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1. WO2021010026 - DRIVE CONTROL DEVICE, DRIVE CONTROL METHOD, AND PROGRAM

Publication Number WO/2021/010026
Publication Date 21.01.2021
International Application No. PCT/JP2020/020717
International Filing Date 26.05.2020
IPC
H02P 29/00 2016.01
HELECTRICITY
02GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
29Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
B25J 13/00 2006.01
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
B25J 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
B60T 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
5Vehicle modifications to facilitate cooling of brakes
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
H05K 7/20 2006.01
HELECTRICITY
05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
7Constructional details common to different types of electric apparatus
20Modifications to facilitate cooling, ventilating, or heating
CPC
B25J 13/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
B60T 5/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
5Vehicle modifications to facilitate cooling of brakes
G08G 1/16
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
H02P 29/00
HELECTRICITY
02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
29Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
H05K 7/20
HELECTRICITY
05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
7Constructional details common to different types of electric apparatus
20Modifications to facilitate cooling, ventilating, or heating
Applicants
  • ソニー株式会社 SONY CORPORATION [JP]/[JP]
Inventors
  • 本郷 一生 HONGO, Kazuo
  • 林田 康史 HAYASHIDA, Yasufumi
Agents
  • 宮田 正昭 MIYATA, Masaaki
  • 山田 英治 YAMADA, Eiji
  • 佐々木 榮二 SASAKI, Eiji
  • 澤田 俊夫 SAWADA, Toshio
Priority Data
2019-13095716.07.2019JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) DRIVE CONTROL DEVICE, DRIVE CONTROL METHOD, AND PROGRAM
(FR) DISPOSITIF DE COMMANDE D'ENTRAINEMENT, PROCÉDÉ DE COMMANDE D'ENTRAINEMENT ET PROGRAMME
(JA) 駆動制御装置と駆動制御方法およびプログラム
Abstract
(EN)
A determination unit 33 determines, on the basis of information indicating a surrounding situation acquired by, for example, an information acquiring unit 31, whether an emergency situation has occurred or not. When it is determined by the determination unit 33 that the emergency situation has occurred, an operation control unit 36 removes the restriction of driving a motor 210 in a drive device 20 and performs, as an operation for coping with a risk state, operation for removing a risk source that is, for example, the cause of being determined to be the risk state or operation for holding a posture for avoiding the risk state. A braking unit 211 may also be provided that brakes the movement of the motor 210 by harnessing the heat generated by removing the restriction of driving the motor 210. This makes it possible to perform operation for coping with the emergency situation.
(FR)
Unité de détermination 33 déterminant, sur la base d'informations indiquant une situation environnante acquise par, par exemple, une unité d'acquisition d'informations 31, si une situation d'urgence s'est produite ou non. Lorsqu'il est déterminé par l'unité de détermination 33 que la situation d'urgence s'est produite, une unité de commande de fonctionnement 36 supprime la restriction d'entraînement d'un moteur 210 dans un dispositif d'entraînement 20 et effectue, en tant qu'opération pour faire face à un état de risque, une opération pour supprimer une source de risque qui est, par exemple, la cause d'être déterminée comme étant l'état de risque ou une opération pour maintenir une posture pour éviter l'état de risque. Une unité de freinage 211 peut également être prévue, qui freine le déplacement du moteur 210 en exploitant la chaleur générée par la suppression de la restriction d'entraînement du moteur 210. Ceci permet d'effectuer une opération pour faire face à la situation d'urgence.
(JA)
判別部33は情報取得部31等で取得された周辺状況を示す情報に基づき、緊急事態であるか判別する。動作制御部36は、判別部33で緊急事態と判別されたとき、駆動装置20におけるモータ210の駆動制限を解除して、例えば危険状態と判別された原因である危険源を排除する動作、あるいは危険状態の回避姿勢を保持する動作を危険状態の対処動作として行う。また、モータ210の駆動制限を解除したことにより生じた発熱を利用して、モータ210の動きを制動する制動部211を設けるようにしてもよい。緊急事態に対して対処動作を行うことができる。
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