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WO2009050986A1 - 移動体 - Google Patents

移動体 Download PDF

Info

Publication number
WO2009050986A1
WO2009050986A1 PCT/JP2008/067137 JP2008067137W WO2009050986A1 WO 2009050986 A1 WO2009050986 A1 WO 2009050986A1 JP 2008067137 W JP2008067137 W JP 2008067137W WO 2009050986 A1 WO2009050986 A1 WO 2009050986A1
Authority
WO
WIPO (PCT)
Prior art keywords
measuring device
string
angle
mobile body
length
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/067137
Other languages
English (en)
French (fr)
Inventor
Kenji Matsukuma
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to JP2009538020A priority Critical patent/JPWO2009050986A1/ja
Publication of WO2009050986A1 publication Critical patent/WO2009050986A1/ja
Priority to US12/718,995 priority patent/US7861810B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangement or mounting of propulsion-unit control devices in vehicles
    • B60K26/02—Arrangement or mounting of propulsion-unit control devices in vehicles of initiating means or elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/001—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/04—Motor vehicles characterised by the driver not being seated the driver walking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0076—Remotely controlled

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

　車体表面に突起物が無く安全であり、また操作のためのストロークが大きく取れ、これによって微妙な操作が可能な範囲が極めて広く、さらに操作部を小形化可能な移動体を提供する。 　車体（３）に対し引き出しおよび巻き取りが自在な紐状体（８）と、紐状体（８）の引き出し長さを計測する長さ計測装置（９）と、紐状体（８）の車体（３）に対する角度を計測する角度計測装置（１０）を備え、長さ計測装置（９）および角度計測装置（１０）の計測結果をもとに駆動部（５）を制御する。
PCT/JP2008/067137 2007-10-17 2008-09-24 移動体 Ceased WO2009050986A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2009538020A JPWO2009050986A1 (ja) 2007-10-17 2008-09-24 移動体
US12/718,995 US7861810B2 (en) 2007-10-17 2010-03-07 Mobile body

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007270450 2007-10-17
JP2007-270450 2007-10-17
JP2008143290 2008-05-30
JP2008-143290 2008-05-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/718,995 Continuation US7861810B2 (en) 2007-10-17 2010-03-07 Mobile body

Publications (1)

Publication Number Publication Date
WO2009050986A1 true WO2009050986A1 (ja) 2009-04-23

Family

ID=40567259

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/067137 Ceased WO2009050986A1 (ja) 2007-10-17 2008-09-24 移動体

Country Status (3)

Country Link
US (1) US7861810B2 (ja)
JP (1) JPWO2009050986A1 (ja)
WO (1) WO2009050986A1 (ja)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011011577A (ja) * 2009-06-30 2011-01-20 Icom Inc 電動式手押し車
FR2951685A1 (fr) * 2009-10-28 2011-04-29 Lavau Jean De Element de transport de charge comprenant des moyens d'entrainement des moyens de roulement par action de traction de l'utilisateur
US8079433B2 (en) * 2010-02-16 2011-12-20 Deere & Company Retractable line guidance for self-propelled machines
WO2015198629A1 (ja) * 2014-06-25 2015-12-30 シャープ株式会社 自律移動装置
CN108139753A (zh) * 2015-10-02 2018-06-08 奥莫罗博特株式会社 定位模块以及包括其的移送单元的行驶控制装置
WO2023129066A3 (en) * 2021-12-30 2023-08-10 Havelsan Hava Elektronik San. Ve Tic. A.S. Following mechanism for unmanned ground vehicles

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8234010B2 (en) * 2010-02-16 2012-07-31 Deere & Company Tethered robot positioning
JP6175750B2 (ja) * 2012-09-21 2017-08-09 カシオ計算機株式会社 状態特定装置、状態特定方法及びプログラム
CN111399546A (zh) * 2020-05-08 2020-07-10 武汉远翔新能源科技有限责任公司 一种实现人与车的有线跟随的装置及控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06144247A (ja) * 1992-11-16 1994-05-24 Japan Aviation Electron Ind Ltd ゴルフカート
JPH08207850A (ja) * 1995-02-03 1996-08-13 Nikon Corp 追従型制御装置
JP2002315787A (ja) * 2001-04-24 2002-10-29 Furukawa Co Ltd 移動装置
JP2007062622A (ja) * 2005-08-31 2007-03-15 Univ Waseda 移動体及びその追従構造

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3731756A (en) * 1970-10-29 1973-05-08 C Hajec Golf cart and control therefore
JPS5151845A (ja) * 1974-10-29 1976-05-07 Hirano Denki Kk
US4615406A (en) * 1984-03-30 1986-10-07 Karl Bottenschein Golfcart with battery driven drive assist
JPH07108845A (ja) 1993-10-12 1995-04-25 Secoh Giken Inc 電動運搬車
JP3032698B2 (ja) 1995-04-14 2000-04-17 松下電工株式会社 パワーアシスト付運搬車
JPH11265211A (ja) 1998-03-18 1999-09-28 Mitsubishi Heavy Ind Ltd 搬送システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06144247A (ja) * 1992-11-16 1994-05-24 Japan Aviation Electron Ind Ltd ゴルフカート
JPH08207850A (ja) * 1995-02-03 1996-08-13 Nikon Corp 追従型制御装置
JP2002315787A (ja) * 2001-04-24 2002-10-29 Furukawa Co Ltd 移動装置
JP2007062622A (ja) * 2005-08-31 2007-03-15 Univ Waseda 移動体及びその追従構造

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011011577A (ja) * 2009-06-30 2011-01-20 Icom Inc 電動式手押し車
FR2951685A1 (fr) * 2009-10-28 2011-04-29 Lavau Jean De Element de transport de charge comprenant des moyens d'entrainement des moyens de roulement par action de traction de l'utilisateur
US8079433B2 (en) * 2010-02-16 2011-12-20 Deere & Company Retractable line guidance for self-propelled machines
WO2015198629A1 (ja) * 2014-06-25 2015-12-30 シャープ株式会社 自律移動装置
JP2016009356A (ja) * 2014-06-25 2016-01-18 シャープ株式会社 自律移動装置
CN108139753A (zh) * 2015-10-02 2018-06-08 奥莫罗博特株式会社 定位模块以及包括其的移送单元的行驶控制装置
JP2018531401A (ja) * 2015-10-02 2018-10-25 オモロボット インコーポレイテッド 位置測定モジュール及びこれを含む移送ユニットの走行制御装置
CN108139753B (zh) * 2015-10-02 2021-05-28 奥莫罗博特株式会社 定位模块以及包括其的移送单元的行驶控制装置
WO2023129066A3 (en) * 2021-12-30 2023-08-10 Havelsan Hava Elektronik San. Ve Tic. A.S. Following mechanism for unmanned ground vehicles

Also Published As

Publication number Publication date
US20100155155A1 (en) 2010-06-24
US7861810B2 (en) 2011-01-04
JPWO2009050986A1 (ja) 2011-03-03

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