Toyota Jidosha Kabushiki Kaisha

Aisin Aw Co., Ltd.

Denso Corporation

Akihiro Kimura

Masaya Yamamoto

Shunya Kato

Hideki Furuta

Hideaki Yaguchi

Takeshi Hoshiba

Yuma Mori

Masahiro Naito

Toshiya Hashimoto

Koichiro Muta

Shunsuke Oyama

Kiyoshiro Ueoka

Takanori Aoki

Eiji Fukushiro

Gohki Kinoshita

Fukashi Andoh

Hidenori Yabushita

Yoshihiro Okumatsu

Fuminori Saito

Takeshi Aoki

Takeshi Nishida

Reoto Uetake

Akihito Goto

Atsunori Kobayashi

Tooru Matsubara

Makoto Taniguchi

Daigo Ando

Noriaki Ikemoto

Keiji Kaita

Yoichi Tajima

Takashi Saito

Kaiji Itabashi

Jirou Hayashi

Yoshitaka Oikawa

Kensuke Kamichi

Kentaro Haruno

Daisuke Suyama

Atsushi Kayukawa

Asuka Tanaka

Shinichi Abe

Masaki Nomura

Natsuki Nozawa

Tetsuya Abe

Shoji Nagata

A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Conveyance robot system, method for controlling conveyance robot and non-transitory computer readable storage medium storing a robot control program

A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robotconstituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Conveyance robot system, method of controlling a conveyance robot and non-transitory computer readable storage medium storing a robot control program

A balance training system includes a moving carriage moving on a moving surface by driving a driving unit, and calculates a load's center of gravity of the training person's feet on a boarding surface from the detected load. The system sets a stable range. The stable range is a range of the load's center. The training person is estimated to maintain upright on the boarding surface in the range. The system controls movement of the moving carriage in a mode selected between a first mode and a second mode. In the first mode, the driving unit drives under drive control predicting that the calculated load's center shifts within a first range set inside the stable range. In in the second mode, the driving unit drives under drive control predicting that the calculated load's center shifts to a second range set outside the first range inside the stable range.

Balance training system and control program for balance training system

A stator assembly has a motor housing of a cylindrical shape and a stator fixed to an inner peripheral wall of the motor housing by a shrink fitting process. A stator core of the stator includes a projecting portion in contact with the motor housing and a stopper portion, which is smaller than the projecting portion in a radial direction. The stopper portion is in contact with the motor housing in an actual-use temperature range. The projecting portions and the stopper portions are alternately arranged in a circumferential direction in a cyclic manner. A cycle unit is composed of one or more than one projecting portion and one or more than one stopper portion. Multiple stator core sheets are built up in such a way that the cycle units are alternately arranged in an axial direction and neighboring stator core sheets are displaced in the circumferential direction by a predetermined shift angle. A curvature radius of the projecting portion at a position, at which the projecting portion is in contact with the motor housing, is smaller than a radius of a circumscribed circle of the projecting portion.

Electric motor and stator assembly

In a stator assembly, each stator core includes a plurality of protrusions and a plurality of recesses, which are provided periodically in a circumferential direction on an outer periphery. The protrusion abuts at least a part of an inner wall of a housing in the circumferential direction. The recess is smaller than the protrusion in a radial direction and has a gap relative to the inner wall of the housing. Adjacent stator cores are shifted in the circumferential direction by a predetermined shift angle such that a periodic unit formed of at least one protrusion and at least one recess appear alternately in the axial direction. The protrusion has a radius of curvature smaller than a radius of a circumscribed circle at a part abutting the inner wall of the housing.

Stator assembly and motor

Each permanent magnet provided in a rotor includes a projection that projects toward a corresponding predetermined portion of the rotor core. An inner peripheral surface of each permanent magnet, which is radially opposed to the corresponding predetermined portion of the rotor core, includes a primary contacting portion and two primary non-contacting portions. The primary contacting portion contacts the corresponding predetermined portion of the rotor core at a circumferential location, which corresponds to the projection. The primary non-contacting portions do not contact the rotor core and are located on two circumferentially opposite sides, respectively, of the primary contacting portion.

Rotor and dynamo-electric machine having the same

A vehicle includes an internal combustion engine that generates power for rotating drive wheels, a differential mechanism that is provided between the engine and the drive wheels, and has at least three rotary elements including a first rotary element coupled to the engine, and a second rotary element coupled to the drive wheels, and a controller configured to control the engine. The controller is configured to determine whether to perform correction to increase the power generated by the engine, or perform correction to reduce the power, depending on a rotational speed of the second rotary element, when it changes a rotational speed of the engine.

Vehicle and control method for the vehicle

A hybrid vehicle includes a differential device, a first motor, an engine, a second motor, an engagement device, and an electronic control unit. The electronic control unit is configured to control the first motor and the second motor when an engagement state of the engagement device changes, such that a first angular acceleration and a second angular acceleration reach a first target value and the second target value respectively, the first angular acceleration and the second angular acceleration being two angular accelerations of the engine, the first motor, and the second motor and to calculate the first target value and the second target value by applying a constraint condition to at least one of the first target value and the second target value.

Hybrid vehicle and control method for hybrid vehicle

An ECU executes a program including the steps of: executing fuel-cut control when an IG OFF operation has been performed and a vehicle is traveling; determining torque command values of a first MG and a second MG when a charge power upper limit value Win is reduced; controlling the first MG based on the determined torque command value of the first MG; and controlling the second MG based on the determined torque command value of the second MG.

Vehicle and control method for vehicle

An ECU executes a program including the steps of: executing fuel-cut control when an IG OFF operation has been performed and when a vehicle is traveling; executing deceleration control when vehicle speed is equal to or higher than a threshold value; ending the deceleration control and permitting restart of an engine when the vehicle speed has become lower than the threshold value; and controlling a first MG and the engine when an IG ON operation has been performed.

A hybrid vehicle includes an electric steplessly speed changing unit, an engaging device, and an electronic control unit. The electric steplessly speed changing unit includes a differential mechanism including a first rotary element to which an engine is coupled, a second rotary element to which a first rotary machine is coupled, and a third rotary element as an output rotary member of the differential mechanism to which a second rotary machine is coupled. Differential operation of the electric steplessly speed changing unit is controlled by controlling operation of the first rotary machine. The engaging device is provided in a power transmission path between the third rotary element and drive wheels. In control of the hybrid vehicle, when at least one of the first rotary machine and the second rotary machine is operated with a predetermined positive or negative maximum torque, the electronic control unit controls a slip amount of the engaging device by changing the torque capacity of the engaging device.

Control system, control device, and control method for hybrid vehicle

A vehicle is provided with a differential gear including a sun gear, a carrier, and a ring gear, motor generators coupled to the sun gear, an engine coupled to the carrier, and a wheel coupled to the ring gear. The vehicle includes an ECU that stops the engine upon operation of a start switch by a driver, and a brake that brakes the sun gear upon operation of the start switch while the vehicle is traveling.

A sprung vibration damping for suppressing sprung vibration which is generated to a vehicle by an input from a road surface to wheels provided with the vehicle by controlling a torque of a motor, and the sprung vibration damping is subjected to a restriction including a prohibition in response to a state of battery, which supplies power to the motor, such as a voltage and a temperature of the battery or a state of a control, which affects the power of the battery, such as a charge/discharge amount feedback control and the like.

Vibration-damping controlling apparatus

An ECU executes a program including the steps of carrying out low-load control when an IG OFF operation is performed, when a vehicle is running, and when stop of an engine is not permitted, carrying out gate cut-off control, ending low-load control and gate cut-off control when a brake pedal has been operated, when a vehicle speed is lower than a threshold value, or when a prescribed time period has elapsed since the IG OFF operation, permitting stop of the engine, and carrying out fuel cut control.

A control apparatus for a vehicle including a differential section having a first rotating element coupled to a prime mover and a second rotating element connected to drive wheels via an engaging and disengaging apparatus, including: a controller configured to control connection of the engaging and disengaging apparatus, the controller being configured to adjust a power of the prime mover, the controller being configured to reduce the power of the prime mover when performing connection of the engaging and disengaging apparatus, and the controller being configured to reduce more power of the prime mover as a speed of rotation of the first rotating element is lower.

Growing community of inventors

Toyota, Japan

Akihiro Kimura