Abstract: A power conversion apparatus capable of cheaply securing safety and achieving watertightness. The power conversion apparatus (100) has: a charging device (14) for charging from an external power source (20) to a cell (30); an inverter (13) for converting the current of the cell (30) from direct current to alternating current and supplying the current to a motor (40); and a junction box (15) for relaying an electrical connection. The inverter (13), the charging device (14), and the junction box (15) are contained in a single housing. Also, the charging device (14) and the junction box (15) are electrically connected, and the junction box (15) and the inverter (13) are electrically connected. Also, the junction box (15) and the inverter (13) are connected by a bus bar (16).

Abstract: A battery state estimation device includes a detecting part, a state of charge (SOC) estimating part, an open circuit voltage (OCV) estimating part, a terminal voltage estimating part, and a correcting part. The detecting part detects a charge-discharge current and a terminal voltage of a battery. The SOC estimating part estimates an SOC of the battery, based on the charge-discharge current detected by the detecting part. The OCV estimating part estimates an OCV of the battery, based on the SOC estimated by the SOC estimating part and a relationship between an OCV and the SOC of the battery. The terminal voltage estimating part calculates an estimated terminal voltage, based on the charge-discharge current and the terminal voltage detected by the detecting part and on an equivalent circuit model constructed using an inversely proportional curve.

Abstract: A power conversion apparatus capable of cheaply securing safety and achieving watertightness. The power conversion apparatus (100) has: a charging device (14) for charging from an external power source (20) to a cell (30); an inverter (13) for converting the current of the cell (30) from direct current to alternating current and supplying the current to a motor (40); and a junction box (15) for relaying an electrical connection. The inverter (13), the charging device (14), and the junction box (15) are contained in a single housing. Also, the charging device (14) and the junction box (15) are electrically connected, and the junction box (15) and the inverter (13) are electrically connected. Also, the junction box (15) and the inverter (13) are connected by a bus bar (16).

Abstract: A power conversion apparatus capable of cheaply securing safety and achieving watertightness. The power conversion apparatus (100) has: a charging device (14) for charging from an external power source (20) to a cell (30); an inverter (13) for converting the current of the cell (30) from direct current to alternating current and supplying the current to a motor (40); and a junction box (15) for relaying an electrical connection. The inverter (13), the charging device (14), and the junction box (15) are contained in a single housing. Also, the charging device (14) and the junction box (15) are electrically connected, and the junction box (15) and the inverter (13) are electrically connected. Also, the junction box (15) and the inverter (13) are connected by a bus bar (16).

Abstract: The battery system is a combined system of a first battery and a second battery. The discharging curve (discharging characteristic) (311) of the first battery has a stable region (B1). The discharging curve (discharging characteristic) (321) of the second battery has a stable region (B2) in the range of voltage lower than the voltage in the stable region (B1) of the first battery and also has an unstable region (A2) in the range of voltage overlapping the voltage in the stable region (B1) of the first battery. The first battery and the second battery are connected in parallel so that, in a discharging process, the discharging state of the entire battery shifts from the stable region (B1) of the first battery to the stable region (B2) of the second battery.

Abstract: A battery state estimation device includes a detecting part, a state of charge (SOC) estimating part, an open circuit voltage (OCV) estimating part, a terminal voltage estimating part, and a correcting part. The detecting part detects a charge-discharge current and a terminal voltage of a battery. The SOC estimating part estimates an SOC of the battery, based on the charge-discharge current detected by the detecting part. The OCV estimating part estimates an OCV of the battery, based on the SOC estimated by the SOC estimating part and a relationship between an OCV and the SOC of the battery. The terminal voltage estimating part calculates an estimated terminal voltage, based on the charge-discharge current and the terminal voltage detected by the detecting part and on an equivalent circuit model constructed using an inversely proportional curve.

Abstract: A power conversion apparatus capable of cheaply securing safety and achieving watertightness. The power conversion apparatus (100) has: a charging device (14) for charging from an external power source (20) to a cell (30); an inverter (13) for converting the current of the cell (30) from direct current to alternating current and supplying the current to a motor (40); and a junction box (15) for relaying an electrical connection. The inverter (13), the charging device (14), and the junction box (15) are contained in a single housing. Also, the charging device (14) and the junction box (15) are electrically connected, and the junction box (15) and the inverter (13) are electrically connected. Also, the junction box (15) and the inverter (13) are connected by a bus bar (16).

Abstract: Terminals of a battery apparatus is connected to terminals of a vehicle body controller, respectively, and terminals of the battery apparatus are connected to terminals of a charger, respectively. The terminals are connected to each other through a communication path, and the terminals are connected to each other through a communication path. A termination resistor and a switch are connected in series between the communication paths. A microcomputer controls the switch based on a voltage of the terminal.

Abstract: An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

Abstract: The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source

Abstract: The invention provides a load detecting system comprising a core (83) of magnetostrictive material, a coil (85) disposed in the vicinity of the core, and a load detecting circuit (10) connected to the coil (85) for detecting the magnitude of a load acting on the core (83). The load detecting circuit (10) comprises an exciting circuit (102) for passing an a.c.

Abstract: A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.

Abstract: The invention provides a load detecting system comprising a core (83) of magnetostrictive material, a coil (85) disposed in the vicinity of the core, and a load detecting circuit (10) connected to the coil (85) for detecting the magnitude of a load acting on the core (83). The load detecting circuit (10) comprises an exciting circuit (102) for passing an a.c.

Abstract: An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

Abstract: A table angle controlling method capable of effectively preventing an article placed on a table (20), from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive device for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

Abstract: A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.

Abstract: The invention provides a table angle controlling method capable of effectively preventing an article placed on a table (20), for example, from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive means for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

Abstract: A robot distributed control system includes a host controller issuing a first command and a plurality of communication controllers connected to the host controller in a tree-structured manner. The communication controller obtains a control parameter by interpreting the first command, or issues a second command by executing an application program in response to the first command and then obtains a control parameter. In either case, the control parameter is output from the communication controller to the motor controller by which a plurality of motors are controlled.

Abstract: The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source

Abstract: A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.