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1. JPWO2014068759 - 移動装置

Office
Japan
Application Number 2014544171
Application Date 02.11.2012
Publication Number WO2014068759
Publication Date 08.05.2014
Grant Number 5923620
Grant Date 22.04.2016
Publication Kind B2
IPC
B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
G05D 1/08
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08Control of attitude, i.e. control of roll, pitch, or yaw
CPC
B60B 33/063
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
33Castors in general; ; Anti-clogging castors
04adjustable ; , e.g. in height; linearly shifting castors
06mounted retractably
063by linear movement parallel to swivel axis
B60L 3/0015
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
3Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
0007Measures or means for preventing or attenuating collisions
0015Prevention of collisions
B60L 3/106
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
3Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
10Indicating wheel slip ; ; Correction of wheel slip
106for maintaining or recovering the adhesion of the drive wheels
B60L 15/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
15Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
20for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B60L 50/52
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
50Electric propulsion with power supplied within the vehicle
50using propulsion power supplied by batteries or fuel cells
52characterised by DC-motors
B60L 2220/46
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2220Electrical machine types; Structures or applications thereof
40Electrical machine applications
46Wheel motors, i.e. motor connected to only one wheel
Applicants 株式会社日立製作所
Inventors 上田 泰士
中村 亮介
網野 梓
Agents ポレール特許業務法人
Title
(JA) 移動装置
Abstract
(JA)

本発明の目的は、動的安定姿勢の自立可能性を簡便に判断する手段をもつ移動装置を提供することである。
このために、本発明の移動装置は、自接地面に対して自身の位置を変位する変位装置と、自身が目標地点へ移動できるよう前記変位装置を制御する制御装置とを備え、自立に制御を必要としない静的安定姿勢と、自立に制御を必要とする動的安定姿勢との少なくとも2種類の自立姿勢を持つ移動装置において、前記静的安定姿勢から前記動的安定姿勢へ移行する際に、能動的に接地面に対する自身の接地部へ力を加える接地面状態確認動作によって、接地面が動的安定姿勢で自立可能であることを確認した後に、動的安定姿勢へ移行する。


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