Title:
PUSHCART
Document Type and Number:
WIPO Patent Application WO/2016/035726
Kind Code:
A1
Abstract:
This pushcart (10) is provided with: a left wheel; a right wheel; a left wheel drive unit (24A) for rotating the left wheel; a right wheel drive unit (24B) for rotating the right wheel; a control unit (21); a left wheel rotary encoder (25A) for detecting the rotation angle of the left wheel; and a right wheel rotary encoder (25B) for detecting the rotation angle of the right wheel. The control unit (21) calculates the average component and differential component of the angular velocities of the left wheel and right wheel, calculates pseudo-angular velocities of the left wheel and right wheel by means of weighted addition of the average component and the differential component, and performs feedback control of the left wheel drive unit (24A) and the right wheel drive unit (24B) individually such that the difference between the pseudo-angular velocities of the left wheel and right wheel and the value of a wheel angular velocity command common to the left wheel and right wheel becomes zero.
Inventors:
HAYASHI TAKANORI (JP)
Application Number:
PCT/JP2015/074584
Publication Date:
March 10, 2016
Filing Date:
August 31, 2015
Export Citation:
Assignee:
MURATA MANUFACTURING CO (JP)
International Classes:
B62B3/00; A61H3/04; B62B5/04
Foreign References:
| JP2014168967A | 2014-09-18 | |||
| JP2012066783A | 2012-04-05 |
Attorney, Agent or Firm:
Kaede Patent Attorneys' Office (JP)
Patent business corporation Kaede Patent Attorneys' Office (JP)
Patent business corporation Kaede Patent Attorneys' Office (JP)
Download PDF:
Previous Patent: FRICTION FALSE TWIST TREATMENT AGENT FOR SYNTHETIC FIBER AND USES THEREOF
Next Patent: HANDCART
Next Patent: HANDCART