Abstract: There is provided a transmission apparatus that transmits information generated by an information source and divided for each block to a transmission path in units of frames including a plurality of the blocks, including: a transmission unit that stops the transmission of information to the transmission path or transmits toggle data to the transmission path in one of several blocks in the frame where an amount of information to be transmitted is less than a transmission capacity of the transmission path, the toggle data having a cycle of transition of information longer than that of information in a block other than the one block in the frame.

Abstract: [Object] Transmission efficiency is improved while transmission latency is minimized as possible. [Solving Means] A communication apparatus includes a communication section configured to count an interval allocated in a TDD (Time Division Duplex) mode as one TDD time slot, with a plurality of the TDD time slots counted as one period, the communication section further transmitting periodically, to a communication partner apparatus, multiple application packets corresponding to multiple serial signals generated by multiple applications, and a transmission control section configured to provide, from among the multiple TDD time slots, at least one specific TDD time slot for transmitting a limited portion of the application packets corresponding to at least two of the multiple applications, the transmission control section further shifting, in each period, priorities of the limited portion of the application packets to be transmitted in the specific TDD time slot.

Abstract: A communication device includes a communication unit configured to transmit a serial signal group conforming to a serial peripheral interface (SPI) and transmitted from a master in synchronization with a clock to a communication partner device as a batch of data blocks within one frame period of a predetermined communication protocol, or transmit the serial signal group to the communication partner device as a plurality of data blocks divided according to a plurality of frame periods.

Abstract: In a robot control system, the operation of a mobile robot that moves autonomously inside a facility is controlled based at least on an image captured by a photographing device that photographs a blind area located at a blind angle to the mobile robot. When entry of the mobile robot into a predetermined area corresponding to the blind area is detected, the amount of information obtainable from an image captured by the photographing device is increased.

Abstract: An auxiliary power supply unit includes an auxiliary power supply device and a downstream power supply line group connecting the auxiliary power supply device to motor units. The auxiliary power supply device includes: an auxiliary power supply provided on a power supply path; and a switching circuit configured to switch the connection state of the auxiliary power supply to the power supply path. The connection state of the auxiliary power supply includes a boost state in which the auxiliary power supply is connected in series with the external power supply. The downstream power supply line group includes branch first downstream drive lines and branch second downstream drive lines. Each of the upstream ends of the branch first downstream drive lines and the branch second downstream drive lines is connected to the power supply path at a position downstream of the auxiliary power supply.

Abstract: A communication device includes: a communication unit that adds, to a set of data blocks including a serial signal group conforming to SPI transmitted from a master in synchronization with a clock, identification information for identifying the data blocks, and transmits the data blocks to a communication partner device within one frame period of a predetermined communication protocol, or adds, to data blocks each including a part of the serial signal group, identification information for identifying each of the data blocks, and transmits the data blocks to the communication partner device in a plurality of frame periods; and a storage unit that sequentially stores a predetermined number of data blocks transmitted from the master and outputs a data block transmitted from the communication partner device in response to the predetermined number of data blocks from the master and stored, to transmit the data block to the master.

Abstract: A clutch device includes a pressure plate movable toward or away from a clutch center and rotatable with respect to the clutch center. The pressure plate includes a flange extending radially outward from an outer circumferential edge of a body, pressure-side fitting teeth projecting in a first direction from a front surface of the flange, holding input-side rotating plates and output-side rotating plates, and circumferentially arranged, and a flange-side recessed portion recessed in the first direction from a back surface of the flange. As seen in an axial direction of an output shaft, the flange-side recessed portion at least partially overlaps one of the pressure-side fitting teeth.

Abstract: A clutch device includes a pressure plate movable toward or away from a clutch center and rotatable with respect to the clutch center. The pressure plate includes a flange extending radially outward from an outer circumferential edge of a body, pressure-side fitting teeth projecting in a first direction from a front surface of the flange, holding input-side rotating plates and output-side rotating plates, and circumferentially arranged, and a flange-side recessed portion recessed in the first direction from a back surface of the flange. As seen in an axial direction of an output shaft, the flange-side recessed portion at least partially overlaps one of the pressure-side fitting teeth.

Abstract: Communication apparatus with correct audio signal regeneration are disclosed. In one example, a communication apparatus includes a counter that counts the number of a predetermined reference clock included in one cycle of a divided signal of an audio master clock with a frequency that is equal to a product of a frequency of a sampling clock for sampling of an audio signal and a multiplier on the basis of the audio master clock, a ratio of division of the divided signal and the predetermined reference clock. A packet generator generates a packet including the counted number counted, a bit width of SD (Serial Data) conforming to an I2S standard, the frequency of the sampling clock, the ratio of division of the divided signal to the audio master clock, a frequency ratio of the frequency of the audio master clock to the frequency of the sampling clock, and the SD.

Abstract: In a robot control system, the operation of a mobile robot that moves autonomously inside a facility is controlled based at least on an image captured by a photographing device that photographs a blind area located at a blind angle to the mobile robot. When entry of the mobile robot into a predetermined area corresponding to the blind area is detected, the amount of information obtainable from an image captured by the photographing device is increased.

Abstract: [Object] To perform serial communication at high speed by combining different communication methods with each other. [Solving Means] A communication apparatus includes a communicating unit configured to add identification information identifying a data block to one set of the data block including a serial signal group, the serial signal group being transmitted from a master in synchronism with a clock and complying with SPI (Serial Peripheral Interface), and transmit the one set of the data block to a communication partner apparatus within one frame period of a predetermined communication protocol, or add identification information identifying each of multiple data blocks to the multiple data blocks each including a part of the serial signal group and transmit the multiple data blocks to the communication partner apparatus in multiple frame periods.

Abstract: A robot control system according to the present embodiment is a robot control system that controls a plurality of transport robots that is travelable autonomously in a facility. The robot control system: acquires error information indicating that an error has occurred in a first transport robot; acquires transported object information related to a transported object of the first transport robot; determines a second transport robot able to transport the transported object of the first transport robot among the transport robots based on the transported object information and the error information; and moves the second transport robot to a transfer location of the transported object of the first transport robot.

Abstract: A mobile robot receives first transmission information transmitted from a server device to manage the mobile robot in a state where wireless communication with the server device is possible, directly executes wireless communication with another mobile robot among the mobile robots and executes a reception process of receiving the first transmission information transmitted from the server device to manage the mobile robot from the other mobile robot in a case where wireless communication with the server device is not possible.

Abstract: A robot control system according to the present embodiment is a robot control system that controls a plurality of mobile robots that can autonomously move in a facility. The robot control system acquires error information indicating that an error has occurred in a first transport robot, acquires transported object information related to a transported object of the first transport robot, determines a second transport robot able to transport the transported object of the first transport robot among the transport robots based on the transported object information and the error information, and moves the second transport robot to a transfer location of the transported object of the first transport robot.

Abstract: There is provided a transmission apparatus that transmits information generated by an information source and divided for each block to a transmission path in units of frames including a plurality of the blocks, including: a transmission unit that stops the transmission of information to the transmission path or transmits toggle data to the transmission path in one of several blocks in the frame where an amount of information to be transmitted is less than a transmission capacity of the transmission path, the toggle data having a cycle of transition of information longer than that of information in a block other than the one block in the frame.

Abstract: A clutch device includes a pressure plate movable toward or away from a clutch center and rotatable relative to the clutch center to press input-side rotating plates and output-side rotating plates. The clutch center includes center-side cam portions each including a center-side assist cam surface. At least one of the center-side cam portions includes at least one of a first center-side recess recessed in a first direction from a surface of center-side cam portion at a side of a second direction or a second center-side recess recessed in the second direction from a surface of the center-side cam portion at a side of the first direction.

Abstract: A clutch device includes a pressure plate movable toward or away from a clutch center and rotatable relative to the clutch center to press input-side rotating plates and output-side rotating plates. The clutch center includes center-side cam portions each including a center-side assist cam surface. At least one of the center-side cam portions includes at least one of a first center-side recess recessed in a first direction from a surface of center-side cam portion at a side of a second direction or a second center-side recess recessed in the second direction from a surface of the center-side cam portion at a side of the first direction.

Abstract: A communication apparatus includes: a communication unit that periodically transmits, with an interval assigned by TDD (Time Division Duplex) being one TDD time slot and a plurality of TDD time slots being one period, a plurality of application packets corresponding to a plurality of serial signals generated by a plurality of applications to a communication partner device; and a transmission control unit that changes, for every one period, a priority of part of application packets corresponding to part of two or more applications of the plurality of applications, the part of application packets being transmitted in at least one specific TDD time slot for transmitting the part of application packets, the plurality of TDD time slots including the at least one specific TDD time slot.

Abstract: Pressure-side cam portions of a pressure plate each include a pressure-side assist cam portion including a pressure-side assist cam surface, a pressure-side body located between the pressure-side assist cam portion and a pressure-side slipper cam portion, and a first stepped portion between a main outer circumferential surface of the pressure-side body and a sub outer circumferential surface of the pressure-side assist cam portion. The sub outer circumferential surface is located radially inward of the main outer circumferential surface. The sub outer circumferential surface is inclined radially inward in a second direction. Among portions of the main outer circumferential surface, at least a stepped portion-side outer circumferential surface adjacent to the first stepped portion is inclined radially outward in the second direction.

Abstract: Pressure-side cam portions of a pressure plate each include a pressure-side assist cam portion including a pressure-side assist cam surface, a pressure-side body located between the pressure-side assist cam portion and a pressure-side slipper cam portion, and a first stepped portion between a main outer circumferential surface of the pressure-side body and a sub outer circumferential surface of the pressure-side assist cam portion. The sub outer circumferential surface is located radially inward of the main outer circumferential surface. The sub outer circumferential surface is inclined radially inward in a second direction. Among portions of the main outer circumferential surface, at least a stepped portion-side outer circumferential surface adjacent to the first stepped portion is inclined radially outward in the second direction.