JP3498044B2 - Control device for omnidirectional mobile device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an omnidirectional moving device which can be suitably implemented as a driving wheel for an electric wheelchair.

[0002]

2. Description of the Related Art In recent years, various mechanisms have been developed as drive wheels for electric wheelchairs.
It is attracting attention as an omnidirectional moving device that is also called a holonomic moving mechanism that can move in any direction such as diagonal direction and left and right turning.By implementing such an omnidirectional moving device as an electric wheelchair, it can be narrowed indoors. It is possible to move freely in any direction in space without changing the direction of the vehicle body.

[0003] In a typical prior art, there are two or more drive wheels and a required number of casters, and the direction of each drive wheel is tilted by a turning device provided for each drive wheel to obtain a desired direction. Electric wheelchairs that can be moved to are well known. This electric wheelchair is configured to start traveling after changing the direction of each drive wheel to a direction corresponding to an input operation of a joystick by a turning device. Therefore, there is a problem that it takes time from the input operation of the joystick to the start of movement. to solve this problem,
In other prior art, there is known an omnidirectional mobile wheelchair using omni wheels that can instantly change the moving direction of the wheelchair to a right angle direction.

FIG. 11 is a simplified view of a drive wheel assembly 1 used in another conventional omnidirectional mobile wheelchair, and FIG. 11 (1) is a side view of the drive wheel assembly 1. ,
FIG. 11 (2) is a front view of the drive wheel assembly 1. This drive wheel assembly 1 is also called a mecanum wheel, and is arranged on the outer peripheral portion of the wheel base 3 fixed to the rotating shaft 2 on a first virtual plane 5 perpendicular to the one radial line 4. Angle θ with respect to an intersection line 8 at which a second virtual one plane 7 including the rotation axis 6 and the one radial line 4 intersects the first virtual one plane 5.
A plurality of rollers 1 rotatable about a rotation axis 9 forming one
Zeros are provided at equal intervals in the circumferential direction. The angle θ1
Is chosen at 45 degrees.

Such a drive wheel assembly 1 is provided with four wheels on the vehicle body, and each drive wheel assembly 1 is individually driven to rotate around a rotation axis 9 by a motor without being steered, and provided on the vehicle body. It is possible to move on the spot in any direction by controlling the speed and traveling direction by operating a three-axis joystick including front, rear, left and right, and rotation, and omnidirectional movement using such a drive wheel assembly 1 is performed. Vehicles have already been proposed.

FIG. 12 is a simplified view of a drive wheel assembly 11 used in another conventional omnidirectional mobile wheelchair. FIG. 12 (1) is a side view of the drive wheel assembly 11. Yes, FIG. 12 (2) is a front view of the drive wheel assembly 11. The drive wheel assembly 11 includes a spherical drive wheel 12, a drive roller 13 elastically abuttingly supporting the upper part of the spherical drive wheel 12 from above, and a pair of support rollers 14a and 14b.
Have and. The drive roller 13 is also called a universal wheel and is driven to rotate about a rotation axis 15.
It has a plurality of driven rollers 16 arranged at equal intervals in the circumferential direction. Each driven roller 16 has a center 17 of the spherical drive wheel 12.
Drive roller 13 which is perpendicular to the second virtual one plane 19 at an angle θ2 with respect to the vertical first virtual one plane 18 and which includes the center 17.
A tangent line 20 to a virtual circle centered on the rotation axis 15 is defined as a rotation axis 21 and is rotatable around the rotation axis 21.

These driven rollers 16 are rotatably held around the rotation axis 21 at equal intervals in the circumferential direction on a rotation shaft 22 which is driven to rotate about the rotation axis. The rotating shaft 22 is elastically pressed by the spring 23 in a direction approaching the center 17 of the spherical drive wheel 12, absorbs vibration of the spherical drive wheel 12 during traveling, and drives the rotational force of the drive roller 13 into a spherical drive. It is configured so that it can be reliably transmitted to the wheel 12.

Further, each of the support rollers 14a and 14b has a spherical shape, and the second support roller 14a, 14b is provided with respect to the first imaginary plane 18.
On a third imaginary plane 24 forming an angle θ3 on the side opposite to the imaginary plane 19 of FIG. 1 and an angle on both sides with respect to a fourth imaginary plane 25 perpendicular to the first imaginary plane 24 and including the center 17. fifth and sixth virtual planes 26 forming θ4 and θ5,
27 and each of the intersecting lines 28 and 2 of the third virtual plane 24
9 has a center of rotation, and cooperates with the drive roller 13 to support the spherical drive wheel 12 rotatably in all directions by so-called three-point support. The angles θ2 to θ5 are each 45 °.

The drive wheel assembly 11 is mounted on the vehicle body so that the rotation axis 15 of each drive roller 13 inclines in a direction in which they approach each other as it goes upward from the ground contact surface. By controlling the speed, for example, an omnidirectional vehicle that can move in a desired direction in response to an input command of the speed and direction by operating a joystick or the like is configured.

[0010]

In the prior art shown in FIGS. 11 and 12, the operation of the joystick, which is the input means, corresponds to the front-rear direction, the left-right direction, the oblique direction, and the turning direction. Each of the grounded drive wheels is not directly controlled, but the rotation of the plurality of rollers 10 in the conventional technique of FIG. 11 and the rotation of the drive roller 13 in the conventional technique of FIG. 12 are selectively controlled. The vector sum of the driving forces of the driving wheels with respect to the ground plane is the entire driving force, and the vehicle is only moved in the direction of the vector sum.Therefore, each driving wheel is controlled according to the operation command of the joystick, There is a problem that the vehicle cannot be operated faithfully, and a deviation in the traveling direction and a difference in speed occur with respect to the command. Alternatively, there is a problem that the turning space becomes large because the center of turning on the spot is not at the center of the vehicle body.

It is an object of the present invention to provide a control device for an omnidirectional moving device having an improved responsiveness, which allows the moving direction and speed to be operated faithfully in response to a command.

[0012]

According to a first aspect of the present invention, there are provided three or more bases, and the bases are inclined in different directions at a predetermined angle with respect to a normal line of a traveling surface. A drive wheel and a rotary drive source that is provided for each drive wheel and that rotationally drives each drive wheel individually are provided, and each drive wheel travels in the direction of the vector sum of the drive forces generated on the traveling surface. In the controller of the omnidirectional moving device, the command speed X ′ in the left and right directions
Input means for inputting a command speed Y ′ in the front-rear direction and a command speed φ ′ in the left and right turning directions, an eccentric amount a in the X-axis direction and an eccentric amount b in the Y-axis direction with respect to the predetermined rotation center.
Has a setting means for setting a new rotation center, and with respect to the new rotation center determined by the eccentricity amount a in the X-axis direction and the eccentricity amount b in the Y-axis direction set by this setting means, Each command speed X'from the input means,
Control means for individually controlling each rotary drive source in response to Y ′, φ ′ and rotationally driving each drive wheel at a rotational speed corresponding to the command speeds X ′, Y ′, φ ′. It is a control device of a characteristic omnidirectional moving device.

According to the invention, the base is provided with three or more drive wheels, and each drive wheel is individually driven to rotate by the rotary drive source. By the input means, the command speed X'in the left-right direction and the command speed Y'in the front-back direction toward the front in the traveling direction.
When the command speed φ'in the left and right turning directions is input to the control means, the control means controls each rotary drive source so that each drive wheel corresponds to each command speed X ', Y', φ '. The omnidirectional moving device is driven to rotate individually at a rotational speed, and the omnidirectional moving device advances in the direction of the vector sum of the driving forces generated by the driving wheels with respect to the traveling surface. Further, the control means can set the eccentricity amount a in the X-axis direction and the eccentricity amount b in the Y-axis direction with respect to the rotation center when the vehicle is not traveling, by the setting means. With respect to the movement, by inputting the respective eccentricity amounts a and b expected before traveling, the center of rotation during traveling is set at or near the position of the center of gravity during traveling, and the above-mentioned newly set center of rotation is described above. Calculate
The rotational speeds v1 to vi of the respective spherical driving wheels can be obtained, and the omnidirectional moving device can be caused to travel at the respective commanded speeds X ', Y', and φ '. This makes it possible to minimize the turning space and achieve actual running according to the position of the center of gravity of the omnidirectional moving device by making the turning center in the spot turning the center of the vehicle body. In traveling such as traveling or turning traveling in which the movement of the center of gravity is large with respect to the center of the vehicle body, falling and sideslip are less likely to occur, traveling stability is improved, and turning with a minimum radius is possible. It is possible to easily turn even in a region.

In this way, the control means calculates the vector sum of the respective driving forces generated on the driving surfaces of the respective driving wheels by the respective command speeds X ', Y', inputted by the input means.
Since the rotary drive source provided for each drive wheel is controlled so as to be φ ′, all the drive wheels are used in all the front-rear direction, diagonal direction, and left-right turning direction, and input is performed. The omnidirectional moving device can be caused to travel in the direction and speed instructed by the means, and as described above in relation to the conventional technique, a deviation in the traveling direction and a response delay occur with respect to the command. Is prevented and the responsiveness is improved.

According to a second aspect of the present invention, each of the drive wheels is spherical, and the top of the spherical drive wheel is rotatable about a first axis of rotation orthogonal to a radius line of the spherical drive wheel. A second support parallel to the tangent to the outer circle is supported by a top support roller provided and the outer peripheral portion of the spherical drive wheel passes through the center of the spherical drive wheel and on a second virtual one plane perpendicular to the one radius line. By being supported by three or more outer peripheral support rollers rotatable about the rotation axis, each outer peripheral support roller is held by an annular roller holder, and this roller holder is rotationally driven by a rotary drive source, configure the spherical drive wheel assembly to rotate the spherical drive wheel, the drive wheel assembly, the base, the distance L1, L2 of predetermined from the body center _{O B, ..., Li-1} , Li (i is a positive Each integer The control means determines the angles formed by the straight lines connecting the ground contact point of each spherical drive wheel and the rotation center with respect to the X axis of the XY reference coordinate system assumed on one plane as φ1, φ2, , .Phi.i-1, .phi.i, and the angles formed by the directions of the speed components of the active rotations of the spherical drive wheels with respect to the respective line segments are .psi.1, .psi.2, ..., .psi.i-1, .psi. Each of the spherical driving wheels W1, with the input command speed X ′ in the left-right direction, command speed Y ′ in the front-rear direction and command speed φ ′ in the left-right turning direction as parameters.
Rotation speeds v1, v2, ... V of W2, ..., Wi-1, Wi
i-1, vi,

[0016]

[Equation 2]

These rotational speeds v1, v
It is characterized in that each rotary drive source is controlled based on 2, ..., Vi-1, vi.

According to the present invention, spherical driving wheels are used as the driving wheels, the tops of the spherical driving wheels are supported by the top supporting rollers, and the outer peripheral portions of the spherical driving wheels are provided on the roller holder. It is supported by three or more outer peripheral support rollers. The control means inputs the command speeds X ′, Y ′, φ ′ inputted by the input means as parameters,
The rotational driving sources are controlled by obtaining the velocities v1 to vi of the spherical driving wheels by the above-mentioned arithmetic expression.

Therefore, even if the command speeds X ', Y', φ'input from the input means are changed by the input operation of the user of the omnidirectional moving device, the command speeds X ', Y are always input. It is possible to drive the omnidirectional moving device in the directions and speeds corresponding to ′ and φ ′, and it is possible to achieve high responsiveness to the input command.

[0020]

[0021]

[0022]

1 is a sectional view of a drive wheel assembly W used in an omnidirectional moving device 31 according to an embodiment of the present invention as seen from the side, and FIG. 2 is a drive wheel assembly. FIG. 3 is a cross-sectional view of W taken along the section line II-II of FIG. 1, and FIG. 3 is a bottom view of the drive wheel assembly W seen from the lower side of FIG. 1. The omnidirectional moving device 31 of the present embodiment is an electric wheelchair used by a physically handicapped person, an elderly person, and the like, as shown in FIG. 6 described later, and is provided on a base 32 and the base 32. Four drive wheel assemblies W1 to W4 (generally abbreviated as drive wheel assembly W) are provided.

The drive wheel assembly W supports the spherical drive wheel 33 and the outer peripheral portion 34 of the spherical drive wheel 33, and is provided with a plurality (6 in the present embodiment) of outer peripheral portion support rollers spaced at intervals in the circumferential direction. 35, a top support roller 37 that supports the top 36 of the spherical drive wheel 33, and an annular roller holder 38 that holds the outer peripheral support rollers 35 at the circumferentially spaced intervals.
And a rotation drive source 39 for rotating the roller holder 38.
And an upper cover body 41 that covers an approximately upper half portion of the spherical drive wheel 33 including the top portion 36, and a substantially lower half portion of the spherical drive wheel 33 are detachably fitted, and an opening peripheral edge portion 42 of the upper cover body 41. A lower cover body 43 fixed to the upper cover body 43, a roller holding body 38 rotatably supported, and a bearing 44 sandwiched between the opening peripheral edge portion 42 of the upper cover body 41 and the lower cover body 43; Elastic support means 45 interposed between the base 32 and
Including and

Each of the outer peripheral support rollers 35 has a spherical driving wheel 3.
The outer circle 4 on the first virtual plane 46 including the center O _W of 3
7 (see FIG. 3), each pair of rollers 5 rotatably supported about a first rotation axis 49 parallel to the tangent line 48 to 7 (see FIG. 3).
0a, 50b and a roller shaft 51 for rotatably supporting the rollers 50a, 50b around the first rotation axis 49.
And the roller shaft 51 near the both ends in the longitudinal direction of the roller shaft 51.
And a bracket 52 that is rotatably supported around the rotation axis 49 and is fixed on one surface of the roller holding body 38 at the aforementioned intervals in the circumferential direction.

The mounting interval of each outer peripheral portion supporting roller 35 to the roller holding body 38 is an angle β in the circumferential direction with respect to the roller center O _W on the first virtual plane (see FIG. 3). The angle β is set to 60 ° in the present embodiment. It is necessary to provide at least three peripheral support rollers 35 at least in the circumferential direction, and in the present embodiment, a large external force locally acts on the spherical drive wheels 33 from the peripheral support rollers 35. Avoid it, disperse the external force, and smoothly drive the spherical drive wheel 33.
6 are provided at equal intervals in the circumferential direction so as to be supported in a state in which the rotation is allowed.

The top support roller 37 is a spherical drive wheel 3.
On a second virtual plane 53 which includes the center O _W of three and is perpendicular to the first virtual plane 46, passes through the center O _W of the spherical drive wheel 33 and the first and second virtual plane 46. , 53
A pair of metallic rollers 56a, 56b rotatably provided around a second rotation axis 55 parallel to the intersection line and the rollers 56a, 56b are rotatably supported about the second rotation axis 55. A roller shaft 57, a bracket 58 that supports the roller shaft 57, roller bearings 59a and 59b that rotatably support the rollers 56a and 56b around the second rotation axis 55 with respect to the roller shaft 57, and the rollers. The bearings 59a, 59b are interposed between the inner rings 60a, 60b while being mounted on the roller shaft 57, and the rollers 56
a, 56b and a right cylindrical spacer 61 for preventing displacement of the roller bearings 59a, 59b.

The outer peripheral surface 63a of each roller 56a, 56b,
63b is formed in a truncated cone shape having a small diameter in a direction in which the rollers 56a and 56b are in contact with the spherical drive wheel 33, and has an inclination angle proportional to the curvature of the outer peripheral surface of the spherical drive wheel 33. It forms an inclined truncated cone surface, contacts with a small contact area, and allows free rotation in a non-driving direction orthogonal to the direction of each driving force of each spherical driving wheel 33 on the ground contact surface 89, thus allowing the spherical driving wheel to rotate. It is constructed so that it can be stably driven by the rotation of 33. This also applies to the rollers 50a and 50b of the outer peripheral portion support roller 35 described above, and the outer peripheral surface 6 of these rollers 50a and 50b is the same.
4a and 64b are also truncated cone-shaped tapered surfaces that are inclined along the curvature of the outer peripheral surface of the spherical drive wheel 33.

The roller holder 38 is held by the bearing 44 so as to be rotatable in the directions of arrows A1 and A2 around the third rotation axis 68 including the center O _W of the spherical drive wheel 33. The third rotation axis 68 exists on a straight line orthogonal to the second rotation axis 55 of the top support roller 37 on the second virtual one plane 53. The roller holder 38 is
It has an annular mounting ring 69 to which the bracket 52 of each outer peripheral support roller 35 is fixed, and an annular rack 71 fixed to the mounting ring 69 by bolts 70 while being coaxially stacked.

The bearing 44 for holding the roller holding body 38 as described above has an inner ring 72 fitted on the outer periphery of the mounting ring 69, an opening peripheral edge portion 42 of the upper cover body 41 and an opening peripheral edge portion 73 of the lower cover body 43. Outer ring 74 clamped by
And a plurality of spherical rolling elements 75 interposed between the inner ring 72 and the outer ring 74.

The opening peripheral edge 42 of the cover body 41 and the opening peripheral edge 73 of the lower cover body 43 are detachably connected by a bolt 76. The most spherical drive wheel 3 of the lower cover body 43
A seal member 78 made of an annular felt partially protruding inward in the radial direction is fitted to the inner peripheral portion 77 close to 3 and is in contact with the outer peripheral surface of the spherical drive wheel 33. The sealing material 78 scrapes off dust, water, and the like adhering to the surface of the spherical drive wheel 33, and the outer peripheral support roller 35.
It is possible to prevent foreign matter from being attached to the top support roller 37, and to prevent foreign matter from being caught in the bearings 44; 59a and 59b.
The smooth rotation of the spherical drive wheel 33 is maintained.

In such a roller holder 38, each outer peripheral portion supporting roller 35 is arranged on the first imaginary plane 46 in a second position.
Is rotatably held around the rotation axis 55 of the spherical drive wheel 33 and is driven to rotate in the directions of arrows A1 and A2 around a third rotation axis 68 passing through the center Ow of the spherical drive wheel 33 and perpendicular to the first virtual one plane 46. It is selectively rotationally driven by a source 39. The rotary drive source 39 has a servo motor 81 and a pinion 83 fixed to an output shaft 82 of the servo motor 81. The pinion 83 meshes with the rack 71 of the roller holding body 38, and the rotational force from the servo motor 81 is transmitted.

The spherical drive wheel 33 includes a metallic sphere 87,
The surface of the sphere 87 has a surface layer 88 made of, for example, dust, which is a flexible and elastic material. The sphere 87 is hollow and has sufficient strength against a locally large pressing force from the outer peripheral portion support roller 35 and the top portion support roller 37. Further, since the surface layer 88 is flexible and elastic as described above, it absorbs the vibration of the vehicle body and the impact due to the unevenness of the running surface 89, and the vibration and the impact on the base 32 are mitigated. Further, by using dust as the flexible and elastic material, a large frictional force can be generated on the running surface 89, thereby preventing undesired sliding of the spherical drive wheel 33. Thus, it is possible to prevent slipping on the traveling surface 89, reliably travel in the predetermined traveling direction, change the course, and accelerate / decelerate.

The upper cover body 41 is a hollow substantially hemispherical cover portion 90 that covers substantially the upper half portion of the spherical drive wheel 33, and a motor mount to which the servo motor 81 is attached, integrally connected to the cover portion 90. Part 91 and this motor mounting part 91
And a connecting portion 92 that further extends from the connecting portion 92, and the connecting portion 92 is connected by the connecting pin 93 to the connecting protrusion 9 of the base 32.
4 is connected so as to be angularly displaceable in the directions of arrows B1 and B2 around an axis 95 that is horizontal to 4.

Above the connecting projection 94 of the base 32,
The bracket 97 is fixed. The elastic support means 45 is interposed between the bracket 97 and the cover portion 90 of the upper cover body 41. This elastic support means 45 is
It is composed of two spring dampers 101a and 101b and one hydraulic damper 102. Each spring damper 101a, 101
Reference numeral b denotes a guide shaft 103, a spring force adjusting nut 105 formed near the one axial end of the guide shaft 103 and screwed to a screw portion 104, and mounted on the guide shaft 103. An annular spring receiving piece 10 supported by
6, a compression coil spring 107 mounted on the guide shaft 103 and having one end supported on the spring receiving piece 106, and a spring receiver mounted on each guide shaft 103 and supporting the other end of the compression coil spring 107. A piece 108, a connecting member 109 through which the respective guide shafts 103 are inserted and which supports the spring receiving piece 108 at both ends in the longitudinal direction (the left-right direction in FIG. 2), and the connecting member 109.
Of the guide shafts 103 protruding upward from the pressing springs 110, retaining pieces 111 for retaining the retaining springs 110, and retaining pins for retaining the retaining pieces 111 on the guide shaft 103. And 112.

The connecting member 109 is formed with a fitting recess 113 into which the vicinity of the front end of the bracket 97 provided on the base 32 is fitted, and a pair of convex portions facing each other on both sides of the fitting recess 113. Both ends of the connecting pin 115 in the axial direction are inserted into and supported by 114. The connecting pin 115 is inserted into the tip of the bracket 97 of the base 32 so as to be rotatable about the axis, and the connecting portion 109 is relatively angularly displaced to the bracket 97 in a state where the connecting pin 115 is retained by the retaining pin 116. Can be freely connected.

The hydraulic damper 102 has a cylinder tube 122 whose one end in the axial direction is rotatably connected to the cover portion 90 of the upper cover body 41 by a pin 121, and an axially movable housing in the cylinder tube 122. And the piston rod 12 having one axial end fixed to the piston 123 and the other axial end rotatably connected to the bracket 97 by a pin 124.
5 and. The piston 123 is provided with a thin passage as an office that communicates with the pressure chambers 126a and 126b in the cylinder tube 122.
The air is mutually heated between 6b, and it can be buffered by the damping effect due to the time delay.

The elastic support means 45 absorbs the undulations and steps of the ground contact surface 89 during traveling, and keeps all the spherical drive wheels 33 in contact with the ground contact surface 89 at all times. The omnidirectional moving device 3 uses the vector sum direction of each driving force with respect to the ground 89 as the traveling direction.
1 can be accurately operated in the direction and speed corresponding to the input operation command of the joystick 137 of the input means 138, which will be described later, and the lifting of at least one spherical drive wheel 33 drives each spherical drive wheel 33. It is possible to prevent the problem that the vector sum of forces collapses and the traveling direction and the speed deviate from the input operation command of the joystick 137.

FIG. 4 is a side sectional view showing the appearance of the drive wheel assembly W and the state of attachment to the base 32, and FIG. 5 is a view of the drive wheel assembly W seen from above in FIG. FIG. 6 is a plan view, and FIG. 6 is a perspective view showing an external appearance of the omnidirectional moving device 31 including the drive wheel assemblies W1 to W4. The omnidirectional moving device 31 is an electric wheelchair as described above, and includes a base 32.
A seat plate sheet 131 on which a user sits, a back plate sheet 132, and a pair of left and right armrests 133a and 133b are provided.

A pair of left and right footrests 134a, 134b are provided on the front part of the base 32 so as to be angularly displaceable in the directions of arrows C1, C2; D1, D2 around the axis line along the front-rear direction. The foot rests 134a and 134b are arranged substantially horizontally in the use state shown in FIG.
It is possible to make angular displacements in the D1 and D1 directions and to start up almost vertically. An input unit 138 for controlling traveling by operating the joystick 137 is provided at the front of the one armrest 133a. This joystick 1
By gripping 37 and operating it in the front-back direction, the left-right direction, and the diagonal left-right turning direction, the omnidirectional moving device 31 can be driven at a speed and a direction according to the operating direction.

The base 32 includes a frame body 141,
Four mounting bodies 1 fixed to the frame body 141 in a diagonal direction in a plan view and having the connecting protrusions 94.
42a to 124d (collectively referred to as mounting bodies 142), and the bracket 9 fixed to each mounting body 142
Including 7 and.

FIG. 7 is a plan view showing a specific structure of the base 32, FIG. 8 is a sectional view taken along the section line VIII-VIII of FIG. 7, and FIG. 9 is a surface view of the mounting body 142. Is. Note that the upper bracket 97 is omitted in FIG. 7 for ease of illustration. Frame body 1
Reference numeral 41 denotes an outer frame 143 whose plane shape is substantially quadrangular as shown in FIG. 7, an upper frame 144 which is continuous from the outer frame 143 and projects upward from the outer seat frame 143, and an outer frame 144 which is mounted from the seat sheet 131, It has a lower frame 145 that is connected downward from the frame 143 and to which each of the mounting bodies 142a to 142d is fixed.

[0042] Each mounting member 142a, 142b are integrally formed on the target by 45 ° of angular 1 degrees with respect to one vertical plane containing the vehicle body center O _B on the left and right sides. Further, the mounting bodies 142c and 142d provided on the rear side are symmetrically integrally formed on the left and right sides at an angle of 45 ° with respect to the vertical plane, and the mounting body units 146a and 146 are formed at the front and rear portions.
b respectively.

FIG. 10 is a block diagram showing an electrical configuration of the control device 161 of the omnidirectional movement device 31 according to the embodiment of the present invention. The front-rear direction moving device 31 includes a control device 16 for controlling the traveling direction and traveling speed.
1 is provided. The control device 161 receives the command speed X ′ in the left-right direction, the command speed Y ′ in the front-rear direction, and the command speed φ ′ in the left-right turning direction from the input means 138 and the input means 138. In response to each command speed X ′, Y ′, ψ ′, the servo motor 81 of each rotary drive source 39 is individually controlled, and each spherical drive wheel 33 corresponds to each command speed X ′, Y ′, φ ′. Control means 162 for respectively outputting rotation speed command signals v1, v2, v3, v4 which are rotationally driven at the rotation speeds, and each amplifier circuit in response to each rotation speed command signal v1 to v4 outputted from the control means 162. 164a to 164d are amplified and the drive current corresponding to each rotation speed command signal v1 to v4 is supplied to the servo motors 81a to 81d of each rotation drive source 39 to individually control the rotation speed of each spherical drive wheel 33. Input means 13
Omnidirectional moving device 3 at each speed X ', Y', φ'corresponding to the operating direction of joystick 137 of No. 8 and each displacement amount.
1 can be travel-controlled.

[0044] Such control means 161, so that the rotational center O _B of the car body in the non-traveling described in connection with FIG. 11 by the running of the omnidirectional device 31, the eccentric amount a (right X-axis direction A setting means 163 is provided for setting a new rotation center O _B 1 at a position eccentric by (a positive direction is positive) and eccentric by an eccentric amount b (positive is positive) in the Y-axis direction. The setting means 163, for example, when the center of gravity such as by the attitude of the omnidirectional device 31 is pivoted to the case, as always offset from the body center O _B, there is a risk of falling, that can not be easily changed in advance posture For the user,
By keeping shifted from previously body center O _B of the center of rotation, the corner, such as during turning have small amount of eccentricity of the gravity center position relative to the vehicle body center O _B, used to preset reduce the risk of falling.

The above-mentioned control is performed by the setting means 163.
The control means 162 has a new rotation center O. _BEach spherical drive from 1
Using the distances L1 to L4 to the installation point of the wheel 33, the following formula
1 and outputs rotation speed command signals v1 to v4
Then, the number of revolutions of each servo motor 81 is changed, and the vehicle is turned.
Sometimes the omnidirectional moving device 31 and its user have excessive centrifugal force
You can prevent force from acting and you can prevent falling.
It

Turning the x-axis to the right and the y-axis to the forward,
The turning angle φ is positive in the counterclockwise direction. Also, the drive wheel assembly
W1 is front right, W2 is front left, W3 is rear left, W4 is rear right.
In addition, the center of rotation during traveling (before moving, that is,
Diagonal intersection) O_BAnd grounding of each drive wheel assembly W1-W4
The lengths of the points are L1 to L4. At this time, the body center O
_BSpeeds X ', Y', φ'and the drive wheel assemblies W1 to W4
With speeds xi ', yi' (i = 1, 2, 3, 4) of
Is as follows:

[0047]

[Equation 3]

According to the present embodiment, each spherical drive wheel 33 provided on the base 32 is individually driven to rotate by the rotary drive source 39, and the command speed in the left and right directions toward the front in the traveling direction is input by the input means 138. X ′, the command speed Y ′ in the front-rear direction and the command speed φ ′ in the left and right turning directions are control means 1.
When it is input to 62, the control means 162 controls each rotary drive source 39 to move each spherical drive wheel 33 to each command speed X ′,
Rotate individually at rotational speeds corresponding to Y'and φ ',
The omnidirectional moving device 31 can move the spherical driving wheels 33 in the direction of the vector sum of the driving forces generated on the ground contact surface.

In this way, the control means 162 controls the command speeds X ', Y', and the vector sums of the driving forces generated by the spherical driving wheels 33 with respect to the ground contact surface, which are input by the inputting means 138. Since the rotary drive source 39 provided for each spherical drive wheel 33 is controlled by Expression 1 so as to be φ ′, all the drive wheels are controlled in all directions of the front-rear direction, the diagonal direction, and the left and right turning directions. The omnidirectional moving device can be driven to travel in the direction and speed instructed by the input means 138, and the problem that the deviation in the traveling direction and the response delay occur with respect to the command is prevented, and the response The property is improved.

As described above, the control means 162 has the input means 1
The respective command speeds X ′, Y ′, φ ′ input by the control unit 38 are input as parameters, and the speeds v1 to vi of the respective spherical drive wheels 33 are obtained by the above-mentioned arithmetic expression, and the respective rotary drive sources 3
Control 9 Therefore, even if the command speeds X ′, Y ′, φ ′ inputted from the input means 138 are changed by the input operation of the user of the omnidirectional moving device, the command speeds X ′, Y ′, The omnidirectional moving device can be caused to travel in the direction and speed corresponding to φ ′, and high responsiveness to an input command can be achieved.

[0051] Furthermore, the the control unit 162, it is possible to set the eccentricity b of eccentricity a and Y-axis direction of the X-axis direction with respect to the rotational center O _B of the time of non-driving by setting means 163, all directions With respect to the movement of the center of gravity during traveling of the moving device, each eccentricity amount a expected before traveling,
By inputting b, the center of rotation during traveling is set at or near the position of the center of gravity during traveling, and the above calculation is performed with respect to this newly set center of rotation, and the rotational speed v1 of each spherical drive wheel is set.
~ Vi can be obtained, and the omnidirectional moving device can be driven at each commanded speed X ', Y', φ '. This makes it possible to minimize the turning space by making the turning center when turning on the spot the center of the vehicle body,
It is possible to achieve actual traveling according to the position of the center of gravity of the omnidirectional moving device when traveling, and when traveling such as curving or turning, where the movement of the center of gravity becomes large with respect to the center of the vehicle body, such as falling and skidding. Is less likely to occur, traveling stability is improved, and turning can be performed with a minimum radius, so that it is possible to easily turn even in a narrow area.

In the above embodiment, the base 32 is provided with four drive wheel assemblies W1 to W4. Omni-directional moving device 31
However, also in the omnidirectional moving device including the three drive wheel assemblies as another embodiment of the present invention, the joystick 137 can be operated in any direction depending on the operating direction of the joystick 137 with respect to the input means 138 and each displacement amount. It is possible to drive with high running stability, and in another embodiment of the present invention, even an omnidirectional moving device using i or more drive wheel assemblies of 5 or more is easy for those skilled in the art. It is possible to assume. In this case, the control means 162 is set with the arithmetic expression shown in Expression 2.

[0053]

[Equation 4]

Further, in another embodiment of the present invention, the bearing is sandwiched between the upper cover body and the lower cover body, and the roller holding body is rotatably supported by the bearing about the third rotation axis. . The top cover roller also has a top support roller rotatably supported about the second rotation axis.
In this manner, the spherical drive wheel is stably supported in a state where the upper support roller and the roller holding wheel are positioned, and the lower half portion is surrounded by the lower cover body so as to project downward.
The upper cover body and the lower cover body prevent external contact of the user's foot or other articles with the spherical drive wheel from the outside, and thus prevent disturbance of rotation of the spherical drive wheel from acting. Therefore, it is possible to prevent the traveling direction from being changed undesirably by the disturbance.

In each of the above embodiments, an electric wheelchair is described as an omnidirectional moving device, but the present invention is not limited to this, and various moving devices such as an unmanned conveyor are provided by three or more drive wheel assemblies. Dolly (abbreviated as AG
V), mobile robots, work carts, etc.

Further, in another embodiment of the present invention, each spherical driving wheel 33 may be made of metal or hard synthetic resin and elastically supported by the top support roller 37. By supporting each of the spherical drive wheels 33 made of metal or hard synthetic resin by the top support roller 37, it is possible to make a point contact with the ground contact surface, and when a large torque is not required like the floor in the room. It can be preferably used and wasteful power due to friction with the ground contact surface is reduced. Such a spherical drive wheel is elastically supported by the top support roller, absorbs vibrations due to minute undulations of the ground contact surface during traveling, and prevents vibrations and running noises due to the undulations.

In the top support roller 37, the rollers 56a and 56b may be formed of a flexible and elastic material such as rubber, or the bearings 59a and 59b of the rollers 56a and 56b may be formed. An elastic member may be interposed between the roller shaft 57 and the roller shaft 57.

In still another embodiment of the present invention, three or more drive wheel assemblies are used, spherical drive wheels are arranged upward with a predetermined interval, and the present invention is carried out as a conveyor for conveying a product in a production line or the like. It is also possible to do so.

[0059]

According to the present invention as set forth in claim 1, the control means is arranged such that the vector sum of the respective driving forces generated on the driving surfaces of the respective driving wheels is inputted to the respective command speeds by the input means. Since the rotary drive source provided for each drive wheel is controlled so that X ′, Y ′ and φ ′ are obtained,
It is possible to travel using all the drive wheels in all directions of the diagonal direction and the left and right turning directions, and to drive the omnidirectional moving device at the direction and speed instructed by the input means.
As described in connection with the above-mentioned conventional technique, it is possible to prevent the problem that the deviation in the traveling direction and the response delay occur with respect to the command, and it is possible to improve the responsiveness with high accuracy. Further, with respect to the movement of the center of gravity position of the omnidirectional moving device during traveling by the setting means, the respective eccentricity amounts a and b expected before traveling are input to determine the center of rotation during traveling as the center of gravity position during traveling or The rotation speeds v1 to vi of the respective spherical drive wheels are determined with respect to this newly set rotation center by setting the rotation center in the vicinity thereof,
Command speeds X ', Y', φ'input to the omnidirectional moving device
It can be run with. As a result, it is possible to achieve actual traveling according to the position of the center of gravity of the omnidirectional moving device during traveling, and to prevent a fall or fall during traveling such as curved traveling or turning traveling in which the movement of the center of gravity becomes large with respect to the center of the vehicle body. Side slippage is less likely to occur, traveling stability is improved, and it is possible to turn with a minimum turning radius.

According to the second aspect of the present invention, even if the command speeds X ', Y', and φ'input from the input means are changed by the input operation by the user of the omnidirectional moving device, the command speeds are always changed. Since the omnidirectional moving device can travel in the directions and speeds corresponding to the respective command speeds X ', Y', and φ'input, high responsiveness to the input command can be achieved.

[0061]

[Brief description of drawings]

FIG. 1 is a cross-sectional view of a drive wheel assembly W used in an omnidirectional movement device 31 according to an embodiment of the present invention, as viewed from the side.

2 is a cross-sectional view of the drive wheel assembly W as seen from a section line II-II in FIG.

3 is a sectional view of the drive wheel assembly W as seen from the lower side of FIG. 1. FIG.

FIG. 4 is a cross-sectional view showing the appearance of the drive wheel assembly W and the mounting state of the base 32 as seen from the side.

5 is a plan view of the drive wheel assembly W as seen from above in FIG. 4. FIG.

FIG. 6 is a perspective view showing an external appearance of an omnidirectional moving device 31 including drive wheel assemblies W1 to W4.

FIG. 7 is a plan view showing a specific configuration of a base 32.

8 is a cross-sectional view taken along the section line VIII-VIII in FIG. 7.

9 is a front view of the mounting body 142. FIG.

FIG. 10 is an omnidirectional moving device 31 according to an embodiment of the present invention.
3 is a block diagram showing an electrical configuration of the control device 161 of FIG.

11 is a simplified view of a conventional drive wheel assembly 1, FIG. 11 (1) is a side view of the drive wheel assembly 1, and FIG. 11 (2) is a drive wheel assembly 1. FIG.

FIG. 12 is a simplified view of another conventional drive wheel assembly 11, FIG. 12 (1) is a side view of the drive wheel assembly 11, and FIG. 12 (2) is a drive wheel assembly. It is a front view of the solid 11.

[Explanation of symbols]

31 Omnidirectional moving device 32 bases 33 Spherical drive wheel 34 Outer periphery 35 Outer peripheral support roller 36 top 37 Top Support Roller 38 Roller holder 39 rotary drive source 41 Top cover body 42 Edge of the upper cover 41 43 Lower cover body 44 bearing 45 buffer means 46 First virtual plane 47 outer circle 48 tangent 49 First axis of rotation 50a, 50b; 56a, 56b roller 53 Second virtual plane 55 Second axis of rotation 63a, 63b Outer peripheral surface of top support roller 37 64a, 64b Outer peripheral surface of outer peripheral support roller 35 68 Third axis of rotation 69 mounting ring 71 racks 73 Edge of Opening of Lower Cover Body 43 81 Servo motor 87 spheres 88 surface 89 Running surface 101a, 101b Spring damper 102 hydraulic damper 137 Joystick 138 Input means 161 control device 162 control means 163 setting means

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuya Kubota 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Akashi Plant (72) Toshihisa Doi 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Co., Ltd., Akashi Plant (72) Inventor Shigekazu Shikoda 1-1 Kawasaki-cho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries Ltd., Akashi Factory (72) Inventor Takaya Misumi 1-chome Minami-cho, Minato-cho, Chuo-ku, Hyogo Prefecture 5-2 No. 2 within the New Industry Creation Research Institute (72) Inventor Katsumi Nakajima 1-5-2 Minatojima Minami-cho, Chuo-ku, Kobe-shi, Hyogo Prefecture Within the New Industry Creation Research Institute (72) Inventor Keishi Katsurakawa Hyogo Prefecture 1-5-2 Minami-cho Minami-cho, Chuo-ku, Kobe Within the New Industry Creation Research Institute (56) References JP-A-2000-126241 (JP, A) JP-A-2001-5515 6 (JP, A) JP 2000-355223 (JP, A) JP 50-82736 (JP, A) JP 7-257422 (JP, A) JP 8-67268 (JP, A) (JP 58) Fields surveyed (Int.Cl. ⁷ , DB name) B62D 15/00 A61G 5/00

Claims (2)

(57) [Claims] 1. A base, three or more drive wheels provided on the base inclining in different directions with respect to a normal line of a traveling surface at predetermined angles, and each drive wheel is provided with each drive wheel. In the controller of the omnidirectional moving device, which has a rotary drive source for individually rotating the drive wheels and advances in the direction of the vector sum of the drive forces generated by the drive wheels on the traveling surface, Input means for inputting a speed X ′, a command speed Y ′ in the front-rear direction and a command speed φ ′ in the left and right turning directions, and an eccentric amount a in the X-axis direction and an eccentric amount b in the Y-axis direction with respect to the predetermined rotation center. There is a setting means for inputting and setting a new rotation center, and regarding the new rotation center determined from the eccentricity amount a in the X-axis direction and the eccentricity amount b in the Y-axis direction set by the setting means, Responds to each command speed X ', Y', φ'from the input means Each rotary drive source individually controlled, the command speed X 'of the drive wheels Te,
A control device for an omnidirectional moving device, comprising: a control means for rotationally driving at a rotational speed corresponding to Y ′, φ ′. 2. Each of the drive wheels has a spherical shape, and a top portion of the spherical drive wheel is a second drive wheel which is orthogonal to a radius line of the spherical drive wheel.
Is supported by a top support roller that is rotatably provided around the rotation axis of the spherical drive wheel, and the outer peripheral portion of the spherical drive wheel passes through the center of the spherical drive wheel and is a peripheral circle on a first virtual one plane perpendicular to the radius line. 3 rotatable about the first axis of rotation parallel to the tangent to
A drive for rotating the spherical drive wheels by being supported by the above outer peripheral support rollers, holding each outer peripheral support roller by an annular roller holder, and rotating the roller holder by a rotary drive source. configure the wheel assembly, the drive wheel assembly, the base, the distance L1, L2 of predetermined from the body center _{O B, ..., Li-1} , Li (i is a positive integer) respectively provided at a The control means determines an angle formed by each straight line connecting the ground contact point of each spherical drive wheel and the new rotation center set by the setting means with respect to the X axis of the assumed XY reference coordinate system on one plane. , Φ1, φ2, ..., φi−1, φi, and the angles formed by the directions of the speed components of the active rotations of the spherical drive wheels with respect to the respective straight lines are ψ1, ψ2, ..., ψi-1, ψi. Input by the input means And command speed X in the horizontal direction each spherical drive wheel W as a parameter, the command speed phi 'and of the right and left turning direction', the command speed Y in the longitudinal direction '
1, W2, ..., Wi-1, Wi rotation speeds v1, v2
..., vi-1, vi are expressed as follows: And these rotational speeds v1, v2, ..., Vi
The control device for an omnidirectional moving device according to claim 1, wherein each rotary drive source is controlled based on -1, vi.