Toyota Jidosha Kabushiki Kaisha

Yoshihiro Okumatsu

Akihito Goto

Akihiro Kimura

Yu Sasaki

Fukashi Andoh

Hidenori Yabushita

Fuminori Saito

Takeshi Nishida

Reoto Uetake

Atsunori Kobayashi

Kazuya Yamamoto

Takahiro Nakayama

Ui Yamaguchi

Hiroki Izu

Hiroyuki Iyama

Hiroshi Bito

Akira Hatano

Masatomo Tanaka

Kazutomo Misao

Yuki Nomura

A robot control system includes: an impedance control unit configured to, while a robot holding a container with an arm is moving at a first speed, make prediction about displacement of a liquid in the container that occurs when a speed of the robot is changed to a second speed higher than the first speed, and control a magnitude of a first impedance of the arm in a horizontal direction based on a result of the prediction; and a movement control unit configured to change the speed of the robot to the second speed in response to reduction in the first impedance.

Robot control system, robot control method, and non-transitory storage medium

A motor according to the present disclosure includes a rotor. The rotor includes a plurality of first magnets arranged in a Halbach arrangement in a circumferential direction of the rotor, and a second magnet. The plurality of first magnets and the second magnets are arranged alternately and adjacent to each other. The second magnet is longer in the circumferential direction of the rotor as compared to the first magnet. The first magnet and the second magnet have a substantially trapezoidal shape when viewed from the rotation axis direction of the rotor.

Motor having a plurality of first magnets and a plurality of second magnets arranged in a halbach arrangement

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 rotor that is downsized while achieving high output of the electric motor is provided. The rotor includes a plurality of main magnets and a plurality of auxiliary magnets. The auxiliary magnets are fit into a plurality of respective grooves formed along a rotation shaft direction in an outer periphery of a rotation shaft arranged at the center of the rotor, are projected from the outer periphery of the rotation shaft to an outer side of a radial direction, and have a magnetization direction along a circumferential direction of the rotor. Magnetic field directions of the auxiliary magnets that are adjacent to each other are opposite to each other in the circumferential direction. The main magnets are arranged in projected parts of the auxiliary magnets that are adjacent to each other and have a magnetization direction that is along the radial direction of the rotor.

Rotor and method of manufacturing the same

A motor control apparatus includes an inverter comprising switching elements, current detection means for detecting a phase current value output from the inverter to each phase of a three-phase AC motor, conversion means for converting the phase current value into a digital AD conversion value, and modulation means for comparing a phase voltage command value based on the AD conversion value from the conversion means with a PWM counter value generated using a timer operating at predetermined cycles to generate a PWM signal and outputting the generated PWM signal to the inverter to thereby switch the switching elements of the inverter and control the three-phase AC motor. The conversion means outputs the AD conversion value acquired by converting the phase current value at a timing when a rectangular width of a rectangular wave of a phase voltage value corresponding to the PWM counter value is long.

Motor control apparatus, control method thereof, and program

An autonomous mobile object includes: a moving mechanism; a power-receiving terminal that is supplied with power from a power-supply terminal; an imaging unit configured to image the power-supply terminal at a position separated from the power-supply terminal by more than a distance at which the power-receiving terminal is capable of being supplied with power from the power-supply terminal; a determination unit configured to determine whether to remove contamination of the power-supply terminal based on an analysis result obtained by analyzing the image captured by the imaging unit and information on misalignment between the power-supply terminal and the power-receiving terminal, the misalignment being predicted when the autonomous mobile object moves to a position at which the power-receiving terminal is capable of being supplied with power from the power-supply terminal; and a removal unit configured to remove the contamination when the determination unit determines to remove the contamination.

Autonomous mobile object and storage medium for autonomous mobile object

A charging system that includes a charging device and a secondary battery device with improved safety is provided. When the secondary battery device has been connected to a charging terminal of the charging device, a DC voltage for inspection is supplied from a DC power supply unit to the charging terminal to detect a DC signal by a DC signal detection unit, and an AC voltage for inspection is supplied from an AC power supply unit to the charging terminal to detect an AC signal by an AC signal detection unit. The secondary battery device is started to be charged only when the value of the DC signal falls within a reference range defined by a resistance value of the secondary battery device and the value of the AC signal falls within a reference range defined by an impedance value of the secondary battery device.

Charging system

A transfer assist apparatus includes an anxiety measurement unit that detects a physical change linked to a sense of anxiety in the care-receiver and measures a degree of anxiety in the care-receiver, and a control unit that control the drive unit correspondingly to a trajectory inputted by the operation unit and performs feedback control so as to reduce the degree of anxiety measured by the anxiety measurement unit. The anxiety measurement unit detects at least one of a heart rate, an amount of perspiration, a breathing rate, an eyeball movement, an electric resistance of skin, and a skin temperature as the physical change linked to a sense of anxiety in the care-receiver. The control unit sets a speed limit of the drive unit correspondingly to the degree of anxiety measured by the anxiety measurement unit and restricts the drive speed of the drive unit not to exceed the speed limit.

Transfer assist apparatus

To make it possible to avoid an unstable state with a simple configuration even one of the phases of the motor fails. A motor drive system in accordance with the present invention includes a motor to which a plurality of phase coils of five phases or more are connected in a star connection, an inverter connected to one end of each of the phase coils, the inverter being configured to convert a DC power into an AC power and supply the AC power to each phase of the motor, a power relay disposed at another end of each of the phase coils, the power relay being configured so as to be able to cut off a supply power to at least one phase coil among the plurality of phase coils of the motor by using a plurality of contact points interposed between the star-connected coils, and a control unit that generates a control signal for the inverter and thereby controls driving of the motor. When one or more phase of the motor fails, the control unit opens a contact point of the power relay corresponding to the failed phase and drives three or more phases that are disposed at roughly equal phase-intervals among a plurality of remaining phases.

Growing community of inventors

Nagakute, Japan

Yoshihiro Okumatsu