Abstract: The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.

Abstract: The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

Abstract: A cart includes: a body; wheels; a drive unit, driving each of the wheels; a handle, receiving a user's operation; an input detection sensor, detecting a load and/or moment applied to the handle; a rotation number sensor, detecting number of rotations of each of the wheels; and a control device, setting a target propulsive force to be output as a propulsive force from each of the wheels based on the load and/or moment, and controlling the drive unit to output the target propulsive force as the propulsive force. If the number of rotations of the wheel located on a side close to a turning center exceeds a predetermined threshold during turning, the control device sets the target propulsive force of the wheel located on a side away from the turning center to be less than the target propulsive force set based on the load and/or moment.

Abstract: A truck includes a body, left and right wheels provided on the body, left and right drive units driving the wheels, a handle provided on the body, a sensor, and a control device. The sensor detects a front-rear load and a moment about a vertical axis applied to the handle. The control device sets a target front-rear velocity of the body based on the front-rear load, and sets a target angular velocity of the body about a vertical axis based on the moment about the vertical axis. In a case where a product of the target front-rear velocity and the target angular velocity is greater than a predetermined threshold, the control device performs correction processing on the target front-rear velocity so that the product is equal to or less than the threshold, and controls the drive units based on the corrected target front-rear velocity and the target angular velocity.

Abstract: A trolley includes: a vehicle body; omnidirectional wheels; drive units; a handle; a sensor; and a control device for controlling the drive units based on the longitudinal load, lateral load, and moment about the vertical axis applied to the handle detected by the sensor. The control device: sets a target longitudinal velocity of the vehicle body based on the longitudinal load, a target lateral velocity of the vehicle body based on the lateral load, and a target angular velocity about the vertical axis of the vehicle body based on the moment about the vertical axis; corrects the target lateral velocity based on the target angular velocity so that an absolute value of the target lateral velocity decreases as an absolute value of the target angular velocity increases; and controls the drive units based on the target longitudinal velocity, the corrected target lateral velocity, and the target angular velocity.

Abstract: A vehicle 1 includes a vehicle body frame 2, a drive unit 3 provided in the vehicle body frame and movable on a floor, a seat 4 arranged above the vehicle body frame and supporting the buttocks of a user, a lifting device 5 provided between the vehicle body frame and the seat and lifting or lowering the seat between a low position and a high position, a battery 7 provided in the vehicle body frame, and a control device 6 controlling the drive unit and the lifting device. The control device prohibits lifting drive of the lifting device in response to the seat being at the low position and a lifting prohibition condition being satisfied.

Abstract: A vehicle includes a vehicle body frame, a vehicle body tilt sensor, a drive unit, and a seat. The vehicle body tilt sensor is provided at the vehicle body frame and detects a tilt angle of the vehicle body frame. The drive unit is coupled to the vehicle body frame and moves the vehicle body frame by inverted pendulum control based on the tilt angle detected by the vehicle body tilt sensor. The seat includes a seat body and a leg part. The seat is capable of being raised and lowered between a low position at which the leg part is in contact with a floor surface and a high position at which the leg part separates from the floor surface, and the seat is elastically coupled to the vehicle body frame. A seat tilt sensor which detects a tilt angle of the seat is provided at the seat.

Abstract: A vehicle includes a drive unit, a direction input device, a mode switching operator, and a control device. The drive unit is provided at a vehicle body frame and is capable of translating in all directions on a floor surface and turning. The direction input device receives a direction input. The mode switching operator receives a mode switching input. The control device is configured to: switch a travel mode of the drive unit between a translation mode and a turning mode based on the mode switching input, control the drive unit to translate with respect to the floor surface based on a signal from the direction input device when the translation mode is selected, and control the drive unit to turn with respect to the floor surface based on a signal corresponding to a left or right direction from the direction input device when the turning mode is selected.

Abstract: A cart includes a control unit configured to multiply a provisional target front and rear velocity by a correction coefficient thereby setting a target front and rear velocity and multiply a provisional target lateral velocity by the correction coefficient thereby setting a target lateral velocity if the provisional target front and rear velocity is equal to or higher than a front and rear velocity upper limit or if the provisional target lateral velocity is equal to or higher than a lateral velocity upper limit, set the provisional target front and rear velocity to the target front and rear velocity and set the provisional target lateral velocity to the target lateral velocity if the provisional target front and rear velocity is lower than the front and rear velocity upper limit and the provisional target lateral velocity is lower than the lateral velocity upper limit.

Abstract: Provided is a moving body. A control device of the moving body starts a first control processing that moves a movement part so that a posture of a base with respect to a passenger seat becomes a predetermined posture with an auxiliary grounding part lowered and grounded. The control device starts a second control processing that lifts the auxiliary grounding part with respect to the base and a third control processing that moves the movement part 2 so as to stabilize a posture of the passenger seat after a delay from the start of the first control processing.

Abstract: The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

Abstract: The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.

Abstract: Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.

Abstract: A control device 20 of a rideable mobile body 1 determines a target speed of the rideable mobile body 1 according to at least the steering operation by a rider, and controls the travel of the rideable mobile body 1 according to the target speed. In the processing for determining a target speed, the target speed is restricted according to the positional relationship between a virtual wall set in a travel environment of the rideable mobile body 1 and the rideable mobile body 1. Thus, the comfort of the rider is secured while the travel of the rideable mobile body is restricted by the virtual wall.

Abstract: An image reading system comprises an image reading device and an image storage device. The image reading device comprises: a reading unit, a converting unit, a determining unit, a transmission unit. The image storage device comprises a storage unit, a receiving unit, an image processing unit. The determining unit is configured to determine whether the image data is color data, gray data, or binary data, and is configured to generate determination data indicating a result of the determination. When the determination data indicates that the image data is the color data, the image processing unit stores the transmission data. When the determination data indicates that the image data is the gray data, the image processing unit stores the luminance data without storing the color difference data. When the determination data indicates that the image data is the binary data, the image processing unit stores black-white image data.

Abstract: Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.

Abstract: Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.

Abstract: An image reading system comprises an image reading device and an image storage device. The image reading device comprises: a reading unit, a converting unit, a determining unit, a transmission unit. The image storage device comprises a storage unit, a receiving unit, an image processing unit. The determining unit is configured to determine whether the image data is color data, gray data, or binary data, and is configured to generate determination data indicating a result of the determination. When the determination data indicates that the image data is the color data, the image processing unit stores the transmission data. When the determination data indicates that the image data is the gray data, the image processing unit stores the luminance data without storing the color difference data. When the determination data indicates that the image data is the binary data, the image processing unit stores black-white image data.

Abstract: An image reading apparatus includes a storage storing shortcut information having specific information for specifying an external apparatus as a transmission destination of read data and associated reading setting values set through an input device, and a control device which, when the input device receives an operation of selecting one shortcut information, determines whether activation information indicating the setting that the specific application is to be activated at the external apparatus specified by the specific information included in the selected shortcut information is stored, executes a first scan operation in accordance with reading setting values included in the selected shortcut information when the activation information is stored, and executes a second scan operation in accordance with reading setting values preset in the external apparatus specified by the specific information included in the selected shortcut information when the activation information is not stored.

Abstract: Provided is an inverted pendulum type vehicle capable of properly estimating whether or not a rider is thereon and controlling the travel of the vehicle by reflecting the result of the estimation. An inverted pendulum type vehicle 1, in which a traveling unit is driven by electric motors 31R, 31L, includes an occupied/unoccupied estimating unit (a first estimating unit) 62, which estimates whether or not a rider is on the vehicle 1 based on the observation values of the energizing currents of the electric motors 31R, 31L. A control unit 50 controls the operations of the electric motors 31R, 31L according to the estimation result of the estimating unit 62.