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1. WO2014068759 - MOVING APPARATUS

Publication Number WO/2014/068759
Publication Date 08.05.2014
International Application No. PCT/JP2012/078429
International Filing Date 02.11.2012
IPC
G05D 1/08 2006.1
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
B25J 5/00 2006.1
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
B25J 13/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
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 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 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
B60L 2240/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2240Control parameters of input or output; Target parameters
10Vehicle control parameters
12Speed
B60L 2240/421
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2240Control parameters of input or output; Target parameters
40Drive Train control parameters
42related to electric machines
421Speed
B60L 2240/423
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES
2240Control parameters of input or output; Target parameters
40Drive Train control parameters
42related to electric machines
423Torque
Applicants
  • 株式会社日立製作所 HITACHI, LTD. [JP]/[JP]
Inventors
  • 上田 泰士 UEDA Taishi
  • 中村 亮介 NAKAMURA Ryosuke
  • 網野 梓 AMINO Azusa
Agents
  • ポレール特許業務法人 POLAIRE I.P.C.
Priority Data
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) MOVING APPARATUS
(FR) APPAREIL MOBILE
(JA) 移動装置
Abstract
(EN) The purpose of the present invention is to provide a moving apparatus having a means for easily determining the possibility of self-support in a dynamically stable posture. For this purpose, this moving apparatus is provided with: a displacement unit for displacing the position of the apparatus itself, with respect to a ground surface contacted by the apparatus itself; and a control unit for controlling the displacement unit in such a way that the apparatus itself can move to a target spot. The moving apparatus has at least two different self-supporting postures: a statically stable posture for which control is not required for self support, and a dynamically stable posture for which control is required for self support. During transition from the statically stable posture to the dynamically stable posture, through a contacted ground condition recognition operation involving actively applying force to a portion of the ground contacted by the apparatus itself, with respect to the contacted ground surface, the apparatus recognizes that the contacted ground surface is such that self-support is possible, and thereafter transitions to the dynamically stable posture.
(FR) La présente invention a pour objet de réaliser un appareil mobile comprenant des moyens pour déterminer facilement la possibilité d'autoportance dans une posture dynamiquement stable. Pour ce faire, l'appareil mobile est équipé des éléments suivants : une unité de déplacement pour déplacer la position de l'appareil lui-même par rapport à une surface de sol avec laquelle l'appareil lui-même est en contact ; et une unité de commande pour commander l'unité de déplacement de telle sorte que l'appareil lui-même peut se déplacer vers un point de destination. L'appareil mobile possède au moins deux postures autoportantes différentes : une posture statiquement stable dans laquelle aucune commande n'est nécessaire pour l'autoportance et une posture dynamiquement stable dans laquelle la commande est nécessaire pour l'autoportance. Pendant la transition de la posture statiquement stable à la posture dynamiquement stable, par le biais d'une opération de reconnaissance de l'état du sol en contact impliquant l'application active d'une force à une portion du sol avec lequel l'appareil lui-même est en contact, par rapport à la surface du sol en contact, l'appareil reconnaît que la surface du sol en contact est telle que l'autoportance est possible et transite ensuite vers la posture dynamiquement stable.
(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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