公开(公告)号：US09989427B2

公开(公告)日：2018-06-05

申请号：US15032402

申请日：2014-11-04

申请人： NSK LTD.

发明人： Seiichi Teshigawara ,  Kazuteru Tobita ,  Masaki Kuwahara

IPC分类号： G01L1/00 ,  G01L1/22 ,  G01L5/16 ,  G01D5/12 ,  G01D5/30

CPC分类号： G01L1/005 ,  G01D5/12 ,  G01D5/30 ,  G01L1/2206 ,  G01L5/166

摘要： 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.

公开(公告)号：US10935386B2

公开(公告)日：2021-03-02

申请号：US16610319

申请日：2018-08-22

申请人： NSK LTD.

发明人： Mayuko Mori ,  Masaaki Tanoue ,  Kazuteru Tobita ,  Satoshi Ozaki

IPC分类号： G05D1/02 ,  G01C21/34

摘要： A self-propelled device, control method, and control program therefor are provided. The method and control program each include: position estimation; determining an intersection point of a virtual path connecting start and end points and a straight line passing through a position of the device, orthogonal to the virtual path; determining an offset reference point between the intersection point and the end point; determining at least each of two offset points offset on a corresponding goal point side or a start point side of the offset reference point on the virtual path; determining at least two target points reached by rotating the offset points by 90° about the offset reference point; and causing the device to travel toward the target points.