公开(公告)号：US20160252410A1

公开(公告)日：2016-09-01

申请号：US15032402

申请日：2014-11-04

Applicant: NSK LTD.

Inventor： Seiichi TESHIGAWARA ,  Kazuteru TOBITA ,  Masaki KUWAHARA

IPC: G01L1/00 ,  G01D5/12 ,  G01D5/30

CPC classification number: G01L1/005 ,  G01D5/12 ,  G01D5/30 ,  G01L1/2206 ,  G01L5/166

Abstract: A force sensor includes: a base; a first movable portion arranged to face the base; a second movable portion arranged to face the first movable portion; a support that is provided on the base and rockably supports the first movable portion and the second movable portion; a joint that is provided to the support and rotatably supports the second movable portion; and a first detection unit that can detect a force component causing the first movable portion and the second movable portion to rock and a second detection unit that can detect a force component causing the second movable portion to rotate, when external force is applied to at least one of the first movable portion and the second movable portion.

Abstract translation: 力传感器包括：基座; 布置成面向基座的第一可移动部分; 第二可移动部分，布置成面对第一可移动部分; 设置在基座上并支撑第一可移动部分和第二可移动部分的支撑件; 接头，其设置在所述支撑体上并可旋转地支撑所述第二可动部; 以及第一检测单元，其能够检测使所述第一可移动部分和所述第二可移动部分摇动的力分量;以及第二检测单元，当外力至少施加到所述第二检测单元时，所述第二检测单元能够检测导致所述第二可移动部分旋转的力分量 第一可移动部分和第二可移动部分中的一个。

公开(公告)号：US20200080850A1

公开(公告)日：2020-03-12

申请号：US16610319

申请日：2018-08-22

Applicant: NSK LTD.

Inventor： Mayuko MORI ,  Masaaki TANOUE ,  Kazuteru TOBITA ,  Satoshi OZAKI

IPC: G01C21/34 ,  G05D1/02

Abstract: A self-propelled device capable of autonomously traveling on the left side or right side of a virtual path, a method of controlling traveling of the self-propelled device, and a computer program of controlling traveling of the self-propelled device are provided. The method and the computer program each include: a first step of estimating the position of a self-propelled device 100; a second step of determining the intersection point N of a virtual path 2 and a straight line, the virtual path connecting a start point A and a goal point B, and the straight line passing through the position of the self-propelled device 100 and which is orthogonal to the virtual path 2; a third step of determining an offset reference point Tp between the intersection point N and the goal point B on the virtual path 2; a fourth step of determining at least each of offset points Toft1 and Toft2 at an offset on the corresponding one of the goal point B side and the start point A side of the offset reference point Tp on the virtual path 2; a fifth step of determining at least target points ToftL and ToftR reached by rotating the offset points Toft1 and Toft2 by 90° about the offset reference point Tp in one of the anticlockwise direction and the clockwise direction; and a sixth step of causing the self-propelled device to travel toward the target points ToftL and ToftR.