| 发明名称 | Pushcart | ||
| 摘要 | A pushcart includes a main body, a pair of main wheels, a supporter, an auxiliary wheel, a blocking unit, a switching lever, a slope angle sensor, a gyrosensor, a driver unit, and a supporter rotary encoder. The supporter rotary encoder detects an intersecting angle which is an angle formed by the main body and the supporter, and outputs the detected result to a controller. The gyrosensor detects an angular velocity of the main body in a pitch direction and outputs the detected result to the controller. The controller performs inverted pendulum control in a first control mode based on the detected results of the gyrosensor and the supporter rotary encoder. The controller performs inverted pendulum control in a second control mode based on the detected result of the gyrosensor. | ||
| 申请公布号 | US9474678(B2) | 申请公布日期 | 2016.10.25 |
| 申请号 | US201615071806 | 申请日期 | 2016.03.16 |
| 申请人 | MURATA MANUFACTURING CO., LTD. | 发明人 | Hane Yoshitaka |
| 分类号 | A61H3/04;B62B3/00;A61H3/00 | 主分类号 | A61H3/04 |
| 代理机构 | Pearne & Gordon LLP | 代理人 | Pearne & Gordon LLP |
| 主权项 | 1. A pushcart comprising: a first wheel; a main body that is supported in a rotatable manner in a pitch direction with respect to the first wheel; a first driver unit that drives the first wheel; a supporter that is supported in a rotatable manner in the pitch direction with respect to the main body or a rotational shaft of the first wheel; a second wheel that is supported by the supporter in a rotatable manner on a front side relative to the first wheel in a travelling direction of the supporter being moved with rotation of the first wheel; an angle change detection unit that detects an angle change in a slope angle of the main body in the pitch direction; an intersecting angle detection unit that detects an intersecting angle formed by the main body and the supporter; a controller having a first control mode that controls the first driver unit so that an angle change of the main body in the pitch direction becomes 0 based on output of the intersecting angle detection unit and a second control mode that controls the first driver unit so that the angle change of the main body in the pitch direction becomes 0 based on output of the angle change detection unit; and a switching unit that switches between the first control mode and the second control mode. | ||
| 地址 | Kyoto JP | ||