The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 20, 2007
Filed:
Sep. 08, 2004
Shinji Ishii, Kanagawa, JP;
Shinji Ishii, Kanagawa, JP;
Sony Corporation, Tokyo, JP;
Abstract
A traveling apparatus and a method for controlling thereof performs efficient charging with regenerative electrical power. An angle θof a table (not illustrated) is detected by a gyroscopic sensor and an acceleration sensor to be supplied to a central control unit. Then, positional command signals Pref(t) and Pref(t) formed are supplied to motor control units which perform control of driving left and right motors respectively. Further, rotational positions θmand θmof the motors are respectively detected in rotary encoders, those det signals are fed back to the motor control units, and control is performed so as to comply with the positional command signals Pref(t) and Pref(t) formed in the central control unit. At the same time, a regenerative state is detected by comparing the rotational positions θmand θmwith the positional command signals Pref(t) and Pref(t), and information thereon is transmitted to a regenerative charging circuit by serial communication to perform a control of discharging and charging a secondary battery (battery).