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1. 发明申请

WO2013145735A1 MEMS DEVICE 审中-公开
标题翻译： MEMS器件
公开(公告)号：WO2013145735A1
公开(公告)日：2013-10-03
申请号：PCT/JP2013/002075
申请日：2013-03-27
申请人： KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , OZAKI, Takashi , FUJITSUKA, Norio , SHIMAOKA, Keiichi , NONOMURA, Yutaka
发明人： OZAKI, Takashi , FUJITSUKA, Norio , SHIMAOKA, Keiichi , NONOMURA, Yutaka
IPC分类号： B81B3/00
CPC分类号： B81B3/0048 , B81B3/007 , B81B2201/042 , B81B2203/0109
摘要： Provided is a technique capable of keeping a tilt angle constant even in a case where a warp in a direction along a tilting axis occurs on a tilting plate in a MEMS device which includes the tilting plate tilting with respect to a substrate. A MEMS device disclosed in the present description includes a substrate, a tilting plate arranged at an interval from the substrate, a support member fixed to the substrate, and a support beam having a first end connected to the support member and a second end connected to the tilting plate, and tiltably supporting the tilting plate around a tilting axis. In the MEMS device, one of the substrate and the tilting plate is formed with a protruding portion. In the MEMS device, at least a part of the protruding portion is included in a plane perpendicular to the tilting axis, and including a connecting portion of the tilting plate and the support beam. In the MEMS device, the at least a part of the protruding portion comes into contact with the other of the substrate and the tilting plate, when the tilting plate tilts.
摘要翻译：提供了一种即使在包括倾斜板相对于基板倾斜的MEMS装置中的倾斜板上发生沿着倾斜轴的方向的翘曲的情况下也能够保持倾斜角度恒定的技术。在本说明书中公开的MEMS装置包括基板，与基板间隔设置的倾斜板，固定到基板的支撑构件和支撑梁，支撑梁的第一端连接到支撑构件，第二端连接到倾斜板，并且倾斜地支撑倾斜板围绕倾斜轴线。在MEMS装置中，基板和倾斜板中的一个形成有突出部。在MEMS器件中，突出部分的至少一部分包括在垂直于倾斜轴的平面中，并且包括倾斜板和支撑梁的连接部分。在MEMS装置中，当倾斜板倾斜时，突出部分的至少一部分与基板和倾斜板中的另一个接触。

2. 发明申请

WO2007015149A2 ROBOT EQUIPPED WITH A GYRO AND GYRO CALIBRATION APPARATUS, PROGRAM, AND METHOD 审中-公开
标题翻译：装备有GYRO和GYRO校准装置的机器人，程序和方法
公开(公告)号：WO2007015149A2
公开(公告)日：2007-02-08
申请号：PCT/IB2006/002103
申请日：2006-08-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , MORI, Takemitsu , KATO, Takashi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
发明人： MORI, Takemitsu , KATO, Takashi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
CPC分类号： G05D1/0891 , G01C19/00 , G01C25/00
摘要： While calibrating the position of a robot having a gyro, the robot emits a beam of light to a target wall surface, and the position of a laser point on the target wall surface illuminated by the beam of light is measured. The measured position is obtained as an initial value (S10, S12), and a start of calibration is indicated (S14, S16). Then, a calibration period is reset (S18) and the timekeeping process of the calibration period starts. The values detected by the gyro are consecutively obtained by sampling for a predetermined calibration period (S20). If a disturbance occurs while the values are obtained, an alarm is output and calibration restarts. Once the calibration period elapses without any disturbance, a calibrated value is set or determined based on the detected values obtained during the calibration period (S26, S28).
摘要翻译：在校准具有陀螺仪的机器人的位置时，机器人向目标壁表面发射光束，并且测量由光束照射的目标壁表面上的激光点的位置。获得测量位置作为初始值（S10，S12），并且指示校准的开始（S14，S16）。然后，重置校准周期（S18），并且校准周期的计时处理开始。由陀螺仪检测的值通过对预定的校准周期进行采样而连续获得（S20）。如果在获得值时发生干扰，则输出报警并重新启动校准。一旦校准周期过去了，没有任何干扰，校准值将根据在校准期间获得的检测值来设定或确定（S26，S28）。

3. 发明申请

WO2007015138A1 CORRECTION DEVICE FOR ACCELERATION SENSOR, AND OUTPUT VALUE CORRECTION METHOD FOR ACCELERATION SENSOR 审中-公开
标题翻译：用于加速传感器的校正装置和用于加速传感器的输出值校正方法
公开(公告)号：WO2007015138A1
公开(公告)日：2007-02-08
申请号：PCT/IB2006/002088
申请日：2006-08-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
发明人： SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
IPC分类号： G01P15/00 , G01P21/00
CPC分类号： G01P21/00
摘要： An attitude angles calculation device (14) calculates attitude angles of a robot from the output values of an acceleration sensor (10). An attitude angles comparison device (16) compares attitude angles in a specified attitude which have been set in a register (20) and the attitude angles which have been detected, and outputs their differences to a correction values calculation device (18). The correction values calculation device (18) outputs correction devices to a zero point correction device (26) or a sensitivity correction device (28), so as to eliminate these differences. If would also be acceptable to set the attitude angles which are set in the register (20) from an input device (22).
摘要翻译：姿态角计算装置（14）根据加速度传感器（10）的输出值计算机器人的姿态角度。姿态角比较装置（16）将在寄存器（20）中设定的规定姿势的姿态角与被检测到的姿势角进行比较，并将其差分输出到校正值计算装置（18）。校正值计算装置（18）将校正装置输出到零点校正装置（26）或灵敏度校正装置（28），以消除这些差异。如果也可以从输入装置（22）设置在寄存器（20）中设置的姿态角。

4. 发明申请

WO1998007005A1 ANGULAR VELOCITY DETECTOR 审中-公开
标题翻译：角速度检测器
公开(公告)号：WO1998007005A1
公开(公告)日：1998-02-19
申请号：PCT/JP1997002756
申请日：1997-08-07
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , SUGITANI, Nobuyoshi , NONOMURA, Yutaka
发明人： TOYOTA JIDOSHA KABUSHIKI KAISHA
IPC分类号： G01C19/56
CPC分类号： G01C19/5607
摘要： This detector is provided with an oscillator base extending in X-direction on XY plane in XYZ three-dimensional coordinates space and fixed to an object material, the angular velocity of which is to be detected, an oscillator having a first oscillating member projecting from the oscillator base in +Y-direction and having a first natural frequency in X-direction and a second oscillating member projecting from the oscillator base in -Y-direction and having a second natural frequency in X-direction different from the first natural frequency, a means for driving either one of the first and second oscillating members in Z- or X-direction, a means for detecting the amplitude of oscillation orthogonally crossing both the direction in which the first and second oscillating members is driven by the driving means and Y-direction, and a means for computing an angular velocity with respect to a Y-direction axis on the basis of the magnitude of the amplitude detected by the amplitude detecting means. The shape and sizes of the first and second oscillating members are determined so that the oscillator base is not oscillated in Z-direction when the first or second oscillating members are excited by the driving means. Since this detector is thus formed, an angular velocity can be detected with a high accuracy.
摘要翻译：该检测器设置有在XY平面上的X方向上在XYZ三维坐标空间中延伸并固定到其要被检测的角速度的物体的振荡器基座，具有从第一振荡部件突出的第一振荡部件的振荡器振荡器基底在+ Y方向上并且具有在X方向上的第一固有频率和从振荡器基座沿-Y方向突出并且具有与第一固有频率不同的X方向上的第二固有频率的第二振荡部件，用于在Z方向或X方向上驱动第一和第二摆动构件中的任一个的装置，用于检测正交地交叉驱动装置驱动第一和第二摆动构件的方向的振动的振幅的装置，方向，以及用于基于由振幅检测装置检测的振幅的大小计算相对于Y方向轴的角速度的装置秒。确定第一和第二振荡构件的形状和尺寸，使得当第一或第二振荡构件被驱动装置激励时，振荡器基座在Z方向上不振荡。由于这样形成检测器，所以可以高精度地检测角速度。

5. 发明申请

WO2007015134A3 MOVING BODY POSTURE ANGLE DETECTING APPARATUS 审中-公开
标题翻译：移动身体姿势检测装置
公开(公告)号：WO2007015134A3
公开(公告)日：2007-08-23
申请号：PCT/IB2006002084
申请日：2006-08-01
申请人： TOYOTA MOTOR CO LTD , TOYOTA CHUO KENKYUSHO KK , SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： B25J9/16 , B25J19/02 , B62D57/02 , G01C15/00 , G05D1/08
CPC分类号： B25J9/163 , G05B2219/37024 , G05B2219/37388 , G05B2219/40536 , G05B2219/41166 , G05B2219/42152
摘要： An angular velocity detected by an angular velocity sensor (10) is integrated by a small angle matrix calculator (12) and a matrix adding calculator (14), and then restored as a posture angle (angular velocity posture angle) by a matrix posture angle calculator (16). A posture matrix is calculated by a tilt angle calculator (22) and an acceleration matrix calculator (24) and an acceleration detected by an acceleration sensor (20) is restored as a posture angle (acceleration posture angle) by a matrix posture angle calculator (26). Low pass filters (18, 28) each extract a low range component, the difference between the two is calculated by a differencer (30), and only the drift amount is extracted. A subtracter (32) removes the drift amount from the angular velocity posture angle and the result is output from an output device (34). In addition, a posture angle matrix calculator (36) converts the result to a posture matrix, which it feeds back to the matrix adding calculator (14).
摘要翻译：由角速度传感器（10）检测到的角速度由小角度矩阵计算器（12）和矩阵相加计算器（14）积分，然后作为姿态角度（角速度姿态角度）恢复矩阵姿态角计算器（16）。通过倾斜角计算器（22）和加速度矩阵计算器（24）计算姿势矩阵，并且通过矩阵姿势角计算器（24）将由加速度传感器（20）检测到的加速度恢复为姿势角（加速姿势角） 26）。低通滤波器（18,28）各自提取低范围分量，两者之差由差分器（30）计算，并且仅提取漂移量。减法器（32）从角速度姿势角度消除漂移量，并从输出装置（34）输出结果。另外，姿势角度矩阵计算器（36）将结果转换为姿势矩阵，并将其反馈给矩阵相加计算器（14）。

6. 发明申请

WO2007015148A2 SENSOR UNIT 审中-公开
标题翻译：传感器单元
公开(公告)号：WO2007015148A2
公开(公告)日：2007-02-08
申请号：PCT/IB2006/002102
申请日：2006-08-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , TSUKADA, Kouji
发明人： SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro , TSUKADA, Kouji
IPC分类号： G01P15/18 , G01P1/02 , G01C21/16
CPC分类号： G01C21/16 , F16F15/08 , G01P1/023 , G01P15/18
摘要： A sensor unit has a reference base. An acceleration sensor block and angular velocity sensor support rods are airanged on the reference base, using a bottom face and one side face of the reference base as reference faces. Three acceleration sensors, which detect accelerations that act in the directions in which an X-axis, a Y-axis, and a Z-axis extend, are fitted to three faces of the acceleration sensor block, respectively, Three angular velocity sensors, which detect angular velocities about the X-axis, the Y-axis, and the Z-axis, are fitted to boards that are fitted, via rubber bushings serving as vibration-proofing rubber members, to the angular velocity sensor support rods with screws respectively .
摘要翻译：
传感器单元有参考基准。使用参考底座的底面和一个侧面作为参考面，在参考底座上设置加速度传感器块和角速度传感器支撑杆。三个加速度传感器分别安装在加速度传感器模块的三个面上，这三个加速度传感器分别检测沿X轴，Y轴和Z轴延伸的方向作用的加速度。三个角速度传感器，它们检测围绕X轴，Y轴和Z轴的角速度分别安装到通过用作防振橡胶构件的橡胶衬套用螺钉分别安装到角速度传感器支撑杆的板上。

7. 发明申请

WO2013145735A4 MEMS DEVICE 审中-公开
标题翻译： MEMS器件
公开(公告)号：WO2013145735A4
公开(公告)日：2014-01-09
申请号：PCT/JP2013002075
申请日：2013-03-27
申请人： TOYOTA CHUO KENKYUSHO KK , OZAKI TAKASHI , FUJITSUKA NORIO , SHIMAOKA KEIICHI , NONOMURA YUTAKA
发明人： OZAKI TAKASHI , FUJITSUKA NORIO , SHIMAOKA KEIICHI , NONOMURA YUTAKA
IPC分类号： B81B3/00
CPC分类号： B81B3/0048 , B81B3/007 , B81B2201/042 , B81B2203/0109
摘要： Provided is a technique capable of keeping a tilt angle constant even in a case where a warp in a direction along a tilting axis occurs on a tilting plate in a MEMS device which includes the tilting plate tilting with respect to a substrate. A MEMS device disclosed in the present description includes a substrate, a tilting plate arranged at an interval from the substrate, a support member fixed to the substrate, and a support beam having a first end connected to the support member and a second end connected to the tilting plate, and tiltably supporting the tilting plate around a tilting axis. In the MEMS device, one of the substrate and the tilting plate is formed with a protruding portion. In the MEMS device, at least a part of the protruding portion is included in a plane perpendicular to the tilting axis, and including a connecting portion of the tilting plate and the support beam. In the MEMS device, the at least a part of the protruding portion comes into contact with the other of the substrate and the tilting plate, when the tilting plate tilts.
摘要翻译：提供了一种技术，即使在包括倾斜板相对于基板倾斜的MEMS装置中的倾斜板上发生沿着倾斜轴的方向的翘曲的情况下也能够保持倾斜角度恒定。在本说明书中公开的MEMS装置包括基板，与基板间隔设置的倾斜板，固定到基板的支撑构件和支撑梁，支撑梁的第一端连接到支撑构件，第二端连接到倾斜板，并且可倾斜地支撑倾斜板围绕倾斜轴线。在MEMS装置中，基板和倾斜板中的一个形成有突出部。在MEMS装置中，突出部分的至少一部分包括在垂直于倾斜轴的平面中，并且包括倾斜板和支撑梁的连接部分。在MEMS装置中，当倾斜板倾斜时，突出部分的至少一部分与基板和倾斜板中的另一个接触。

8. 发明申请

WO2007015149A3 ROBOT EQUIPPED WITH A GYRO AND GYRO CALIBRATION APPARATUS, PROGRAM, AND METHOD 审中-公开
标题翻译：装有陀螺仪和陀螺仪校准装置，程序和方法的机器人
公开(公告)号：WO2007015149A3
公开(公告)日：2007-08-23
申请号：PCT/IB2006002103
申请日：2006-08-01
申请人： TOYOTA MOTOR CO LTD , TOYOTA CHUO KENKYUSHO KK , MORI TAKEMITSU , KATO TAKASHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
发明人： MORI TAKEMITSU , KATO TAKASHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01C25/00
CPC分类号： G05D1/0891 , G01C19/00 , G01C25/00
摘要： While calibrating the position of a robot having a gyro, the robot emits a beam of light to a target wall surface, and the position of a laser point on the target wall surface illuminated by the beam of light is measured. The measured position is obtained as an initial value (S10, S12), and a start of calibration is indicated (S14, S16). Then, a calibration period is reset (S18) and the timekeeping process of the calibration period starts. The values detected by the gyro are consecutively obtained by sampling for a predetermined calibration period (S20). If a disturbance occurs while the values are obtained, an alarm is output and calibration restarts. Once the calibration period elapses without any disturbance, a calibrated value is set or determined based on the detected values obtained during the calibration period (S26, S28).
摘要翻译：在校准具有陀螺仪的机器人的位置时，机器人向目标墙壁表面发射光束，并且测量由该光束照射的目标墙壁表面上的激光点的位置。测量位置作为初始值获得（S10，S12），并且指示校准开始（S14，S16）。然后，重置校准周期（S18），并开始校准周期的计时过程。通过对预定的校准周期进行采样连续地获得由陀螺仪检测到的值（S20）。如果在获取数值时发生干扰，则会输出警报并重新开始校准。一旦校准周期过去而没有任何干扰，则基于在校准周期期间获得的检测值来设置或确定校准值（S26，S28）。

9. 发明申请

WO2007015145A2 ROBOT CONTROL SYSTEM 审中-公开
标题翻译：机器人控制系统
公开(公告)号：WO2007015145A2
公开(公告)日：2007-02-08
申请号：PCT/IB2006/002097
申请日：2006-08-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
发明人： SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
IPC分类号： B25J9/00
CPC分类号： B25J9/16
摘要： Communication is performed between a sensor unit (10) aud a robot CPU (12) by using a serial data line (14). A variable length data format includes a transfer size section, a command section, a transfer pattern section, a measurement data section, and a CRC section; and, along with increasing and decreasing the number of types of data in the measurement data section, the type of this data is stipulated by a transfer pattern section. By reducing the number of types of the data, the length of the data is shortened, thus ensuring the communication speed. Furthermore , the measurement times of the sensor unit (10) are accurately managed by the robot CPU (12), by transmitting time stamp data from the robot CPU (12), and by transmitting time stamp + time count data from the sensor unit (10).
摘要翻译：通过使用串行数据线（14）在传感器单元（10）与机器人CPU（12）之间执行通信。可变长度数据格式包括传送大小部分，命令部分，传送模式部分，测量数据部分和CRC部分; 并且随着测量数据部分中的数据类型的数量的增加和减少，该数据的类型由传送模式部分来规定。通过减少数据类型的数量，数据的长度被缩短，从而确保了通信速度。此外，机器人CPU（12）通过从机器人CPU（12）发送时间标记数据并通过从传感器单元（12）发送时间标记+时间计数数据来精确地管理传感器单元（10）的测量时间 10）。

10. 发明申请

WO2007015137A1 ZERO-POINT CORRECTION APPARATUS AND METHOD FOR AN ANGULAR SPEED SENSOR 审中-公开
标题翻译：零点校正装置和角速度传感器的方法
公开(公告)号：WO2007015137A1
公开(公告)日：2007-02-08
申请号：PCT/IB2006/002087
申请日：2006-08-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
发明人： SUGIHARA, Hisayoshi , NONOMURA, Yutaka , FUJIYOSHI, Motohiro
CPC分类号： G01C25/005 , G01P13/00
摘要： An angular sensor (10) is provided in a mobile body. A first setter (14) performs determination regarding the standstill state on the basis of whether or not the variation width of the angular speed is less than or equal to a predetermined value. A standstill determiner (20) determines whether or not the standstill state has continued beyond a determination time. An n-i sum-total averaging unit (34) calculates a sum-total average of (n-i) number of pieces of data obtained by excluding, from n number of pieces of data input during a period determined as a continuation of the standstill state, i number of pieces of data that are output immediately before the end timing of the period, and determines it as a zero-point offset. A zero-point corrector (36) performs the zero-point correction of the output value of the angular speed sensor (10) , and outputs the corrected value to an output unit (28) .
摘要翻译：角度传感器（10）设置在移动体中。第一设定器（14）基于角速度的变化幅度是否小于或等于预定值来执行关于停止状态的确定。停止确定器（20）确定停止状态是否持续超过确定时间。一个尼和总计平均单元（34）计算通过从作为停止状态的延续确定的周期期间输入的n个数据片中排除（ni）数量的数据的总和平均值，i 在该周期的结束定时之前立即输出的数据数，并将其确定为零点偏移。零点校正器（36）对角速度传感器（10）的输出值进行零点校正，并将校正值输出到输出单元（28）。

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