Abstract: A vehicle cleaning system includes: a vehicle; and a cleaning robot that cleans the vehicle. Further, the vehicle and the cleaning robot mutually perform communication of information necessary for cleaning, and perform cleaning at appropriate timing.

Abstract: A vehicle may include a camera configured to capture surroundings around the vehicle; a receiver; a display device; and a controller configured to display an image that the camera is currently capturing on the display device with reception of a signal transmitted from a vehicle washer by the receiver as a trigger.

Abstract: A vehicle includes an object sensor configured to detect an object around the vehicle; a warning device configured to alert a driver when an object is detected by the object sensor at a position at which a distance from the vehicle is less than or equal to a threshold; a receiver; and a controller configured to reduce the threshold when the receiver receives a signal transmitted from a vehicle washer.

Abstract: An end effector includes: a linkage mechanism coupled to a tip of a robot arm. Further, the linkage mechanism includes openable and closable arm portions provided on a tip side of the linkage mechanism, and grip portions acquired by extension of the arm portions.

Abstract: When an abnormality diagnosis of an SCR catalyst is carried out, diagnostic supply control is carried out in such a manner that the first estimated adsorption amount, which is an amount of adsorption of ammonia in the SCR catalyst at the time when the SCR catalyst is assumed to be in a predetermined abnormal state, becomes equal to or more than a first predetermined adsorption amount, and the second estimated adsorption amount, which is an amount of adsorption of ammonia in the SCR catalyst at the time when the SCR catalyst is assumed to be in a predetermined normal state, becomes smaller than a second predetermined adsorption amount. Then, supply decreasing control to decrease an amount of adsorption of ammonia in the SCR catalyst is carried out, after the end of the execution of the diagnostic supply control.

Abstract: In the abnormality diagnosis device which carries out an abnormality diagnosis of the reducing agent adding device by obtaining a diagnostic parameter which is a parameter correlated with an amount of pressure drop in a reducing agent passage in the case where, from a state in which an addition valve has been closed and in which a voltage to be applied to a pump is controlled to a diagnostic voltage so that the pressure in the reducing agent passage becomes a predetermined pressure, the addition valve is made to open in a state where the voltage to be applied to the pump is maintained at the diagnostic voltage, and by making a comparison between the diagnostic parameter and a predetermined threshold value, the abnormality diagnosis is carried out by using the diagnostic parameter or the predetermined threshold value which is corrected based on the pump discharge capacity of the pump.

Abstract: In the abnormality diagnosis device which carries out an abnormality diagnosis of the reducing agent adding device by obtaining a diagnostic parameter which is a parameter correlated with an amount of pressure drop in a reducing agent passage in the case where, from a state in which an addition valve has been closed and in which a voltage to be applied to a pump is controlled to a diagnostic voltage so that the pressure in the reducing agent passage becomes a predetermined pressure, the addition valve is made to open in a state where the voltage to be applied to the pump is maintained at the diagnostic voltage, and by making a comparison between the diagnostic parameter and a predetermined threshold value, the abnormality diagnosis is carried out by using the diagnostic parameter or the predetermined threshold value which is corrected based on the pump discharge capacity of the pump.

Abstract: An abnormality diagnosis system for an exhaust gas purification device performs abnormality diagnosis of an SCR catalyst on the basis of the concentration of ammonia in exhaust gas in the region downstream of the SCR catalyst. The system includes a controller configured to estimate the amount of ammonia adsorbed in the SCR catalyst in an abnormal condition (ammonia adsorption amount in abnormal condition) and the amount of ammonia adsorbed in the SCR catalyst in a normal condition (ammonia adsorption amount in normal condition). When performing abnormality diagnosis of the SCR catalyst, the controller supplies reducing agent so as to make the ammonia adsorption amount in abnormal condition larger than a first predetermined adsorption amount equal to or larger than a slip start adsorption amount in abnormal condition and to make the ammonia adsorption amount in normal condition smaller than a second predetermined adsorption amount equal to or smaller than a slip start adsorption amount in normal condition.

Abstract: When an abnormality diagnosis of an SCR catalyst is carried out, diagnostic supply control is carried out in such a manner that the first estimated adsorption amount, which is an amount of adsorption of ammonia in the SCR catalyst at the time when the SCR catalyst is assumed to be in a predetermined abnormal state, becomes equal to or more than a first predetermined adsorption amount, and the second estimated adsorption amount, which is an amount of adsorption of ammonia in the SCR catalyst at the time when the SCR catalyst is assumed to be in a predetermined normal state, becomes smaller than a second predetermined adsorption amount. Then, supply decreasing control to decrease an amount of adsorption of ammonia in the SCR catalyst is carried out, after the end of the execution of the diagnostic supply control.

Abstract: In the abnormality diagnosis device which carries out an abnormality diagnosis of the reducing agent adding device by obtaining a diagnostic parameter which is a parameter correlated with an amount of pressure drop in a reducing agent passage in the case where, from a state in which an addition valve has been closed and in which a voltage to be applied to a pump is controlled to a diagnostic voltage so that the pressure in the reducing agent passage becomes a predetermined pressure, the addition valve is made to open in a state where the voltage to be applied to the pump is maintained at the diagnostic voltage, and by making a comparison between the diagnostic parameter and a predetermined threshold value, the abnormality diagnosis is carried out by using the diagnostic parameter or the predetermined threshold value which is corrected based on the pump discharge capacity of the pump.

Abstract: Embodiments of the present disclosure may improve the accuracy of diagnosis in diagnosing whether an exhaust gas purification system having an SCR filter is faulty. It is determined that the exhaust gas purification system is faulty if the NOx removal rate with the SCR filter calculated using a measurement value of an NOx sensor is lower than or equal to a predetermined criterion removal rate. In the apparatus, a differential pressure change rate defined as the increase in a converted differential pressure value per unit increase in the filter PM deposition amount is calculated. The value of the criterion removal rate is set higher when the differential pressure change rate at the time when the measurement value of the NOx sensor is obtained is lower than a predetermined threshold than when the differential pressure change rate is higher than or equal to the predetermined threshold.

Abstract: Embodiments of the present disclosure may estimate the amount of ammonia adsorbed in an SCR catalyst as accurately as possible. The ammonia adsorption amount is calculated by integrating the quantity of ammonia supplied to the SCR filter, the quantity of ammonia consumed in reduction of NOx in the SCR catalyst, and the quantity of ammonia desorbed from the SCR catalyst. In the calculation, a differential pressure change rate defined as the increase in a converted differential pressure value per unit increase in the filter PM deposition amount is referred to. The ammonia desorption quantity is calculated in such a way that the calculated value of the ammonia desorption quantity is made smaller when the differential pressure change rate is smaller than a predetermined threshold than when the differential pressure change rate is equal to or higher than the predetermined threshold.

Abstract: When an integrated value of a determination value correlated with a command value for an amount of supply of a reducing agent at the time of the command value being larger than a command supply amount threshold value reaches an integration threshold value, a determination is made that a diagnosis condition is satisfied, and an abnormality in the supply of the reducing agent is diagnosed based on an integrated value of the command value for the amount of supply of the reducing agent and an integrated value of an estimated value of the amount of supply of the reducing agent, whereas in cases where a period of time in which the diagnosis condition is not satisfied is longer than a time period threshold value, an interval of supply of the reducing agent is extended.

Abstract: An object of the disclosure is to adjust the ammonia adsorption amount in an SCR catalyst supported on an SCR filter as close as possible to a target adsorption amount in an exhaust gas purification system including the SCR filter. In a system according to the disclosure, the quantity of ammonia supplied by an ammonia supplier is made smaller when a differential pressure change rate at the time when ammonia is supplied by the ammonia supplier is lower than a predetermined threshold than when the differential pressure change rate at the time when ammonia is supplied by the ammonia supplier is equal to or higher than the predetermined threshold. Moreover, when the differential pressure change rate is lower than the predetermined threshold, the change in the quantity of ammonia supplied by the ammonia supplier relative to the change in the filter PM deposition amount is kept equal to zero.

Abstract: When an integrated value of a determination value correlated with a command value for an amount of supply of a reducing agent at the time of the command value being larger than a command supply amount threshold value reaches an integration threshold value, a determination is made that a diagnosis condition is satisfied, and an abnormality in the supply of the reducing agent is diagnosed based on an integrated value of the command value for the amount of supply of the reducing agent and an integrated value of an estimated value of the amount of supply of the reducing agent, whereas in cases where a period of time in which the diagnosis condition is not satisfied is longer than a time period threshold value, an interval of supply of the reducing agent is extended.

Abstract: An object of the disclosure is to adjust the ammonia adsorption amount in an SCR catalyst supported on an SCR filter as close as possible to a target adsorption amount in an exhaust gas purification system including the SCR filter. In a system according to the disclosure, the quantity of ammonia supplied by an ammonia supplier is made smaller when a differential pressure change rate at the time when ammonia is supplied by the ammonia supplier is lower than a predetermined threshold than when the differential pressure change rate at the time when ammonia is supplied by the ammonia supplier is equal to or higher than the predetermined threshold. Moreover, when the differential pressure change rate is lower than the predetermined threshold, the change in the quantity of ammonia supplied by the ammonia supplier relative to the change in the filter PM deposition amount is kept equal to zero.

Abstract: Embodiments of the present disclosure may improve the accuracy of diagnosis in diagnosing whether an exhaust gas purification system having an SCR filter is faulty. It is determined that the exhaust gas purification system is faulty if the NOx removal rate with the SCR filter calculated using a measurement value of an NOx sensor is lower than or equal to a predetermined criterion removal rate. In the apparatus, a differential pressure change rate defined as the increase in a converted differential pressure value per unit increase in the filter PM deposition amount is calculated. The value of the criterion removal rate is set higher when the differential pressure change rate at the time when the measurement value of the NOx sensor is obtained is lower than a predetermined threshold than when the differential pressure change rate is higher than or equal to the predetermined threshold.

Abstract: Embodiments of the present disclosure may estimate the amount of ammonia adsorbed in an SCR catalyst as accurate as possible. The ammonia adsorption amount is calculated by integrating the quantity of ammonia supplied to the SCR filter, the quantity of ammonia consumed in reduction of NOx in the SCR catalyst, and the quantity of ammonia desorbed from the SCR catalyst. In the calculation, a differential pressure change rate defined as the increase in a converted differential pressure value per unit increase in the filter PM deposition amount is referred to. The ammonia desorption quantity is calculated in such a way that the calculated value of the ammonia desorption quantity is made smaller when the differential pressure change rate is smaller than a predetermined threshold than when the differential pressure change rate is equal to or higher than the predetermined threshold.

Abstract: In an exhaust gas purification apparatus for an internal combustion engine in which a filter for trapping PM, and a deflector for deflecting exhaust gas flowing into the filter, are arranged in an exhaust passage, in cases where a state continues in which the flow rate of the exhaust gas does not change relatively, regeneration processing of the filter is carried out so that a local excessive temperature rise resulting from non-uniform deposition of PM does not occur.

Abstract: It is possible to decrease the amount of NOx emitted into the air. The amount of ammonia adsorbed on an SCR catalyst is calculated by subtracting the amount of ammonium nitrate produced on the SCR catalyst from the amount of ammonia adsorbed on the SCR catalyst at the time of starting of an internal combustion engine, and the amount of NO2 flowing into the SCR catalyst is decreased when an NOx purification rate estimated from the amount of ammonia adsorbed on the SCR catalyst is less than a threshold value compared to when the NOx purification rate is equal to or greater than the threshold value.