Abstract: A voltage drop Vzs is calculated based on an output current detection value Iac and a virtual synchronous impedance Zs or a corrected virtual synchronous impedance Zs?, and a value obtained by subtracting the voltage drop Vzs from an internal induced voltage Ef is output as a grid voltage command value Vac*. Zs calculation unit 7 limits an output current phase ? so that the output current phase ? is within an effective range by a phase limiter 12a, and calculates the corrected virtual synchronous impedance Zs? based on a limited output current phase ?, the internal induced voltage Ef, a grid voltage detection value Vac and a current limit value Ilim. Accordingly, in grid interconnection power conversion device that controls a virtual synchronous generator, it is possible to continue operation while suppressing an overcurrent and possess a synchronizing power generated by action or working of a virtual synchronous impedance.

Abstract: An autonomous traveling apparatus includes a traveling body. The traveling body includes a first wheel portion and a second wheel portion each provided along a traveling direction of the autonomous traveling apparatus in the traveling body with a predetermined space being interposed between the first wheel portion and the second wheel portion. The second wheel portion has a pair of wheels. The autonomous traveling apparatus further includes a laser sensor. The laser sensor is configured to detect an object around the laser sensor, and is provided on the traveling body to avoid a portion above each of the pair of wheels such that a scanning plane is lower than a maximum reach point of a range of an upward/downward movement of each of the pair of wheels, the scanning plane being a range in which the laser light passes while rotating the laser light.

Abstract: Provided is a running device including a frame (11) and a first wheel part (15) and a second wheel part (35) arranged with an appropriate distance therebetween along a running direction (R). The first wheel part (15) includes a first left support arm (17) and a first right support arm (26) arranged on the frame (11) in a manner to be swingable within a plane extending along the running direction (R). The second wheel part (35) includes a second support arm (36) arranged on the frame (11) in a manner to be swingable within a plane perpendicular to the running direction (R). The first left support arm (17) has first left wheels (19, 21) respectively on both sides thereof, and the first right support arm (26) has first right wheels (28, 30) respectively on both sides thereof. The second support arm (36) has a second left wheel (38) and a second right wheel (40) respectively on both sides thereof.

Abstract: A self-propelled device includes a wheel-driven traveling body and a laser sensor. The laser sensor emits laser light while rotating the laser light around the laser sensor and receives reflected light of the laser light to output two-dimensional distance data representing a distance to an object located around the laser sensor for each angle around the laser sensor. The traveling body includes a controller that controls traveling of the traveling body on the basis of the two-dimensional distance data output from the laser sensor. The laser sensor is provided on the traveling body such that a scan plane that is a region through which the laser light passes during rotation of the laser light has a predetermined angle with respect to a horizontal plane.

Abstract: Provided is a running device including a frame (11) and a first wheel part (15) and a second wheel part (35) arranged with an appropriate distance therebetween along a running direction (R). The first wheel part (15) includes a first left support arm (17) and a first right support arm (26) arranged on the frame (11) in a manner to be swingable within a plane extending along the running direction (R). The second wheel part (35) includes a second support arm (36) arranged on the frame (11) in a manner to be swingable within a plane perpendicular to the running direction (R). The first left support arm (17) has first left wheels (19, 21) respectively on both sides thereof, and the first right support arm (26) has first right wheels (28, 30) respectively on both sides thereof. The second support arm (36) has a second left wheel (38) and a second right wheel (40) respectively on both sides thereof.

Abstract: A conveyance device includes a conveyance roller, a registration roller, a sensor, a mode setting part, a storage, a conveyance state determination part and a drive control part. The mode setting part sets the mode to either a plain paper mode or a tab paper mode. The storage stores threshold information corresponding to the mode. The conveyance state determination part determines, when the plain paper mode is set, whether the conveyance state of the recording medium is a skew conveyance state or a tab paper conveyance state, based on the detection result of the sensor and the plain paper mode threshold information. The conveyance state determination part determines, when the tab paper mode is set, whether the conveyance state of the recording medium is the skew conveyance state or the tab paper conveyance state, based on the detection result of the sensor and the tab paper mode threshold information.

Abstract: Provided is a running device including a frame (11) and a first wheel part (15) and a second wheel part (35) arranged with an appropriate distance therebetween along a running direction (R). The first wheel part (15) includes a first left support arm (17) and a first right support arm (26) arranged on the frame (11) in a manner to be swingable within a plane extending along the running direction (R). The second wheel part (35) includes a second support arm (36) arranged on the frame (11) in a manner to be swingable within a plane perpendicular to the running direction (R). The first left support arm (17) has first left wheels (19, 21) respectively on both sides thereof, and the first right support arm (26) has first right wheels (28, 30) respectively on both sides thereof. The second support arm (36) has a second left wheel (38) and a second right wheel (40) respectively on both sides thereof.

Abstract: Conveyance modes include a registration mode accompanied with skew correction and a registrationless mode unaccompanied with skew correction. When a jam occurs, the controller interrupts a job, and invokes blank-feed processing starting from a state with all sheets re-set. On invoking blank-feed processing, the controller checks the conveyance mode and recognizes the number of jams. If the conveyance mode is the registration mode and in addition the number of jams has not reached a threshold number of jams, the controller invokes blank-feed processing in the registrationless mode.

Abstract: A conveyance device includes a conveyance roller, a registration roller, a sensor, a mode setting part, a storage, a conveyance state determination part and a drive control part. The mode setting part sets the mode to either a plain paper mode or a tab paper mode. The storage stores threshold information corresponding to the mode. The conveyance state determination part determines, when the plain paper mode is set, whether the conveyance state of the recording medium is a skew conveyance state or a tab paper conveyance state, based on the detection result of the sensor and the plain paper mode threshold information. The conveyance state determination part determines, when the tab paper mode is set, whether the conveyance state of the recording medium is the skew conveyance state or the tab paper conveyance state, based on the detection result of the sensor and the tab paper mode threshold information.

Abstract: Conveyance modes include a registration mode accompanied with skew correction and a registrationless mode unaccompanied with skew correction. When a jam occurs, the controller interrupts a job, and invokes blank-feed processing starting from a state with all sheets re-set. On invoking blank-feed processing, the controller checks the conveyance mode and recognizes the number of jams. If the conveyance mode is the registration mode and in addition the number of jams has not reached a threshold number of jams, the controller invokes blank-feed processing in the registrationless mode.

Abstract: An image forming apparatus includes a plurality of optical scanning devices, a job receiver, a job executor, an image discriminator, a temperature condition judger and a temperature adjuster. When a formation-target image is a single-color image and an image to be formed next is a multi-color image, the temperature adjuster drives a motor of one optical scanning device at a second rotating speed slower than a rotating speed during an image forming operation and drives motors of unused optical scanning devices at a third rotating speed faster than the second rotating speed if a temperature condition is satisfied upon the completion of an image forming operation of the single-color image.

Abstract: An image forming apparatus includes a plurality of optical scanning devices, a mode receiver, a temperature condition judger and a temperature adjuster. In the case of forming an image using one optical scanning device, the temperature adjuster drives motors of unused optical scanning devices at a first rotation speed if a predetermined temperature condition is satisfied and drives the motors of the unused optical scanning devices at a second rotation speed slower than the first rotation speed if image formation is finished during the drive at the first rotation speed.

Abstract: An image forming apparatus includes a plurality of optical scanning devices, a job receiver, a job executor, an image discriminator for discriminating whether a formation-target image included in an image forming job is a single-color image or a multi-color image, a first condition judger, a second condition judger and a temperature adjuster. In the case of forming a single-color image, the temperature adjuster drives motors of all the optical scanning devices if a predetermined first condition and a predetermined second condition are satisfied and drives the motor of one optical scanning device and does not drive the motors of the other optical scanning devices but the one optical scanning device if the first condition is satisfied, but the second condition is not satisfied.

Abstract: An image forming apparatus includes an apparatus main body, a plurality of optical scanning devices, first temperature detectors for detecting the temperatures of the optical scanning devices, a second temperature detector for detecting the temperature of the apparatus main body, a first condition judger, a second condition judger and a temperature adjuster. The temperature adjuster performs a total motor drive process for driving the motors of all the optical scanning devices if a predetermined first condition is satisfied and a predetermined second condition is satisfied. On the other hand, the temperature adjuster drives the motor of the one optical scanning device and does not drive the motors of all the optical scanning devices excluding the one optical scanning device if the first condition is satisfied, but the second condition is not satisfied.

Abstract: An image forming apparatus has: a photoconductive drum that rotates; a developing roller that carries toner to be charged and to which a first voltage application portion outputting an AC voltage is connected; a contact member that makes contact with the photoconductive drum to remove residual toner; a detection portion for detecting occurrence of electric discharge between the developing roller and the photoconductive drum; and a developing unit that feeds toner to the developing roller, that supports the developing roller opposite the photoconductive drum with a gap secured in between, and that feeds toner to the developing roller with prescribed timing and for a prescribed time during electric discharge detection.

Abstract: An image forming apparatus is provided with an image forming station including photoconductive drums and adapted to form toner images on surfaces of the respective photoconductive drums, and a drive control unit for rotating and driving the photoconductive drums. The image forming station includes a reference pulse output section for generating a reference pulse having a cycle equal to or an integral multiple of a rotation cycle of the photoconductive drums and outputting the reference pulse to the drive control unit. The drive control unit includes a phase peak detector for detecting phase peaks of surface speeds of the photoconductive drums, a phase difference detector for detecting phase differences between an edge of the reference pulse and the phase peaks, and a phase synchronization controller for synchronizing phases of the surface speeds of the photoconductive drums by controlling rotation speeds of the photoconductive drums according to the phase differences.

Abstract: An image forming apparatus includes: a photoconductive drum; a developing roller carrying toner; a DC voltage application portion outputting a DC voltage to be applied to the developing roller, and receiving a feedback voltage; an AC voltage application portion applying an AC voltage to be applied to the developing roller; a detection portion detecting occurrence of electric discharge; a first resistor portion generating a feedback voltage that is fed to the DC voltage application portion; a second resistor portion connected between the DC voltage application portion and the AC voltage application portion, and having a switching portion with which conducting on and off are switchable; and a control portion controlling the switching portion, at the time of printing, to bring the second resistor portion into a conducting state and, at the time of electric discharge detection, to bring the second resistor portion into a non-conducting state.

Abstract: An image forming apparatus that includes: a photoconductive drum; a developing roller that is arranged opposite the photoconductive drum and that carries toner; a detecting portion that detects an occurrence of electrical discharge between the developing roller and the photoconductive drum; a control portion that controls the apparatus, that receives an output of the detecting portion and then recognizes the occurrence of the electrical discharge; a direct voltage applying portion that is connected to the developing roller; and an alternating voltage applying portion is disclosed herein.

Abstract: An image forming apparatus is provided with an image forming station including photoconductive drums and adapted to form toner images on surfaces of the respective photoconductive drums, and a drive control unit for rotating and driving the photoconductive drums. The image forming station includes a reference pulse output section for generating a reference pulse having a cycle equal to or an integral multiple of a rotation cycle of the photoconductive drums and outputting the reference pulse to the drive control unit. The drive control unit includes a phase peak detector for detecting phase peaks of surface speeds of the photoconductive drums, a phase difference detector for detecting phase differences between an edge of the reference pulse and the phase peaks, and a phase synchronization controller for synchronizing phases of the surface speeds of the photoconductive drums by controlling rotation speeds of the photoconductive drums according to the phase differences.

Abstract: An image forming apparatus includes: a photoconductive drum; a developing roller carrying toner; a DC voltage application portion outputting a DC voltage to be applied to the developing roller, and receiving a feedback voltage; an AC voltage application portion applying an AC voltage to be applied to the developing roller; a detection portion detecting occurrence of electric discharge; a first resistor portion generating a feedback voltage that is fed to the DC voltage application portion; a second resistor portion connected between the DC voltage application portion and the AC voltage application portion, and having a switching portion with which conducting on and off are switchable; and a control portion controlling the switching portion, at the time of printing, to bring the second resistor portion into a conducting state and, at the time of electric discharge detection, to bring the second resistor portion into a non-conducting state.