PROBLEM TO BE SOLVED: To provide a motor control device, a travelling vehicle, a motor control method, and a motor control program which stop a motor, when the motor driven travelling vehicle comes into contact with an obstacle, in a manner that restricts a travelable direction of the travelling vehicle and thereby enabling the same to travel in an unrestricted direction.SOLUTION: When regulating a travel direction of a travelling vehicle driven by a plurality of motors through individually controlling power supply to the motors, a motor control device: causes a plurality of contact sensors arranged at different locations on a body of the travelling vehicle to detect a contact thereof with an external object; and controls a relay circuit, which operates the motors by individually switching power supply thereto, in accordance with detection results of the contact sensors in a manner that restricts a travelable direction of the travelling vehicle depending on the contact sensor, among the plurality of contact sensors, detecting the contact of the travelling vehicle with the external object.SELECTED DRAWING: Figure 5

    【課題】モーター駆動の走行車両において障害物に当接した場合に走行可能な方向を制限するようにモーターを停止して、制限されない以外の方向への走行を可能にするモーター制御装置、走行車両、モーター制御方法及びモーター制御プログラムを提供する。【解決手段】複数のモーターで駆動する走行車両についてモーター毎に電力を供給制御して当該走行車両の走行方向を制御する際に、前記走行車両の車体の異なる方向に分離して設けられた複数の接触センサが外部との接触を検出し、電力の供給をオン/オフし、前記モーター毎に分離して制御するように設けられたリレー回路を、前記接触センサの検出結果に応じて制御し、前記複数の接触センサのうちの、接触を検出した接触センサに応じて、前記走行車両の走行可能な方向を限定するように前記リレー回路を制御する。【選択図】図5


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    Title :

    MOTOR CONTROL DEVICE, TRAVELING VEHICLE, MOTOR CONTROL METHOD AND MOTOR CONTROL PROGRAM


    Additional title:

    モーター制御装置、走行車両、モーター制御方法及びモーター制御プログラム


    Contributors:

    Publication date :

    2018-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern



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