Title:
TRAVELING OBJECT AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2017/006910
Kind Code:
A1
Abstract:
A traveling object that can travel in two directions by crawler travel or rolling travel is provided with: a body 1; a pair of crawler units 5 that are supported by the body 1 and can rotate around a rotation axis L1; a crawler actuator 40; and a rolling actuator 60. The crawler actuator 40 drives a pair of crawler parts 20A, 20B of the crawler units 5 such that the traveling object carries out crawler travel in the direction of the rotation axis L1. The rolling actuator 60 causes the crawler units 5 to roll around the rotation axis L1 such that the traveling object carries out rolling travel in a direction perpendicular to the rotation axis L1. To prepare for crawler travel, the crawler units 5 roll, on the basis of orientation information from a rotary encoder 72 regarding the crawler units 5, so as to become oriented in a travelable orientation.
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Inventors:
AKAZAWA TAKUMA (JP)
TSUKUI SHINGO (JP)
TSUKUI SHINGO (JP)
Application Number:
PCT/JP2016/069782
Publication Date:
January 12, 2017
Filing Date:
July 04, 2016
Export Citation:
Assignee:
TOPY IND (JP)
International Classes:
B62D55/065
Foreign References:
| JP2009241916A | 2009-10-22 | |||
| JP2014193707A | 2014-10-09 | |||
| JP2014051221A | 2014-03-20 | |||
| JPS63270B2 | 1988-01-06 |
Attorney, Agent or Firm:
WATANABE, Noboru et al. (JP)
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