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    • 71. 发明授权
    • Device for detecting deterioration of a catalytic converter for an engine
    • 用于检测用于发动机的催化转化器的劣化的装置
    • US5359853A
    • 1994-11-01
    • US152236
    • 1993-11-16
    • Yasuhiro Shimizu
    • Yasuhiro Shimizu
    • F01N3/20F01N3/22F01N3/24F01N11/00F02D41/14
    • F02D41/1474F01N11/007F01N2550/02F01N2900/0421F01N3/22Y02T10/22Y02T10/47
    • The device according to the invention detects deterioration of a catalytic converter disposed in an exhaust passage of an internal combustion engine based on output signal response curves of the air-fuel ratio sensors disposed in the exhaust passage upstream and downstream of the catalytic converter, by determining that the catalytic converter has deteriorated when relationship of a ratio of the lengths of the output response curves of the upstream and downstream air-fuel ratio sensors and a ratio of the areas bounded by the output signal response curves and reference lines satisfies predetermined conditions during air-fuel ratio feedback control of the engine; to eliminate errors the detection during a transition of the operating condition of the engine, the device also determine a degree of transition of the operating condition of the engine, for example, by detecting number of reversals of the output signal of the upstream air-fuel ratio sensor, and corrects the value of the ratio of the areas of the output signal response curves in accordance with the degree of the transition of the operating condition of the engine; thus the deterioration of the catalytic converter is detected accurately both in the transition operating condition and in the stable operating condition.
    • 根据本发明的装置基于设置在催化转化器上游和下游的排气通道中的空燃比传感器的输出信号响应曲线来检测设置在内燃机的排气通道中的催化转化器的劣化,通过确定 当上游和下游空燃比传感器的输出响应曲线的长度比与由输出信号响应曲线和参考线限定的面积的比率在空气中满足预定条件时,催化转换器已劣化 - 发动机的燃料比反馈控制; 为了消除在发动机的运行状态的转变期间的检测错误,装置还确定发动机的运行状态的转变程度,例如通过检测上游空燃料的输出信号的反转次数 比例传感器,并根据发动机的运行状态的转变程度来校正输出信号响应曲线的面积比的值; 因此在过渡运行状态和运行状态稳定的情况下都能够精确地检测出催化转化器的劣化。
    • 75. 发明授权
    • Time-based interpolation control of a robot
    • 机器人基于时间的插值控制
    • US4683543A
    • 1987-07-28
    • US629623
    • 1984-07-11
    • Kazushige HirasawaYasuhiro ShimizuTakemasa Matsumura
    • Kazushige HirasawaYasuhiro ShimizuTakemasa Matsumura
    • B25J9/16B25J9/10B25J9/18B25J9/22G05B19/4103G05B19/416G05B19/42G05B19/41
    • G05B19/42
    • A method of interpolatively controlling the movement of an arm portion of a robot along a line between predetermined first and second spatial positions which comprises teaching and playback steps. The teaching steps include inputting and storing in a teaching data storing memory the values of coordinates defining the first and second spatial positions, inputting and storing in the memory the predetermined velocity of the arm at the first spatial position, and determining from the coordinates and velocity stored in the memory the distance to be traversed by the arm between the first and second positions and the time required for this traversal. The playback steps include dividing the traverse time by a predetermined time unit to obtain a plurality of time-separated interpolation points and calculating sequentially incremental coordinate values for each of distance-separated points, corresponding to the time-separated points, from the stored coordinate values. The arm portion of the robot is then moved in accordance with the calculated incremental coordinate values.
    • 一种内插地控制机器人的臂部分沿着预定的第一和第二空间位置之间的线的移动的方法,其包括教导和重放步骤。 教学步骤包括:在教学数据存储器中输入和存储定义第一和第二空间位置的坐标值,在存储器中输入和存储第一空间位置上臂的预定速度,并根据坐标和速度 存储在存储器中由臂在第一和第二位置之间穿过的距离以及该遍历所需的时间。 重放步骤包括:将运动时间除以预定的时间单位,以获得多个时间分离的内插点,并根据所存储的坐标值,计算与时间分离点对应的每个距离分离点的顺序增量坐标值 。 然后根据计算的增量坐标值移动机器人的臂部分。