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    • 5. 发明授权
    • Control apparatus for autonomous operating vehicle
    • 自动驾驶车辆控制装置
    • US08744663B2
    • 2014-06-03
    • US13240684
    • 2011-09-22
    • Kazuhisa SatoMakoto YamamuraYoshinori Masubuchi
    • Kazuhisa SatoMakoto YamamuraYoshinori Masubuchi
    • G01C22/00
    • G05D1/0259G05D1/0225G05D1/0255G05D1/0265G05D1/027G05D1/0272G05D1/0274G05D2201/0208
    • In an apparatus for controlling an autonomous operating vehicle having an operating machine and a magnetic sensor adapted to detect a border of a travel-scheduled area, the vehicle is controlled to travel around the area from a start point along the border to sequentially record traveling directions and traveled distances on a bitmap. The generated travel trajectory is transformed to map information. A position of the vehicle is detected using bits of the bitmap of the transformed map information, and the vehicle is controlled to, as traveling straight in the north-south directions, while perform the operation with the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from a geomagnetic sensor as a reference.
    • 在用于控制具有操作机器的自动操作车辆的装置和适于检测行驶调度区域的边界的磁传感器的情况下,控制车辆沿着边界的起始点绕该区域行进,以顺序地记录行驶方向 并在位图上移动距离。 所生成的行进轨迹被转换为地图信息。 使用变换后的地图信息的位图的位来检测车辆的位置,并且,以与计算出的行驶方向对应的操作机进行操作的同时,将车辆向南 - 南方向行进, 利用从地磁传感器获得的主参考方向作为参考,计算行进距离和确定位置。
    • 7. 发明授权
    • Antitheft apparatus for equipment with prime mover
    • 带有原动机的设备防盗装置
    • US08305202B2
    • 2012-11-06
    • US12961165
    • 2010-12-06
    • Kosei YamashitaMasato TakedaMakoto YamamuraYoshihisa ShinogiMasashi ManitaYoshinori Maekawa
    • Kosei YamashitaMasato TakedaMakoto YamamuraYoshihisa ShinogiMasashi ManitaYoshinori Maekawa
    • B60R25/10
    • B60R25/04
    • In an apparatus for preventing theft of equipment having a prime mover, an prime mover controller, and an authenticator that acquires ID information from an electronic key when the key is brought close thereto by an operator, and permits the prime mover controller to start the prime mover when the acquired ID information is determined to correspond with authentication ID information, data indicating a number of times the key is updated is included in the ID information, and the authenticator determines whether the number of times indicated in the data is greater than that in the authentication ID information, and when the number of times indicated in the data is greater than that in the authentication ID information, updates the authentication ID information such that it is equal to the number of times indicated in the data, thereby enabling to easily update authentication ID information of the equipment.
    • 在用于防止具有原动机的设备的盗窃设备,原动机控制器以及当钥匙靠近操作者时从电子钥匙获取ID信息的认证器,并允许原动机控制器启动初始 当所获取的ID信息被确定为与认证ID信息相对应时,指示密钥更新次数的数据被包括在ID信息中,并且认证器确定数据中指示的次数是否大于 认证ID信息,并且当数据中指示的次数大于认证ID信息中的次数时,将认证ID信息更新为与数据中指示的次数相等,从而能够容易地更新 设备的认证ID信息。
    • 9. 发明申请
    • CONTROL APPARATUS FOR AUTONOMOUS OPERATING VEHICLE
    • 自动操作车的控制装置
    • US20120083962A1
    • 2012-04-05
    • US13240966
    • 2011-09-22
    • Kazuhisa SATOMakoto YamamuraYoshinori Masubuchi
    • Kazuhisa SATOMakoto YamamuraYoshinori Masubuchi
    • G01C21/34
    • G05D1/0261G05D1/0225G05D1/027G05D1/0272G05D1/0274G05D2201/0208
    • In an apparatus for controlling an autonomous operating vehicle having a prime mover and operating machine, it is configured to have a geomagnetic sensor responsive to magnets embedded in the area, detect angular velocity generated about z-axis in center of gravity of the vehicle, detect a wheel speed of the driven wheel, store map information including magnet embedded positions, detect a primary reference direction, detect a vehicle position relative to the magnet, and detect a vehicle position in the area, calculate a traveling direction and traveled distance of the vehicle, and control the operation performed through the operating machine in the area in accordance with a preset operation program based on the detected primary reference direction, the detected position of the vehicle in the area, the calculated traveling direction and the calculated traveled distance.
    • 在用于控制具有原动机和操作机器的自主操作车辆的装置中,其被配置为具有响应于嵌入该区域中的磁体的地磁传感器,检测在车辆重心上围绕z轴产生的角速度,检测 驱动轮的车轮速度,存储包括磁体嵌入位置的地图信息,检测主参考方向,检测相对于磁体的车辆位置,并且检测该区域中的车辆位置,计算车辆的行驶方向和行驶距离 根据检测到的主基准方向,检测到的区域中的车辆位置,计算出的行驶方向以及计算出的行驶距离,根据预先设定的操作程序,控制通过操作机进行的操作。
    • 10. 发明申请
    • Engine starting apparatus
    • 发动机起动装置
    • US20070079783A1
    • 2007-04-12
    • US10578750
    • 2004-11-12
    • Riyuuhei TamamotoMakoto YamamuraMitsuyoshi Kanai
    • Riyuuhei TamamotoMakoto YamamuraMitsuyoshi Kanai
    • F02D9/02
    • F02P5/1506F02N3/02F02P11/025Y02T10/46
    • In an engine which starts using a recoil starter, ignition chance during inertia rotation is not missed. If the engine 42 is rotated by the recoil starter 41, output of a power generator which is directly connected to the engine 42 is increased, and a CPU 27 is reset at timing t0. At timing t1, if pulse P1 is input from a revolution number sensor 29 to the CPU 27, the CPU 27 outputs first ignition instructions when predetermined time T1 is elapsed (t2). At timing t3, second pulse P2 is input. At that time point, since the CPU 27 is normally operated, ignition timing is obtained from an ignition timing map 30 in accordance with the revolution number calculated by a time interval between the pulses P1 and P2, and the ignition instructions are output at timing t4 in accordance with the ignition timing. Thereafter, the ignition timing is determined using the ignition timing map 30.
    • 在使用反冲起动器的发动机中,不会错过惯性旋转期间的点火机会。 如果发动机42被反冲启动器41旋转,则直接连接到发动机42的发电机的输出增加,并且CPU27在定时t 0被复位。 在时刻t 1,如果脉冲P 1从转数传感器29输入到CPU27,则CPU27在经过预定时间T 1时输出第一点火指令(t 2)。 在时刻t 3,输入第二脉冲P 2。 在该时间点,由于CPU27正常工作,所以根据由脉冲P1和P2之间的时间间隔计算的转数,从点火时间映射30获得点火正时,点火指令输出在 定时t 4根据点火正时。 此后,使用点火正时图30确定点火正时。