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1. 发明申请

WO2014045955A8 HANDCART 审中-公开
标题翻译：手车
公开(公告)号：WO2014045955A8
公开(公告)日：2015-03-26
申请号：PCT/JP2013074466
申请日：2013-09-11
申请人： MURATA MANUFACTURING CO
发明人： SHIRATO KENICHI , TSUJI SHIGERU , KUBO MASAYUKI
IPC分类号： A61H3/04 , G01B21/22
CPC分类号： A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , G01B21/22
摘要： Provided is a handcart in which the posture of a main body can be controlled to make it possible to walk without losing a feeling of stability even when approaching sloped ground surfaces. The handcart is provided with a pair of wheels, one or a plurality of drive units that cause the pair of wheels to rotate, a main body that rotatably supports the pair of wheels, a gripping unit disposed on one end of the main body on the opposite side from the side on which the pair of wheels is supported, and a support unit that is connected on one end to the main body so as to be rotatable in the pitch direction and rotatably supports one or a pair of auxiliary wheels on the other end. The angle of intersection formed by the main body and the support unit is detected and the incline angle of the main body relative to the direction orthogonal to the ground surface is estimated on the basis of the detected angle of intersection. The slope angle of the ground surface is calculated, the pitch incline angle relative to the vertical direction is estimated on the basis of the estimated incline angle and the calculated slope angle, and the posture of the main body in the pitch direction is controlled.
摘要翻译：本发明提供一种能够控制主体的姿势的手车，即使在接近倾斜的地面时也能够不失去稳定的感觉而行走。手车设置有一对车轮，一对或多个使一对车轮旋转的驱动单元，可旋转地支撑该对车轮的主体，设置在主体的一端上的抓握单元支撑单元，其一端连接到主体，以便能够在俯仰方向上旋转，并且可旋转地支撑一对或另一对辅助轮。结束。检测由主体和支撑单元形成的交叉角，并且基于检测到的交叉角度来估计主体相对于与地面垂直的方向的倾斜角。计算地面的倾斜角度，基于估计的倾斜角度和计算出的倾斜角度来估计相对于垂直方向的倾斜倾斜角度，并且控制主体在俯仰方向上的姿势。

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