加法运算单元14。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2007040766A Sensor unit 审中-公开
标题翻译：传感器单元
公开(公告)号：JP2007040766A
公开(公告)日：2007-02-15
申请号：JP2005223509
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO , TSUKADA ATSUSHI
IPC分类号： G01C19/00 , G01P15/08 , G01C15/00 , G01C19/56 , G01P15/18
CPC分类号： G01C21/16 , F16F15/08 , G01P1/023 , G01P15/18
摘要： PROBLEM TO BE SOLVED: To provide a sensor unit capable of precisely and highly reproducibly positioning and fixing an acceleration sensor and an angular velocity sensor.
SOLUTION: The sensor unit 10 comprises a reference base 12. The bottom surface 12A and one side surface 12B of the reference base 12 are used as reference surfaces. An acceleration sensor block 14 and a support for fixing the acceleration sensor are provided on the reference base 12. Three acceleration sensors 16 for X-axis, Y-axis and Z-axis are bonded on each surface of an acceleration sensor block 14. Also, three angular velocity sensors 24 are fixed with screws 22 to the support via the rubber bushes 20 as vibration-proof rubber.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供能够精确且高度可重复地定位和固定加速度传感器和角速度传感器的传感器单元。传感器单元10包括参考基座12.参考基座12的底面12A和一个侧面12B用作参考表面。加速度传感器块14和用于固定加速度传感器的支撑件设置在基准基座12上。用于X轴，Y轴和Z轴的三个加速度传感器16结合在加速度传感器块14的每个表面上。另外三个角速度传感器24通过橡胶衬套20作为防振橡胶用螺钉22固定到支撑件上。版权所有（C）2007，JPO＆INPIT

10. 发明专利

JP2007038326A Robot control system 审中-公开
标题翻译：机器人控制系统
公开(公告)号：JP2007038326A
公开(公告)日：2007-02-15
申请号：JP2005223512
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： B25J19/00 , G05B19/414 , H04L29/06
CPC分类号： B25J9/16
摘要： PROBLEM TO BE SOLVED: To quickly perform the communication between a main processor and a sensor unit of a robot, and to ensure the real time performance of control.
SOLUTION: The communication is performed between the sensor unit 10 and a robot CPU 12 using a serial data line 14. A variable-length data format includes: a transfer size part; a command part; a transfer pattern part; a measuring data part; and a CRC part, the number of kinds of data of the measuring data part is increased and decreased, and the kind of data to be transferred by the transfer pattern part is regulated. The data length is reduced by decreasing the number of kinds of data to ensure the communication speed. A time stamp data is transmitted from the robot CPU 12, and the data on time stamp + time count is transmitted from the sensor unit 10, whereby the measuring time of the sensor unit 10 is accurately managed by the robot CPU 12.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：快速执行机器人的主处理器和传感器单元之间的通信，并确保控制的实时性能。
解决方案：使用串行数据线14在传感器单元10和机器人CPU 12之间进行通信。可变长度数据格式包括：传送大小部分; 命令部分; 转印图案部分; 测量数据部分; 和CRC部分，测量数据部分的数据的种类的数量被增加和减少，并且调整要由传送图案部分传送的数据的种类。通过减少数据的种类数量来减少数据长度以确保通信速度。从机器人CPU 12发送时间戳数据，并且从传感器单元10发送关于时间戳+时间计数的数据，由此机器人CPU 12精确地管理传感器单元10的测量时间。版权所有（C）2007，JPO＆INPIT

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