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1. 发明专利

JP2011203257A Moving body posture angle detecting apparatus 有权
标题翻译：移动身体角度角度检测装置
公开(公告)号：JP2011203257A
公开(公告)日：2011-10-13
申请号：JP2011086174
申请日：2011-04-08
申请人： Toyota Central R&D Labs 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： G01C15/00 , B25J19/02 , G05D1/08
CPC分类号： B25J9/163 , G05B2219/37024 , G05B2219/37388 , G05B2219/40536 , G05B2219/41166 , G05B2219/42152
摘要： PROBLEM TO BE SOLVED: To detect the posture angle of a moving body by preventing the accumulation of integration errors by means of a simple structure without using an expensive, highly accurate angular velocity sensor.SOLUTION: The apparatus has: an angular velocity sensor 10 for detecting an angular velocity of the moving body; an acceleration sensor 20 for detecting an acceleration of the moving body; a means 15 for calculating a small angle quaternion which defines a small rotation angle after passing a short period of time ts from the angular velocity; a means 22 for calculating a tilt angle from the acceleration; a means 25 for calculating an acceleration system quaternion from the tilt angle; a difference calculating means 30 for calculating, as an error, a difference between the low range component of an angular velocity system quaternion and the low range component of the acceleration system quaternion; an error removing means 32 for removing the error from the angular velocity system quaternion; an outputting means 34 for calculating a posture angle from the angular velocity system quaternion from which the error is removed and outputting as the posture angle of the moving body.
摘要翻译：要解决的问题：为了通过简单的结构防止累积误差来检测移动体的姿态角度，而不使用昂贵，高精度的角速度传感器。解决方案：该装置具有：角速度传感器10，用于检测所述移动体的角速度; 用于检测移动体的加速度的加速度传感器20; 用于计算在从角速度经过短时间ts之后限定小旋转角度的小角度四元数的装置15; 用于从加速度计算倾斜角度的装置22; 用于从倾斜角度计算加速度系数四元数的装置25; 差分计算装置30，用于计算角速度系统四元数的低范围分量与加速系数四元数的低范围分量之间的差作为误差; 用于从角速度系统四元数除去误差的误差消除装置32; 输出装置34，用于根据从其中去除误差的角速度系统四元数计算姿态角，并输出作为移动体的姿势角。

2. 发明专利

JP2017116317A センサ装置审中-公开
公开(公告)号：JP2017116317A
公开(公告)日：2017-06-29
申请号：JP2015249684
申请日：2015-12-22
申请人：株式会社豊田中央研究所 , Toyota Central R&D Labs Inc , トヨタ自動車株式会社 , Toyota Motor Corp , 国立大学法人東北大学 , Tohoku Univ
发明人： HATA YOSHIYUKI , FUJIYOSHI MOTOHIRO , NONOMURA YUTAKA , NAKAYAMA TAKAHIRO , BITO KOJI , ESASHI MASAKI , MUROYAMA MASANORI , TANAKA SHUJI
IPC分类号： G01L1/14 , G01L5/00
摘要：【課題】接触センシング面から見て側面側から直接、外力を受けることなく、センサ構造部及び信号処理用集積回路の欠損及び故障を低減すること。【解決手段】センサ装置は、検出対象物と直接に接触する接触センシング面を外部に露出する一面に有するとともに、接触センシング面の変化に感応してセンサ信号を出力するセンサ構造部と、一方の面に第1凹状部が形成され、該一方の面の反対側の面に第2凹状部が形成された基板と、センサ構造部が出力するセンサ信号を処理する信号処理用集積回路と、を備えている。センサ構造部は、基板の第1凹状部内に配置されている。信号処理用集積回路は、基板の第2凹状部内に配置されている。【選択図】図1

3. 发明专利

JP2009074969A Six-axial force sensor 有权
标题翻译：六轴力传感器
公开(公告)号：JP2009074969A
公开(公告)日：2009-04-09
申请号：JP2007244959
申请日：2007-09-21
申请人： Toyota Central R&D Labs 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： MAKINO HIROAKI , OZAWA TADAO , ASAI MITSURU , NAKAGAKI TAKANORI , NONOMURA YUTAKA , OTA YASUHIRO , YAMADA HITOSHI
IPC分类号： G01L5/16
摘要： PROBLEM TO BE SOLVED: To provide a six-axial force sensor having simple structure and capable of obtaining high reliability.
SOLUTION: The six-axial force sensor has an annular outer member 2, an inner member 3 arranged inside it, and load sensor elements 5 interposed between the external element installation surfaces 24 of the outer member 2 and the internal element installation surfaces 34 of the inner member 3. First internal element installation surfaces 34(a) are provided so as to correspond to at least part of the side faces of a first polygonal pyramid 71 having a vertex 710 on a Z axis, and second internal element installation surfaces 34(b) are provided so as to correspond to at least part of the side faces of a second polygonal pyramid 72 in the same shape pointed to a direction opposite to that of the first pyramid 71. The first external faces 24(a) are arranged in parallel with the first internal faces 34(a), and the second external faces 24(b) are arranged in parallel with the second internal faces 34(b). In one sensor installation area existing between an internal face 34 and an external face 24 forming a pair, two or more sensor elements 5 are arranged.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种结构简单，能够获得高可靠性的六轴力传感器。解决方案：六轴力传感器具有环形外部构件2，布置在其内部的内部构件3和插入在外部构件2的外部元件安装表面24之间的载荷传感器元件5和内部构件安装表面第一内部元件安装表面34（a）设置成对应于在Z轴上具有顶点710的第一多边形棱锥71的至少一部分侧面，第二内部元件安装表面34（b）设置成对应于与第一金字塔71相反的方向指向相同形状的第二多边形棱锥体72的至少一部分侧面。第一外表面24（a）与第一内表面34（a）平行布置，第二外表面24（b）与第二内表面34（b）平行布置。在形成一对的内表面34和外表面24之间的一个传感器安装区域中，布置有两个或更多个传感器元件5。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2014145717A Tactile sensor system, orbit acquisition device, and robot hand 有权
标题翻译：触觉传感器系统，轨道采集设备和机器人手
公开(公告)号：JP2014145717A
公开(公告)日：2014-08-14
申请号：JP2013015459
申请日：2013-01-30
申请人： Toyota Motor Corp , トヨタ自動車株式会社 , Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： NAKAYAMA TAKAHIRO , KIDA YUSUKE , DEO TAKASHI , FUNAHASHI HIROFUMI , NONOMURA YUTAKA , HATA YOSHIYUKI , FUJIYOSHI MOTOHIRO
IPC分类号： G01L5/00 , B25J15/08 , G01L5/16
摘要： PROBLEM TO BE SOLVED: To provide a tactile sensor system, orbit acquisition device, and robot hand that are able to estimate the movement locus in finer unit and more correctly.SOLUTION: A tactile sensor system 100 comprises: a plurality of tactile sensors 3-1, 3-2, and 3-m and a plurality of buses 1-1, 1-2, and 1-n which include at least one position sensor 4; and an arithmetic processing part 2 connected to the plurality of buses 1. An interval between the tactile sensors 3 is shorter than the minimal value of the resolution of the position sensor 4. The arithmetic processing part 2 calculates a pressure distribution on the basis of a value detected by the plurality of tactile sensors 3 adjacent to each other, and calculates a movement distance on the basis of the value detected by the position sensor 4. If the movement distance is not smaller than the minimal value of the resolution of the position sensor 4, the arithmetic processing part 2 estimates the locus of the movement. If the movement distance is smaller than the minimal value of the resolution of the position sensor 4, the arithmetic processing part 2 estimates the locus of the movement on the basis of the pressure distribution.
摘要翻译：要解决的问题：提供能够以更精细的单元估计运动轨迹并且更正确的触觉传感器系统，轨道获取装置和机器人手。解决方案：触觉传感器系统100包括：多个触觉传感器3- 1,2,3和3-m以及包括至少一个位置传感器4的多个总线1-1,1-2和1-n; 以及与多个总线1连接的算术处理部2.触觉传感器3之间的间隔比位置传感器4的分辨率的最小值短。算术处理部2基于由彼此相邻的多个触觉传感器3检测到的值，并且基于由位置传感器4检测到的值来计算移动距离。如果移动距离不小于位置传感器的分辨率的最小值如图4所示，运算处理部2估计运动的轨迹。如果移动距离小于位置传感器4的分辨率的最小值，则算术处理部2基于压力分布来估计移动的轨迹。

5. 发明专利

JP2014004676A Mems structure 有权
标题翻译： MEMS结构
公开(公告)号：JP2014004676A
公开(公告)日：2014-01-16
申请号：JP2012282404
申请日：2012-12-26
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所 , Toyota Motor Corp , トヨタ自動車株式会社
发明人： OMURA YOSHITERU , FUJIYOSHI MOTOHIRO , NONOMURA YUTAKA , AKASHI TERUHISA , FUNAHASHI HIROFUMI , HATA YOSHIYUKI , NAKAYAMA TAKAHIRO
IPC分类号： B81B3/00 , G01C19/5755 , G01P15/125 , G02B26/08
摘要： PROBLEM TO BE SOLVED: To provide a technique capable of preventing the occurrence of warp such as the distal end of the movable unit flipping up and the concentration of stress at the movable unit or the coupling unit, which are caused from the release of residual strain of a stacked substrate in an MEMS structure formed in the stacked substrate in which linear expansion coefficients of adjacent layers are different.SOLUTION: The present specification discloses an MEMS structure. The MEMS structure includes a substrate unit formed in a first layer; an intermediate fixing unit formed in a second layer, and an upper fixing unit, a coupling unit, and a movable unit formed in a third layer, where the upper fixing unit is fixed to the substrate unit by way of the intermediate fixing unit, the movable unit is cantilever supported by the coupling unit, and the coupling unit is supported by the upper fixing unit. In the MEMS structure, the coupling unit is connected to the upper fixing unit at a position distant from the distal end of the movable unit than an end of the intermediate fixing unit closer to the distal end of the movable unit with respect to a supporting direction of the movable unit.
摘要翻译：要解决的问题：提供一种能够防止由于残留应变的释放引起的可动单元的前端起翘和可动单元或联接单元的应力集中的翘曲的发生的技术在层叠基板中形成的MEMS结构中的层叠基板，其中相邻层的线性膨胀系数不同。解决方案：本说明书公开了一种MEMS结构。 MEMS结构包括形成在第一层中的衬底单元; 形成在第二层中的中间固定单元，以及形成在第三层中的上固定单元，联接单元和可移动单元，其中上固定单元通过中间固定单元固定到基板单元，可移动单元是由联接单元支撑的悬臂，并且联接单元由上固定单元支撑。在MEMS结构中，耦合单元在远离可移动单元的远端的位置处连接到上固定单元，而不是相对于支撑方向更靠近可移动单元的远端的中间固定单元的端部的可移动单元。

6. 发明专利

JP2013211365A Integrated device 有权
标题翻译：集成设备
公开(公告)号：JP2013211365A
公开(公告)日：2013-10-10
申请号：JP2012079811
申请日：2012-03-30
申请人： Tohoku Univ , 国立大学法人東北大学 , Toyota Central R&D Labs Inc , 株式会社豊田中央研究所 , Toyota Motor Corp , トヨタ自動車株式会社
发明人： MAKIHATA MITSUTOSHI , ESASHI MASAKI , TANAKA HIDEJI , MUROYAMA MASANORI , FUNABASHI HIROBUMI , NONOMURA YUTAKA , HATA YOSHIYUKI , YAMADA HITOSHI , NAKAYAMA TAKAHIRO , YAMAGUCHI TAKATADA
IPC分类号： H01L21/76 , G01L9/00 , H01L21/02 , H01L21/3205 , H01L21/683 , H01L21/768 , H01L21/8234 , H01L23/522 , H01L25/04 , H01L25/065 , H01L25/07 , H01L25/18 , H01L27/06 , H01L27/088 , H01L27/12 , H01L29/84
CPC分类号： H01L23/552 , B81B7/008 , B81C1/00238 , B81C2203/0792 , H01L21/3043 , H01L21/30625 , H01L21/6835 , H01L21/6836 , H01L21/76898 , H01L21/78 , H01L23/5386 , H01L25/072 , H01L25/16 , H01L25/18 , H01L25/50 , H01L27/0611 , H01L29/0657 , H01L2221/68327 , H01L2924/0002 , H01L2924/00
摘要： PROBLEM TO BE SOLVED: To provide an integrated device having excellent insulation resistance.SOLUTION: A groove having a side face consisting of an inclined surface is provided between adjoining devices. When the side provided with an electronic circuit or an MEMS device is the front face, the groove is made narrower from the front face toward the back face by the inclined surface. Since a mold material (insulation material) exists in the groove, a plurality of devices are bonded mechanically while being insulated electrically from each other. A wiring material for electrically conducting the adjoining devices is formed along the side face and bottom face of the groove. When taking out the wiring to the back face, a hole is formed in the bottom face of the groove so that the wiring material is exposed from the hole to the back face.
摘要翻译：要解决的问题：提供具有优异的绝缘电阻的集成装置。解决方案：在相邻的装置之间设置具有由倾斜表面组成的侧面的凹槽。当设置有电子电路或MEMS装置的一侧是前表面时，通过倾斜表面使凹槽从前表面朝向后表面变窄。由于在槽中存在模具材料（绝缘材料），所以多个装置在彼此电绝缘的同时机械地结合。沿着槽的侧面和底面形成用于导电邻接装置的布线材料。当将布线取出到背面时，在槽的底面形成孔，使得布线材料从孔暴露到背面。

7. 发明专利

JP2011085435A Tactile sensor system 有权
标题翻译： TACTILE传感器系统
公开(公告)号：JP2011085435A
公开(公告)日：2011-04-28
申请号：JP2009236913
申请日：2009-10-14
申请人： Tohoku Univ , Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 国立大学法人東北大学 , 株式会社豊田中央研究所
发明人： MUROYAMA MASANORI , ESASHI MASAKI , TANAKA HIDEJI , MATSUZAKI SAKAE , MAKIHATA MITSUTOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO , NAKAYAMA TAKAHIRO , YAMAGUCHI TAKATADA , YAMADA HITOSHI
IPC分类号： G01L5/00 , G01K1/14 , G01V9/00
CPC分类号： B25J13/084 , G01L1/146 , G01L5/228 , H01L24/32 , H01L2224/32221 , H01L2924/14 , H01L2924/1461 , H01L2924/00
摘要： PROBLEM TO BE SOLVED: To allow sensor characteristics to differ according to applications of a sensor device. SOLUTION: A sensor system includes a plurality of sensor devices. The sensor devices include: a sensor element; an outer-layer section for composing an outer surface; and an inner-layer section provided between the sensor element and the outer-layer section. By changing a combination of shapes of the inner-layer section and the outer-layer section, or a combination of physical properties of the inner-layer section and the outer-layer section, detection characteristics differ for each sensor device according to detection targets or applications of the respective sensor devices. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：根据传感器设备的应用，允许传感器特性不同。传感器系统包括多个传感器装置。传感器装置包括：传感器元件; 用于构成外表面的外层部分; 以及设置在传感器元件和外层部分之间的内层部分。通过改变内层部分和外层部分的形状的组合或内层部分和外层部分的物理组合的组合，根据检测目标或每个传感器装置的检测特性不同，每个传感器装置相应传感器设备的应用。版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2008310767A Attitude signal computation unit 有权
标题翻译：姿态信号计算单元
公开(公告)号：JP2008310767A
公开(公告)日：2008-12-25
申请号：JP2007160599
申请日：2007-06-18
申请人： Toyota Central R&D Labs 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： NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO , YAMADA HITOSHI
IPC分类号： G05D1/08
摘要： PROBLEM TO BE SOLVED: To provide a unit for computing an attitude signal representing an attitude of a moving body with a high degree of precision. SOLUTION: An attitude quaternion converter 20 of an attitude signal computing unit finds a quaternion notation of an input attitude signal Sin representing an attitude of a moving body, and outputs it as an input attitude quaternion. A quaternion error computing unit 40 acquires an input attitude quaternion as a first attitude quaternion Q1, and a quaternion representing a frequency component that a quaternion filter unit 30 has extracted from the input attitude quaternion as a second attitude quaternion Q2. The quaternion error computing unit 40 outputs a quaternion acquired based on the result of dividing the first attitude quaternion Q1 by the second attitude quaternion Q2 as an error quaternion Uq. A quaternion feedback computing unit 50 outputs a quaternion as a result of dividing the input attitude quaternion by the error quaternion Uq as an output attitude quaternion. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于以高精度计算表示移动体的姿态的姿势信号的单元。解决方案：姿态信号计算单元的姿态四元数转换器20找到表示移动体姿态的输入姿势信号Sin的四元数符号，并将其输出为输入姿态四元数。四元数误差计算单元40获取作为第一姿态四元数Q1的输入姿态四元数，并且表示四分位数滤波器单元30从输入姿态四元数提取的频率分量的四元数作为第二姿态四元数Q2。四元数误差计算单元40输出基于将第一姿态四元数Q1除以第二姿态四元数Q2的结果获得的四元数作为误差四元数Uq。四元数反馈计算单元50输出作为输出姿态四元数乘以误差四元数Uq的输入姿态四元数作为输出姿态四元数的结果的四元数。版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2014115267A Dynamic quantity sensor and dynamic quantity sensor system 有权
标题翻译：动态数量传感器和动态数量传感器系统
公开(公告)号：JP2014115267A
公开(公告)日：2014-06-26
申请号：JP2013109119
申请日：2013-05-23
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所 , Toyota Motor Corp , トヨタ自動車株式会社 , Tohoku Univ , 国立大学法人東北大学
发明人： HATA YOSHIYUKI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO , FUNAHASHI HIROFUMI , AKASHI TERUHISA , OMURA YOSHITERU , NAKAYAMA TAKAHIRO , YAMAGUCHI TAKATADA , YAMADA HITOSHI , TANAKA HIDEJI , ESASHI MASAKI , MUROYAMA MASANORI , MAKIHATA MITSUTOSHI
IPC分类号： G01L5/16 , G01L1/14 , G01P15/125 , G01P15/18
CPC分类号： G01L1/144 , G01L1/148 , G01P15/125 , G01P15/18 , G01P2015/084
摘要： PROBLEM TO BE SOLVED: To provide a dynamic quantity sensor and a dynamic quantity sensor system capable of accurately detecting the dynamic quantity.SOLUTION: A force sensor 100 comprises: a force receiver 40 for receiving force in a Z direction and in an X direction; a seesaw part 30A rotating in a first rotation direction according to the dynamic quantity in the Z direction that the force receiver 40 receives, and rotating in the first rotation direction according to the dynamic quantity in the X direction that the force receiver 40 receives; and a seesaw part 30C rotating in a second rotation direction according to the dynamic quantity in the Z direction that the force receiver 40 receives, and rotating in the opposite direction from the second direction according to the dynamic quantity in the X direction that the force receiver 40 receives.
摘要翻译：要解决的问题：提供能够精确地检测动态量的动态量传感器和动态量传感器系统。解决方案：力传感器100包括：用于在Z方向和X方向上接收力的力接收器40; 根据动力接收器40接收的Z方向的动量，沿着第一旋转方向旋转的跷跷板部30A，并且根据受力部40接收的X方向的动量，沿第一旋转方向旋转; 以及跷跷板部30C，其按照受力器40接收的Z方向上的动态量沿第二旋转方向旋转，并且根据X方向上的动量向与第二方向相反的方向旋转， 40收到。

10. 发明专利

JP2012081554A Tactile sensor system 有权
标题翻译： TACTILE传感器系统
公开(公告)号：JP2012081554A
公开(公告)日：2012-04-26
申请号：JP2010229761
申请日：2010-10-12
申请人： Tohoku Univ , Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 国立大学法人東北大学 , 株式会社豊田中央研究所
发明人： MUROYAMA MASANORI , ESASHI MASAKI , TANAKA HIDEJI , MATSUZAKI SAKAE , MAKIHATA MITSUTOSHI , NAKANO YOSHIHIRO , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO , YAMADA HITOSHI , NAKAYAMA TAKAHIRO , YAMAGUCHI TAKATADA , MIMA KAZUHIRO
IPC分类号： B25J19/02
摘要： PROBLEM TO BE SOLVED: To provide a robot in which the arrangement density of tactile sensor systems for each part is different, and which has an arrangement mode suitable for a relay device when arranging the relay device for relaying an output signal from a tactile sensor system to an information integration device.SOLUTION: The tactile sensor system 100 of a humanoid robot 1 includes: a plurality of sensor nodes 200 disposed on the surface of the robot body 2 of the humanoid robot 1; relay nodes 120 having relays 401 for relaying the output signals from the plurality of sensors nodes 200; and a host node 140 for receiving and processing the output signals relayed by the relays 401 of the relay nodes 120. The plurality of sensor nodes 200 are divided into at least two sections or more depending on the part of the robot body of the humanoid robot 1, and the relay nodes 120 are arranged at each section.
摘要翻译：要解决的问题：提供一种机器人，其中每个部件的触觉传感器系统的布置密度不同，并且当布置用于中继来自一个或多个的输出信号的中继装置时，具有适合于中继装置的布置模式触觉传感器系统到信息集成设备。人形机器人1的触觉传感器系统100包括：设置在人形机器人1的机器人主体2的表面上的多个传感器节点200; 具有用于中继来自多个传感器节点200的输出信号的中继器401的中继节点120; 以及用于接收和处理由中继节点120的中继器401中继的输出信号的主机节点140.多个传感器节点200根据类人机器人的机器人主体的一部分被划分为至少两个部分或更多部分中继节点120被布置在每个部分。版权所有（C）2012，JPO＆INPIT

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