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1. 发明授权

US4499541A Input circuit of a fork lift truck control system for a fork lift truck 失效
标题翻译：用于叉车的叉车控制系统的输入电路
公开(公告)号：US4499541A
公开(公告)日：1985-02-12
申请号：US364401
申请日：1982-03-31
申请人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
发明人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
IPC分类号： B66F9/08 , B66F9/075 , B66F9/24 , G05B19/23 , G06F15/50 , B66F9/06
CPC分类号： G05B19/23 , B66F9/0755 , B66F9/24 , G05B2219/34053 , G05B2219/34215 , G05B2219/34466 , G05B2219/37462
摘要： An improved fork lift truck control system using a microcomputer, which comprises a sensing unit including a first sensor for detecting a lift height of a fork above its lowest position and a second sensor for detecting a tilting angle of an upright with respect to a neutral position of the upright including an input interface circuit for interfacing the sensing unit and control unit which has: (a) a lifting height counting circuit which counts the number of pulses produced on a basis of two photo-converted electrical signals fed from two photocouplers constituting the first sensor, the signals having a phase difference of 90.degree. from each other, so that an accurate measurement of the lifting height of the fork can be made; (b) an analog-to-digital converter which produces a bit string according to an output signal from the second sensor; and (c) an abnormal detection facility which detects a defective analog-to-digital converter and second sensor by comparing the bit string presently outputted from the analog-to-digital converter with each of predetermined bit strings that would be produced if the analog-to-digital converter operates normally.
摘要翻译：一种改进的使用微型计算机的叉车控制系统，其包括检测单元，该传感单元包括用于检测在其最低位置之上的叉的提升高度的第一传感器和用于检测竖直件相对于中立位置的倾斜角度的第二传感器包括用于接口感测单元和控制单元的输入接口电路，该输入接口电路具有：（a）升高高度计数电路，其对基于构成两个光耦合器的两个光电耦合器馈送的两个光转换电信号产生的脉冲数进行计数第一传感器，信号彼此具有90°的相位差，从而可以精确地测量叉子的提升高度; （b）根据来自第二传感器的输出信号产生位串的模数转换器; 以及（c）异常检测设备，其通过将当前从模数转换器输出的位串与将被产生的预定位串中的每一个进行比较来检测有缺陷的模拟 - 数字转换器和第二传感器，数模转换器正常工作。

2. 发明授权

US4517645A Control device for loading and unloading mechanism 失效
标题翻译：装卸机构控制装置
公开(公告)号：US4517645A
公开(公告)日：1985-05-14
申请号：US364402
申请日：1982-03-31
申请人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
发明人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
IPC分类号： B66F9/075 , B66F9/24 , G05B19/23 , G05B19/414 , G06F15/50 , B66F9/06
CPC分类号： B66F9/24 , B66F9/0755 , G05B19/23 , G05B19/4142 , G05B2219/34215 , G05B2219/41309
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102 and a load sensor 106, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230, a servomotor driving circuit 322' responsive to the control command indicative of a valve opening angle, and a hydraulic pressure driving circuit 340 for actuating a lift cylinder in accordance with the output of the servomotor driving circuit 322'. The control device is constituted so that, when the work for piling or unloading a load on a shelf is effected based on the stored lifting height data, the two positions required for piling and unloading can be stored in the same address allotted to the corresponding shelf can be stored. The control device is constituted so that, when lifting height data is stored in the microcomputer, an indication for confirming data storage is added to the stored lifting height data, thereby enabling to prevent an automatic lifting height control from being erroneously effected.
摘要翻译：用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括升降高度传感器102和负载传感器106;控制单元200，包括由微计算机230构成的控制指令产生电路240 根据比较传感器单元100的输出和存储在微计算机230中的有关数据之间的计算，产生控制命令，响应于指示阀打开角度的控制命令的伺服电动机驱动电路322'和液压驱动电路340，用于根据伺服电机驱动电路322'的输出致动提升缸。控制装置构成为：当基于所存储的升降高度数据实现堆放或卸载货架上的载荷的工作时，堆放所需的两个位置可以存储在分配给相应货架的相同地址中可以存储。控制装置构成为：当提升高度数据被存储在微型计算机中时，向所存储的提升高度数据添加用于确认数据存储的指示，从而能够防止自动提升高度控制被错误地实现。

3. 发明授权

US4509127A Control device for loading and unloading mechanism 失效
标题翻译：装卸机构控制装置
公开(公告)号：US4509127A
公开(公告)日：1985-04-02
申请号：US364403
申请日：1982-03-31
申请人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
发明人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
IPC分类号： B66F9/075 , B66F9/24 , G06F15/20 , G06G7/48
CPC分类号： B66F9/24 , B66F9/0755
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230, and a driving unit 300 producing a driving output signal so as to the lifting height of the fork 18 in accordance with the control command fed from the control unit 200. The control device includes a component operable for inhibiting storage of sampled lifting height data when the actual lifting height data are not within an allowed range, thereby to prevent erroneous operation based on erroneous data and to effect smooth follow-up speed control to the target height when automatic lifting height control is effected. The control device further comprises structure for slowly stopping the fork at the time of the automatic lifting height control. Prior to the automatic lifting height control, when lifting height data is stored in the microcomputer 230, the control device is designed so that lifting height data within a predetermined range can be sampled. Furthermore, the valve opening angle of the control valve for actuating a lift cylinder 346 is limited to a predetermined range, thereby stabilizing a lifting height speed.
摘要翻译：用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括提升高度传感器102;控制单元200，包括由微型计算机230构成的控制指令产生电路240，该控制指令产生电路240产生控制命令比较传感器单元100的输出与存储在微计算机230中的有关数据之间的计算的基础，以及驱动单元300，该驱动单元300根据控制命令进行驱动输出信号以提升叉18的提升高度控制装置包括：当实际提升高度数据不在允许范围内时可操作用于禁止采样提升高度数据的存储，从而防止基于错误数据的错误操作并实现平稳跟踪实现自动提升高度控制时的速度控制到目标高度。控制装置还包括在自动提升高度控制时缓慢停止叉的结构。在自动提升高度控制之前，当提升高度数据存储在微型计算机230中时，控制装置被设计成可以对预定范围内的提升高度数据进行采样。此外，用于致动提升缸346的控制阀的开阀角限制在预定范围内，从而稳定提升高度。

4. 发明授权

US4520443A Control device for loading and unloading mechanism 失效
标题翻译：装卸机构控制装置
公开(公告)号：US4520443A
公开(公告)日：1985-05-28
申请号：US364404
申请日：1982-03-31
申请人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
发明人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
IPC分类号： B66F9/075 , B66F9/24 , B66F9/06
CPC分类号： B66F9/0755 , B66F9/24
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102, a tilting angle sensor 104, and a load sensor 106, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230. The control device further comprises actuators 322, 324 including servomotor driving circuit therein responsive to the control command fed from the control unit 200, and a hydraulic pressure driving circuit 340 for hydraulically controlling a lift cylinder 346 and a tilt cylinder 348 in accordance with the corresponding output of each actuator, respectively. The control device is capable of effecting a automatic running attitude control due to the data stored in the microcomputer 230. The control device further makes it possible to automatically effect a series of sequential loading and unloading work including a lifting height operation and a tilting angle control. Preferably, the control device comprises a means for manually adjusting an attitude angle of the fork during loading and unloading work. Further, in view of safety, the control device is constituted so that an adjustable running attitude angle of the fork is limited to a predetermined region.
摘要翻译：用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括提升高度传感器102，倾斜角度传感器104和负载传感器106;控制单元200，包括产生电路240由微型计算机230构成，其基于比较传感器单元100的输出和存储在微型计算机230中的有关数据之间的计算产生控制命令。控制装置还包括致动器322,324，其包括响应于伺服电动机驱动电路到控制单元200输入的控制指令，以及液压驱动电路340，用于分别根据每个致动器的相应输出液压控制提升缸346和倾斜缸348。控制装置由于存储在微型计算机230中的数据而能够实现自动运行姿态控制。控制装置还可以自动执行一系列的顺序加载和卸载工作，包括提升高度操作和倾斜角度控制。优选地，控制装置包括用于在装载和卸载工作期间手动调节叉的姿态角的装置。此外，为了安全起见，控制装置构成为使叉的可调节行驶姿势角被限制在规定的区域。

5. 发明授权

US4491918A Method and system for horizontally controlling a fork for a fork lift truck 失效
标题翻译：用于水平控制叉车叉车的方法和系统
公开(公告)号：US4491918A
公开(公告)日：1985-01-01
申请号：US364400
申请日：1982-03-31
申请人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
发明人： Katsumi Yuki , Susumu Yoshida , Mineo Ozeki , Yasuyuki Miyazaki , Masaru Kawamata
IPC分类号： B66F9/24 , G05B19/23 , B66F9/06 , G06F15/50
CPC分类号： G05B19/23 , B66F9/24 , G05B2219/34215 , G05B2219/41309 , G05B2219/49169
摘要： A method and system for horizontally controlling a fork for a fork lift truck to be positioned at a position parallel with respect to the ground, according to the loads mounted on the fork. The target backward tilting angle of the upright is previously determined as a function of the load on the fork and stored in a memory of a microcomputer. Therefore, the microcomputer outputs an upright forward/backward tilting operation command signals to a tilt servo mechanism on the basis of signals outputted from a load sensor and a potentiometer to detect upright tilt angles. The tilt servo mechanism according to the present invention can adjust and stop the upright at a target backward tilting angle at a low speed without applying a shock to the load.
摘要翻译：根据安装在叉上的负载，水平地控制用于叉车的叉子的方法和系统被定位在相对于地面平行的位置。预先确定立柱的目标向后倾斜角度作为叉上的载荷并存储在微型计算机的存储器中的函数。因此，微型计算机基于从负载传感器和电位计输出的信号，向倾斜伺服机构输出立式前后倾斜操作指令信号，以检测直立倾斜角度。根据本发明的倾斜伺服机构可以以低速度以目标后倾角度调节和停止直立，而不对负载施加冲击。

6. 发明授权

US4716530A System for automatically controlling movement of unmanned vehicle and method therefor 失效
标题翻译：用于自动控制无人驾驶车辆运动的系统及其方法
公开(公告)号：US4716530A
公开(公告)日：1987-12-29
申请号：US704522
申请日：1985-02-22
申请人： Hiroshi Ogawa , Yasuyuki Miyazaki , Susumu Yoshida , Shinichi Sasaki
发明人： Hiroshi Ogawa , Yasuyuki Miyazaki , Susumu Yoshida , Shinichi Sasaki
IPC分类号： B61L3/00 , G05D1/02 , G06F19/00 , G06F15/50
CPC分类号： G05D1/0265 , G05D1/0234 , G05D1/0242 , G05D2201/0216
摘要： A system for automatically controlling movement of an unmanned vehicle and method therefor wherein one or more than one marker is installed between each branched corner formed by a guide road through which the vehicle passes for providing an indicating means for the vehicle to accelerate, decelerate, or turn the branched corner and the vehicle includes detecting means for detecting the presence of the marker and outputting a signal indicating that the marker is located at the corresponding position and a controller in which data and main program on a pattern of turning the movement of the vehicle at any given branched corner and vehicle speed control according to the detected number of markers in accordance with a route of movement from a starting point which is loaded prior to the start of the vehicle so that the control for turning the movement direction of the vehicle and vehicle speed is carried out by fetching the corresponding above-described data and main program of the pattern according to the number of detected markers. Furthermore, at least one timer is provided in the controller which outputs an interrupt signal so that an interrupt program is executed for controlling an on-and-off period of steering and/or movement motor chopper circuit with the main program being temporarily halted.
摘要翻译：一种用于自动控制无人驾驶车辆的运动的系统及其方法，其中一个或多于一个的标记被安装在车辆通过的导轨之间形成的每个分支角之间，以提供用于车辆的指示装置加速，减速或转动分支角，并且车辆包括用于检测标记的存在并输出指示标记位于相应位置的信号的检测装置，以及控制器，其中数据和主程序转动车辆的运动在根据检测到的标记数量的任何给定的分支角和车辆速度控制下，根据从车辆开始之前装载的起点的运动路线，使得用于转动车辆的运动方向的控制和通过取出相应的上述数据和主程序来执行车速根据检测到的标记的数量。此外，在控制器中提供至少一个定时器，其输出中断信号，使得执行中断程序以控制主程序暂时停止的转向和/或运动马达斩波电路的导通和关闭时段。

7. 发明授权

US4665489A Unmanned vehicle control system and method 失效
标题翻译：无人驾驶车辆控制系统及方法
公开(公告)号：US4665489A
公开(公告)日：1987-05-12
申请号：US704523
申请日：1985-02-22
申请人： Tetsuji Suzuki , Susumu Yoshida , Hiroshi Ogawa , Yasuyuki Miyazaki
发明人： Tetsuji Suzuki , Susumu Yoshida , Hiroshi Ogawa , Yasuyuki Miyazaki
IPC分类号： G05D1/02 , G06F15/50
CPC分类号： G05D1/0265 , G05D2201/0216
摘要： An unmanned vehicle is so controlled as to travel along a guide line in response to command signals transmitted from a fixed host computer. The vehicle includes a driving motor, a steering motor, a driving motor chopper, a steering motor chopper, a speed detector, an offset (misalignment away from the guide line) detector, a main CPU, etc. Since detected offset values are directly feedbacked to the main CPU through a steering control interface and the steering motor chopper is directly controlled by the main CPU through the steering interface, it is possible to eliminate other CPUs conventionally provided for turning on or off both the choppers, separately. Further, since the duty ratio of the steering motor chopper is controlled by taking into account various factors such as offset values, offset increment values, vehicle speeds, steering correcting directions, etc., it is possible to stably correct vehicle steering misalignment at high response speed even when the vehicle is travelling at high speed along the guide line.
摘要翻译：无人驾驶车辆被控制成响应于从固定主机发送的命令信号而沿着引导线行进。车辆包括驱动电动机，转向电动机，驱动电动机斩波器，转向电动机斩波器，速度检测器，偏移（远离引导线的偏移）检测器，主CPU等。由于检测到的偏移值被直接反馈通过转向控制接口到主CPU，并且转向马达斩波器由主CPU通过转向接口直接控制，可以分别消除通常设置用于打开或关闭斩波器的其他CPU。此外，由于通过考虑偏移值，偏移增量值，车辆速度，转向修正方向等各种因素来控制转向马达斩波器的占空比，因此可以在高响应时稳定地校正车辆转向失准即使当车辆沿着引导线高速行驶时也是如此。

8. 发明授权

US4665487A Unmanned vehicle control system and method 失效
标题翻译：无人驾驶车辆控制系统及方法
公开(公告)号：US4665487A
公开(公告)日：1987-05-12
申请号：US704421
申请日：1985-02-22
申请人： Hiroshi Ogawa , Yasuyuki Miyazaki , Susumu Yoshida
发明人： Hiroshi Ogawa , Yasuyuki Miyazaki , Susumu Yoshida
IPC分类号： G05D1/02 , G06F15/50
CPC分类号： G05D1/0265 , G05D2201/0216
摘要： An unmanned vehicle is so controlled as to travel along a guide line in response to command signals transmitted from a fixed host computer. The steering misalignment (offset) of the vehicle is corrected by a steering DC motor driven by an AC current, the duty ratio of which is adjusted by a steering motor chopper circuit. Since dead zones within which the misalignment is no longer corrected and duty ratio calculating expression on which chopper duty ratio is determined according to a detected offset are both classified by vehicle speed, it is possible to stably correct vehicle steering misalignment at high response speed even when the vehicle is travelling at high speed along the guide line. Further, when the dead zone and the calculating expression are both classified by discriminating an initial offset from the succeeding offset, it is possible to not only to prevent the vehicle from travelling zigzag along the guide line, but also to reduce the number of rush currents generated in the chopper circuit.
摘要翻译：无人驾驶车辆被控制成响应于从固定主机发送的命令信号而沿着引导线行进。通过由交流电流驱动的转向直流电动机来修正车辆的转向不对准（偏移），该交流电流的占空比由转向电动机斩波电路调节。由于不再校正其中不对准的死区和根据检测到的偏移来确定斩波器占空比的占空比计算表达式都被车速分类，所以即使在高速响应速度下也可以稳定地校正车辆转向失准车辆沿着引导线高速行驶。此外，当通过识别起始偏移与后续偏移来分类死区和计算表达式时，不仅可以防止车辆沿着引导线行之字形，还可以减少冲击电流的数量在斩波电路中产生。

9. 发明授权

US09418704B2 Program, recording medium, and reproducing apparatus 有权
公开(公告)号：US09418704B2
公开(公告)日：2016-08-16
申请号：US10939916
申请日：2004-09-09
申请人： Susumu Yoshida , Takuya Imaide , Toshihiro Kato , Akinobu Watanabe , Naozumi Sugimura , Nozomu Shimoda
发明人： Susumu Yoshida , Takuya Imaide , Toshihiro Kato , Akinobu Watanabe , Naozumi Sugimura , Nozomu Shimoda
IPC分类号： H04N9/80 , G11B27/10 , G11B20/10 , G11B27/32 , G11B27/34
CPC分类号： H04N21/2223 , G11B20/10 , G11B27/105 , G11B27/329 , G11B27/34 , G11B2220/20 , H04N21/4312 , H04N21/6125 , H04N21/84
摘要： The problem to be solved is to make it possible to download via a network, efficiently manage, retrieve, and reproduce an external content associated with a content recorded on a recording medium. To solve the problem, a program is used which controls reproduction of information located on a recording medium and related information. The program includes the steps of: obtaining from the outside specific information associated with predetermined information recorded on a recording medium; and obtaining medium identification information located on a recording medium; wherein if the specific information has been obtained, a storage unit in a reproducing apparatus is controlled to associate the specific information with the medium identification information for storage.

10. 发明授权

US08681746B2 Radio communications apparatus, radio communications method, and radio communications system for reducing overhead of a transmit frame 有权
标题翻译：无线电通信装置，无线电通信方法和用于减少发射帧的开销的无线电通信系统
公开(公告)号：US08681746B2
公开(公告)日：2014-03-25
申请号：US12783141
申请日：2010-05-19
申请人： Jaturong Sangiamwong , Takahiro Asai , Hidekazu Murata , Susumu Yoshida
发明人： Jaturong Sangiamwong , Takahiro Asai , Hidekazu Murata , Susumu Yoshida
IPC分类号： H04W4/00
CPC分类号： H04B7/0691 , H04B7/0623 , H04B7/0626 , H04L1/0029 , H04L1/06 , H04L1/1896 , H04L5/0023 , H04L5/0048
摘要： A radio communications apparatus is disclosed which includes a generator which generates a transmit frame; and a transmitter which transmits the transmit frame via multiple transmit antennas. In the radio communications apparatus, the transmit frame includes a predetermined number of resource elements having a predetermined frequency bandwidth and a predetermined symbol period, and the generator generates the transmit frame such that the number of transmit antennas which are identifiable from a location of the resource element taken up by a pilot signal in a certain transmit frame is less than the number of transmit antennas which are identifiable from the location of the resource element taken up by the pilot signal in a retransmission transmit frame of the certain transmit frame.
摘要翻译：公开了一种无线电通信装置，其包括产生发送帧的发生器; 以及经由多个发送天线发送发送帧的发送机。在无线电通信装置中，发送帧包括具有预定频率带宽和预定符号周期的预定数量的资源元素，并且生成器生成发送帧，使得可以从资源的位置识别的发送天线的数量在特定发送帧中由导频信号占据的元素小于在特定发送帧的重发送帧中由导频信号占据的资源元素的位置可识别的发送天线的数量。

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