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1. 发明申请

WO1996037756A1 DEVICE FOR DETECTING MOVING BODY DEVIATING FROM COURSE 审中-公开
标题翻译：用于检测运动员身体运动的装置
公开(公告)号：WO1996037756A1
公开(公告)日：1996-11-28
申请号：PCT/JP1996001416
申请日：1996-05-27
申请人： KOMATSU LTD. , MATSUDA, Tomoo
发明人： KOMATSU LTD.
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G05D1/0234
摘要： Traveling paths over an entire traveling area are arbitrarily determined and can be flexibly changed. Traveling paths in the traveling area (20) where a moving body is to travel are arranged beforehand. For example, the marks adjacent to one another vertically and horizontally are rotated by 90 DEG and the marks adjacent to one another in oblique directions are inclined at the same angle. Therefore, when arbitrary predetermined traveling paths (A, B) in the predetermined traveling area (20) are selected and the moving body travels along the paths (A, B), line segment crossing detectors mounted on the moving body detect crossing all line segments which constitute predetermined passing marks corresponding to the paths (A, B). In this manner, it is possible to detect deviation from the paths (A, B). Also, even if some of more than two line segment crossing detectors cannot detect crossing all the line segments which constitute predetermined passing marks (paths C, D), at least one line segment crossing detector can detect crossing all the line segments which constitute the predetermined passing marks (paths A, B), whereby it is possible to detect deviation from the course.
摘要翻译：在整个行驶区域的行驶路径是任意确定的，并且可以灵活地改变。预先设置移动体行驶的行驶区域（20）内的行驶路径。例如，垂直和水平地彼此相邻的标记旋转90度，并且在倾斜方向上彼此相邻的标记以相同的角度倾斜。因此，当选择预定行驶区域（20）中的任意预定行进路径（A，B）并且移动体沿路径（A，B）行进时，安装在移动体上的线段交叉检测器检测所有线段它们构成对应于路径（A，B）的预定通过标记。以这种方式，可以检测与路径（A，B）的偏差。另外，即使多于两个的线段交叉检测器中的一些检测器不能检测出构成预定的通过标记（路径C，D）的所有线段，至少一个线段交叉检测器可以检测到跨越构成预定通路的所有线段通过标记（路径A，B），从而可以检测到路线偏离。

2. 发明申请

WO1993021053A1 TRACTION CONTROLLER FOR CRAWLER VEHICLES 审中-公开
标题翻译：牵引车辆牵引控制器
公开(公告)号：WO1993021053A1
公开(公告)日：1993-10-28
申请号：PCT/JP1993000507
申请日：1993-04-20
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TORII, Tetsuo , TAKAGI, Kimihiko , MATSUDA, Tomoo , HONDA, Shigeru , SAKAMOTO, Takuya , NAKAMURA, Soichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B62D55/065
CPC分类号： B62D55/065
摘要： This invention relates to the controlling of the travel of a crawler vehicle and aims at resolving the issue of making a crawler vehicle travel on an ungraded land with the crawlers effectively gripping the road surface. According to the present invention, the loads imparted to crawlers (12FL, 12FR, 12RL, 12RR) are detected, and, on the basis of the results of this detection, the sum of the loads on a pair of crawlers (12FL, 12RR) at the front left and rear right sides of a vehicle and the sum of the loads on a pair of crawlers (12FR, 12RL) at the front right and rear left sides thereof are computed. When a difference between the sums thus computed has become not lower than a predetermined level, it means that diagonal stack occurs. In such a case, the pivots (14) of a pair of crawlers having smaller loads are driven in a direction in which the loads imparted to the same crawlers increase, so that the floated pair of crawlers contact the road surface, these crawlers thus capable of providing an effective driving force. This invention is used mainly when a natural disaster rescue crawler vehicle travels on an outdoor ungraded land.
摘要翻译：本发明涉及履带式车辆行驶的控制，其目的在于解决在爬行器有效地抓地面的情况下使履带车行驶在未分级地面上的问题。根据本发明，检测到履带（12FL，12FR，12RL，12RR）施加的载荷，并且根据该检测结果，一对履带（12FL，12RR）上的载荷总和在车辆的前左后侧和后右侧，计算前右后侧的一对履带（12FR，12RL）上的载荷的总和。当这样计算的和之间的差异已经变得不低于预定水平时，意味着发生对角线堆叠。在这种情况下，具有较小载荷的一对履带的枢轴（14）沿着施加给同一履带的载荷增加的方向被驱动，使得浮动的一对履带与路面接触，因此这些爬行能力提供有效的驱动力。本发明主要用于自然灾害救援爬行车在户外未分级土地上行驶。

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