TWI761354B - Omnidirectional moving device and attitude control method - Google Patents

Abstract

An omnidirectional moving device comprises a spherical rotating body (12) and omniwheels (401) ~ (404) as wheels. The plurality of wheels, which cause the rotating body (12) to roll and to move in a straight-advancing direction, are provided contacting a surface of the rotating body (12) at an axis periphery (121) of a rotation axis (120), rotate in a circumferential direction thereby transmitting power to the rotating body (12), and enable the rotating body 12 to roll in a direction that crosses the circumferential direction.

Description

Omnidirectional mobile device and its posture control method

The present invention relates to an omnidirectional moving device and a posture control method thereof.

Patent Document 1 discloses a conveying device and a drive mechanism. The conveying device includes one spherical rotating body and three omni wheels. The omnidirectional gear train is in contact with the spherical rotating body to roll the spherical rotating body, and can move in a direction different from the direction in which the spherical rotating body is rolled. The three omnidirectional wheels are connected to the upper hemisphere of the spherical rotating body, and are arranged at equal intervals around the vertical axis (Z axis) of the spherical rotating body. A roller driving part is connected to each of the omnidirectional wheels. A stage is provided on the spherical rotating body via a frame portion, and the roller drive portion is fixed to the frame portion.

In the above-mentioned conveyance device, the attitude of the stage can be inclined, and the stage can be moved back and forth, left and right in the direction of the inclination, and can be turned. That is, the conveying device can move in all directions with a high degree of freedom.

[Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2009-234524

Of course, in the above-mentioned conveying device, when the outputs of all the roller driving parts are the same, the maximum output can be obtained during rotation, but when the original conveying device needs to output forward or left and right movement, the maximum output cannot be obtained. For example, in the forward movement, only about half of the output is obtained when turning around. Therefore, there is room for improvement.

In consideration of the above-mentioned problems, the present invention provides an omnidirectional moving device capable of moving a rotating body in the straight direction with the maximum output, and a posture control method of the omnidirectional moving device capable of maintaining a stable posture of a vehicle body.

In order to solve the above-mentioned problems, the omnidirectional moving device according to the first embodiment of the present invention includes: a spherical rotating body; A plurality of rollers are arranged in contact with each other, and the rollers rotate in the circumferential direction to transmit power to the rotating body, and can make the rotating body roll in a direction intersecting the circumferential direction.

The omnidirectional moving device of the first embodiment includes a spherical rotating body and a roller arranged in contact with the surface of the rotating body. The roller rotates in the circumferential direction to transmit power to the rotating body, and can make the rotating body roll in a direction intersecting with the circumferential direction.

Here, a plurality of rollers are arranged on the surface of the rotating body around the axis of the rotating shaft that makes the rotating body roll and move in the straight direction. Therefore, when moving in the straight direction, the power is efficiently transmitted from the roller to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.

The omnidirectional moving device according to the second embodiment of the present invention includes: a spherical rotating body; a first roller around an axis on one end side of a rotating shaft that causes the rotating body to roll and move in the straight direction, and the upper hemisphere of the rotating body A plurality of rollers are arranged in contact with the surface, the first roller rotates in the circumferential direction to transmit power to the rotating body, and can make the rotating body roll in the direction crossing the circumferential direction; and the second roller is relative to the rotating shaft. A specific position on the surface of the lower hemisphere of the rotating body around the axis of one end side is arranged in contact with the surface at the center-symmetrical position of the rotating body, and it rotates in the circumferential direction to transmit the power to the rotating body, and can make the rotating body in the rotating body. Scroll in the direction that intersects with the circumferential direction.

The omnidirectional moving device of the second embodiment includes a spherical rotating body, and a first roller and a second roller arranged in contact with the surface of the rotating body. Both the first roller and the second roller rotate in the circumferential direction to transmit power to the rotating body, so that the rotating body can be rolled in a direction intersecting the circumferential direction.

Here, a plurality of first rollers are arranged on the surface of the upper hemisphere of the rotating body around the axis of one end side of the rotating shaft that makes the rotating body roll and move in the straight direction. On the other hand, the second roller is arranged at a specific position on the surface of the lower hemisphere of the rotating body with respect to the axis around one end side of the rotating shaft, the surface at the center symmetrical position of the rotating body. Therefore, when moving in the straight direction, power is efficiently transmitted from each of the first roller and the second roller to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.

The omnidirectional moving device according to the third embodiment of the present invention includes: a spherical rotating body; a first roller around an axis on one end side of a rotating shaft that causes the rotating body to roll and move in the straight direction, and the upper hemisphere of the rotating body A plurality of rollers are arranged in contact with the surface, and the first roller rotates in the circumferential direction to transmit power to the rotating body, and can make the rotating body cross the circumferential direction. and the second roller is arranged around the shaft on the other end side of the rotating shaft in contact with the surface of the upper hemisphere of the rotating body, and the second roller rotates in the circumferential direction to transmit power to the rotating body, and The rotating body can be rolled in a direction intersecting with the circumferential direction.

The omnidirectional moving device of the third embodiment includes a spherical rotating body, and a first roller and a second roller arranged in contact with the surface of the rotating body. Both the first roller and the second roller rotate in the circumferential direction to transmit power to the rotating body, and can make the rotating body roll in a direction intersecting the circumferential direction.

Here, a plurality of first rollers are arranged on the surface of the upper hemisphere of the rotating body around the axis of one end side of the rotating shaft that makes the rotating body roll and move in the straight direction. On the other hand, the second roller is arranged around the shaft on the other end side of the rotating shaft, and is arranged on the surface of the upper hemisphere of the rotating body. Therefore, when moving in the straight direction, power is efficiently transmitted from each of the first roller and the second roller to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.

The omnidirectional moving device of the fourth embodiment of the present invention is the omnidirectional moving device of the second embodiment or the third embodiment, wherein the first roller and the second roller are omnidirectional wheels or mecanum wheels. .

According to the omnidirectional moving device of the fourth embodiment, since the first roller and the second roller are the omnidirectional wheel or the Mecanum wheel, the rotating body can be rolled in the straight direction with the maximum output, and the rotating body can also be rotated Scroll in a direction other than the straight direction.

The omnidirectional moving device of the fifth embodiment of the present invention is the omnidirectional moving device of the second or third embodiment, wherein two first rollers are arranged, and one or two second rollers are arranged .

According to the omnidirectional moving device of the fifth embodiment, there are two first rollers and one or two second rollers. Therefore, the number of parts and the weight are minimized according to the minimum number of rollers. limit, and the rotating body can be rolled in all directions.

The omnidirectional moving device of the sixth embodiment of the present invention is the omnidirectional moving device of the second embodiment or the third embodiment, wherein the arrangement positions of the first roller and the second roller are such that: the first roller and the second roller Among the matrix elements of the power transmission matrix determined by the position vector of the contact point between the roller and the rotating body and the tangent vector of the contact point, among the matrix elements of the rotation axis, the absolute values of the matrix elements in each row are equal.

According to the omnidirectional moving device of the sixth embodiment, among the matrix elements of the power transmission matrix, among the matrix elements of the rotation axis for moving the rotating body in the straight direction, the absolute values of the matrix elements in each row are equal, Configure the first roller and the second roller. Therefore, when moving in the straight direction, power is efficiently transmitted from each of the first roller and the second roller to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.

The omnidirectional moving device of the seventh embodiment of the present invention is the omnidirectional moving device of the sixth embodiment, wherein the power transmission matrix includes a transmission matrix representing the angular velocity.

According to the omnidirectional moving device of the seventh embodiment, the power transmission matrix includes a transmission matrix representing the angular velocity. In the transfer matrix representing the angular velocity of the rotation axis that moves the rotating body in the straight direction, the first roller and the second roller are respectively arranged at the positions where the absolute value of each row of the matrix elements is equal. Therefore, when moving in the straight direction, power is efficiently transmitted from each of the first roller and the second roller to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.

The omnidirectional moving device according to the eighth embodiment of the present invention is the same as the second embodiment Or the omnidirectional moving device of the third embodiment, further comprising an auxiliary wheel, which contacts or approaches the surface of the lower hemisphere of the rotating body, rotates in the circumferential direction, and can make the rotating body roll in the direction crossing the circumferential direction .

The omnidirectional moving device of the eighth embodiment includes an auxiliary wheel contacting or approaching the surface of the lower hemisphere of the rotating body. The auxiliary wheel rotates in the circumferential direction, and can make the rotating body roll in a direction intersecting with the circumferential direction. Therefore, the upper hemisphere of the rotating body is in contact with the first roller and the second roller, and the auxiliary wheel is provided in the lower hemisphere of the rotating body, so that the rotating body can be rolled in all directions and the rotating body can be prevented from falling off.

The omnidirectional moving device of the ninth embodiment of the present invention is the omnidirectional moving device of the second embodiment or the third embodiment, further comprising: a vehicle body arranged on the rotating body; and a first driving device installed on the vehicle body , and make the first roller rotate; the second driving device is installed on the vehicle body, and makes the second roller rotate; and the posture stabilization system is arranged on the vehicle body to keep the posture of the vehicle body stable.

According to the omnidirectional moving device of the ninth embodiment, the vehicle body is provided on the rotating body. A first driving device is connected to the rotating shaft of the first roller, and the first driving device is installed on the vehicle body. In addition, a second driving device is connected to the rotating shaft of the second roller, and the second driving device is mounted on the vehicle body. Both the first roller and the second roller are in contact with the surface of the upper hemisphere of the rotating body. Therefore, the load of the vehicle body is supported by the first roller via the first driving device, and supported by the second roller via the second driving device, so that the posture of the vehicle body can be maintained in a stable state by using the posture stabilization system. Maximum output rolls the rotating body in the straight direction.

The omnidirectional moving device according to the tenth embodiment of the present invention is the omnidirectional moving device according to the ninth embodiment, wherein the posture stabilization system includes: a posture angle detection unit installed on the The car body detects the posture angle of the car body and the first angular velocity generated with the change of the posture angle; the rotation number detection part detects the rotation number of the first roller and the second roller; the angular velocity detection part is based on the rotation number of the rotation number detection part The detection result is to detect the second angular velocity of the rolling of the rotating body; and the arithmetic processing unit calculates the calculation based on the posture angle information detected by the posture angle detection unit, the first angular velocity information, and the second angular velocity information detected by the angular velocity detection unit The roller operating torques of the first roller and the second roller for maintaining the posture of the vehicle body actuate the first driving device and the second driving device according to the roller operating torque information.

According to the omnidirectional movement device of the tenth embodiment, the posture stabilization system includes the posture angle detection unit, the rotation number detection unit, the angular velocity detection unit, and the arithmetic processing unit. The attitude angle detection unit is mounted on the vehicle body, and detects the attitude angle of the vehicle body and the first angular velocity generated with the change of the attitude angle. The rotation number detection part detects the rotation number of the first roller and the second roller. The angular velocity detection part detects the second angular velocity of the rolling of the rotating body based on the detection result of the rotation number of the rotation number detection part.

Here, the arithmetic processing unit calculates the first roller and Roller operating torque of the second roller. Then, the arithmetic processing unit operates the first driving device and the second driving device according to the roller operation torque information. Therefore, in the posture stabilization system, the power to keep the posture of the vehicle body stable is transmitted from the first roller and the second roller to the rotating body, so that the rotating body can be stabilized by the maximum output while the posture of the vehicle body is kept stable. Scroll straight.

The omnidirectional moving device according to the eleventh embodiment of the present invention is the omnidirectional moving device according to the tenth embodiment, wherein the arithmetic processing unit is based on the posture angle information and the first angular velocity information. According to the second angular velocity information, the target value of the angular acceleration of the rolling body and the target value of the angular acceleration of the car body rotation are calculated to maintain the posture of the car body, and the third angular acceleration of the rotating body that is consistent with the target value is calculated. , based on the third angular acceleration, the operating torque of the rotating body for operating the rotating body is calculated, and based on the operating torque information of the rotating body, the roller operating torque for operating the first roller and the second roller is calculated.

According to the omnidirectional moving device of the eleventh embodiment, the arithmetic processing unit calculates the target of the angular acceleration of the rolling body for maintaining the posture of the vehicle body based on the posture angle information, the first angular velocity information and the second angular velocity information value and the target value of the angular acceleration of the vehicle body rotation. The arithmetic processing unit further calculates the third angular acceleration of the rotating body that matches the target value, and calculates the rotating body operating torque for operating the rotating body based on the third angular acceleration. Based on the rotating body operating torque information, the operation processing unit calculates the roller operating torque for operating the first roller and the second roller. As a result, in the arithmetic processing unit, the power for maintaining the posture of the vehicle body stably is calculated. Therefore, the power is transmitted from the first roller and the second roller to the rotating body, so that the rotating body can be rolled in the straight traveling direction with the maximum output while the posture of the vehicle body is kept stable.

In the posture control method of the omnidirectional mobile device of the twelfth embodiment of the present invention, the posture stabilization system of the omnidirectional mobile device of the tenth embodiment is applied to obtain the posture angle information, the first angular velocity information and the second angular velocity information, based on The attitude angle information, the first angular velocity information, and the second angular velocity information are used to calculate the target value of the angular acceleration of the rotating body rolling and the target value of the angular acceleration of the vehicle body to maintain the posture of the vehicle body, and the calculation is consistent with the target value. The third angular acceleration of the rotating body, based on the third angular acceleration, the rotating body operating torque of the operating rotating body is calculated, and the operating torque of the rotating body is calculated based on the operating torque information of the rotating body. Roller operating torque of the roller and the second roller.

According to the posture control method of the omnidirectional mobile device of the twelfth embodiment, the posture stabilization system first acquires posture angle information, first angular velocity information and second angular velocity information. Next, based on the posture angle information, the first angular velocity information, and the second angular velocity information, the target value of the angular acceleration of the rolling body and the target value of the angular acceleration of the vehicle body are calculated for maintaining the posture of the vehicle body. Next, the third angular acceleration of the rotating body that matches the target value is calculated, and based on the third angular acceleration, the rotating body operating torque for operating the rotating body is calculated. Then, based on the rotational body operating torque information, the roller operating torque for operating the first roller and the second roller is calculated. As a result, in the posture stabilization system, the power to keep the posture of the vehicle body stable is calculated.

Therefore, since the power is transmitted from the first roller and the second roller to the rotating body, in the omnidirectional moving device, the rotating body can be rolled in the straight direction with the maximum output, and the posture of the vehicle body can be maintained stable.

According to the present invention, it is possible to provide a posture control method of an omnidirectional moving device capable of moving a rotating body in the straight direction with the maximum output and a posture control method of an omnidirectional moving device capable of maintaining a stable posture of a vehicle body.

10: Omnidirectional mobile device

12: Rotary body

12A: Lower Hemisphere

12B: Upper Hemisphere

14: Body

14A: body body

14B: body body

14C: Front hull

14D: Front Wall

16: Saddle Rack

18: Saddle

22: handle bracket

24: Handle

26: Frame part

28: Frame bracket

30: Auxiliary wheel bracket

32: Auxiliary wheel

34: Auxiliary wheel bracket

36: Auxiliary wheel

40: The first drive unit

42: Second drive unit

44: The third drive unit

46: Fourth drive unit

50: Sensor unit

60: Control unit

120: Rotary axis

121: around the axis

122: around the axis

401: omnidirectional wheel (first omnidirectional wheel)

402: omnidirectional wheel (first omnidirectional wheel)

403: omnidirectional wheel (second omnidirectional wheel)

403P: specific location

404: omnidirectional wheel (second omnidirectional wheel)

404P: specific location

405: Mecanum Wheel

406: Mecanum Wheel

407: Mecanum Wheel

408: Mecanum Wheel

410: First round group

411: Wheel body

412: Roller

413: Roller

414: Roller

415: Rotation axis

420: Second round group

421: Wheel body

422(1): AC Servo Motor

422(4): AC Servo Motor

422: Roller

423: Roller

424: Roller

425: Rotary axis

430: Shaft

441: Reducer

442(1): AC servo motor (drive unit)

442(2): AC servo motor (drive unit)

442(3): AC servo motor (drive unit)

442(4): AC servo motor (drive unit)

501: Posture angle detection section

600: Postural Stabilization System

601: Operation display part

602: Operation Processing Department

603: Digital to Analog Converter

604: Angular velocity detection section

605: Servo amplifier

605(1): Servo amplifier

605(2): Servo amplifier

605(3): Servo amplifier

605(4): Servo amplifier

606: Power

607: Rotation detection section

A: Circumferential direction

a: Rotation axis

B: The direction that intersects with the circumferential direction

b: Rotation axis

O ₀ : origin

O _b : center

Oh ₁ : Omni wheel

Oh ₂ : Omni wheel

Oh ₃ : Omni wheel

Oh ₄ : Omni wheel

p ₁ : position vector

p ₂ : position vector

p ₃ : position vector

p ₄ : position vector

R _b : body of revolution

R _bu : upper hemisphere

S10: Obtaining the posture angle of the car body and the first angular velocity

S11: Obtaining the number of revolutions of the omnidirectional wheel

S12: Obtaining the second angular velocity of the rotating body

S13: Calculation of the target value of the angular acceleration of the rotating body, calculation of the target value of the angular acceleration of the vehicle body

S14: Calculation of the third angular acceleration of the operating rotating body

S15: Calculation of the operating torque of the rotating body

S16: Calculation of the operating torque of the roller

t ₁ : tangent vector

t ₂ : tangent vector

t ₃ : tangent vector

t ₄ : tangent vector

:操作量

: amount of operation

w ₁ : angular velocity

w ₂ : angular velocity

w ₃ : angular velocity

w ₄ : angular velocity

w _s : angular velocity vector

X: axis

X ₀ : axis

X _b : axis

Y: axis

Y ₀ : axis

Y _b : axis

Z: axis

Z ₀ : axis

Z _b : axis

θ ₀ : Angular velocity information

:角速度向量

: Angular velocity vector

θ _b : posture angle

:第一角速度

: first angular velocity

θ _2d : target angle

:目標角速度

: target angular velocity

τ ₀ : Operating torque

τ _s : torque

[Fig. 1] is an external view of the omnidirectional moving device according to the first embodiment of the present invention, (A) is a left side view, (B) is a front view from the self-propelled direction, (C) is a rear view, (D) Tie Bottom view.

[FIG. 2] It is an enlarged perspective view of the main part of the drive unit of the omnidirectional moving device shown in FIG. 1. [FIG.

[Fig. 3] is a diagram showing the positional relationship between the rotating body of the omnidirectional moving device shown in Fig. 1 and the omnidirectional wheel of the driving unit shown in Fig. 2, (A) is viewed from the right side of the traveling direction of the omnidirectional moving device (B) is a side view viewed from the left side of the traveling direction of the omnidirectional mobile device.

[ FIG. 4 ] is a block diagram illustrating a posture stabilization system incorporated into the omnidirectional mobile device shown in FIG. 1 .

FIG. 5 is a flowchart illustrating a posture control method of the posture stabilization system shown in FIG. 4 .

[Fig. 6] is a diagram illustrating an algorithm of the posture stabilization system shown in Fig. 4. [Fig.

Fig. 7 is a schematic diagram showing a rotating body and three omnidirectional wheels for explaining the power transmission matrix of the first embodiment.

8 is a schematic diagram showing a rotating body and four omnidirectional wheels for explaining the power transmission matrix of the first embodiment.

FIG. 9 is a schematic diagram showing a rotating body and three omnidirectional wheels of a power transmission matrix for explaining a comparative example.

FIG. 10 is a schematic diagram showing a rotating body and four omnidirectional wheels of a power transmission matrix for explaining a comparative example.

11 is a schematic diagram showing a rotating body and four Mecanum wheels of a power transmission matrix of an omnidirectional moving device according to a second embodiment of the present invention.

(first embodiment)

Hereinafter, the omnidirectional moving apparatus according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 10 . In addition, in the figure, the arrow X direction shown suitably shows the vehicle body front side of an omnidirectional movement apparatus and is a traveling direction, and the arrow Y direction shows the vehicle body width direction. In addition, the arrow Z direction represents the upward direction orthogonal to the arrow X direction and the arrow Y direction.

[Constitution of omnidirectional mobile device]

As shown in FIGS. 1(A) to 1(D) and 2 , the omnidirectional moving device 10 of this embodiment includes a single spherical rotating body 12 and a vehicle body 14 disposed on the rotating body 12 . constitute.

The rotating body 12 is formed by using, for example, a spherical shell formed of stainless steel with a diameter of 300 mm and a thickness of 1.5 mm as the rotating body body and covering the surface of the rotating body body with a material softer than the rotating body body. As the soft material, for example, natural rubber (NR) having a thickness of 5 mm can be practically used.

As shown in FIGS. 1(A) to 1(D) , the vehicle body 14 includes a vehicle body main body 14A and a vehicle body main body 14B which are arranged in a pair in the vehicle body width direction (arrow Y direction). The vehicle body main body 14A and the vehicle body main body 14B respectively extend with the vehicle body front-rear direction (arrow X direction) as the longitudinal direction, and are arranged to be spaced apart in the vehicle body width direction. The vehicle body main body 14A and the vehicle body main body 14B are arranged at positions overlapping the rotating body 12 in plan view. The saddle 18 is attached to the vehicle body 14A and the vehicle body 14B via the saddle frame 16 erected in the upward direction. The saddle frame 16 is formed of tubular material. The saddle 18 is configured for the rider of the omnidirectional moving device 10 to ride.

On the vehicle body front sides of the vehicle body main body 14A and the vehicle body main body 14B, a vehicle body front portion 14C constituting the vehicle body 14 is disposed. The vehicle body front portion 14C is disposed in the vertical direction lower than the upper surfaces of the vehicle body main body 14A and the vehicle body main body 14B and in the vicinity of the center point of the rotating body 12, and is integrally attached to the vehicle body main body 14A and the vehicle body main body. 14B precedes wall 14D. The vehicle body front part 14C is formed by bending a pipe material, and the outline of the vehicle body front part 14C is formed in a C-shape in plan view.

A pair of leg portions 20 are disposed in the vehicle body width direction on the vehicle body front portion 14C. The foot rest 20 is used as a foot rest of the rider. Moreover, the handle bracket 22 facing upward and slightly inclined toward the vehicle body rear side and erected is disposed on the vehicle body front portion 14C, and a handle 24 is attached to the upper end of the handle bracket 22 . The handle 24 is formed in the shape of a rod protruding to the left and right toward the outer side in the vehicle body width direction, and the rider grips the handle 24 to drive the omnidirectional movement device 10 . Here, the handle 24 is formed of a fixed type that does not rotate around a vertical axis (Z axis). Although illustration is omitted, a start switch for starting or stopping the running of the omnidirectional moving device 10 , a brake for controlling the speed of the running of the omnidirectional moving device 10 , and the like are installed around the handle 24 . Moreover, a vehicle lamp, a front turn signal, etc. may be attached to the handle|steering-wheel 24 or the handle|steering-wheel bracket 22 as a security part. In addition, turn signals, brake lights, etc. can be installed on appropriate parts of the rear end of the vehicle body 14 as security parts.

Under the vehicle body 14A and the vehicle body 14B, along the circumference of the rotating body 12, an annular frame portion 26 is disposed. The frame portion 26 is attached to each of the vehicle body main body 14A and the vehicle body main body 14B via frame brackets 28 provided at both ends of the vehicle body in the width direction, respectively.

In addition, auxiliary wheels 32 are disposed on the vehicle body front end portions of the vehicle body main body 14A and the vehicle body main body 14B via the auxiliary wheel brackets 30 . The auxiliary wheel bracket 30 is from the vehicle body 14A The vehicle body 14B is extended to the lower side than the center point of the rotating body 12 , and the auxiliary wheel 32 is rotatably mounted on the lower end of the auxiliary wheel bracket 30 . Similarly, auxiliary wheels 36 are disposed on the rear end portions of the vehicle body 14A and the vehicle body 14B via the auxiliary wheel brackets 34 . The auxiliary wheel bracket 34 extends from the vehicle body 14A and the vehicle body 14B to the lower side than the center point of the rotating body 12 , and the auxiliary wheel 36 is rotatably mounted on the lower end of the auxiliary wheel bracket 34 . Both the auxiliary wheel 32 and the auxiliary wheel 36 are arranged at the position rotated to the lower hemisphere 12A side of the rotating body 12, and are in contact with the surface of the lower hemisphere 12A or spaced (close) to the surface of the lower hemisphere 12A with a fixed gap. By providing the auxiliary wheel 32 and the auxiliary wheel 36 , the rotating body 12 is prevented from falling off from the vehicle body 14 . In this embodiment, the following rollers are used for each of the auxiliary wheel 32 and the auxiliary wheel 36, and here, an omnidirectional wheel is used.

In the omnidirectional moving device 10 shown in FIGS. 1(A) to 1(D) , when viewed from the rider who is sitting on the saddle 18 , it is on the right side in the width direction of the vehicle body and under the vehicle body main body 14A. On the front side of the vehicle body, a first drive unit 40 covered by an abbreviated exterior cover is mounted. A second drive unit 42 is mounted on the rear side of the vehicle body below the vehicle body main body 14A. On the other hand, on the left side in the vehicle body width direction, the third drive unit 44 is attached to the vehicle body front side under the vehicle body main body 14B, and the fourth drive unit 46 is attached to the vehicle body rear side of the vehicle body main body 14B.

Here, in the present embodiment, a total of four drive units including the first drive unit 40 to the fourth drive unit 46 are arranged, but a total of three drive units including the first drive unit 40 to the third drive unit 44 are also arranged. The case of the drive unit. In the case of disposing three drive units, the third drive unit 44 is disposed in the middle portion of the vehicle body main body 14B in the front-rear direction of the vehicle body.

[The composition of the omnidirectional wheel]

As shown in FIG. 2 , the first driving unit 40 includes an omnidirectional wheel 401 as a first omnidirectional wheel, a reducer 441, and an alternating current (AC) servo motor 442(1) as a first driving device, for example. The omnidirectional wheel 401 is connected to the reduction gear 441 via the shaft (rotation shaft) 430 .

The omnidirectional wheel 401 rotates around the rotation axis of the shaft 430 along with the rotation of the shaft 430 , and is provided with a first wheel set 410 and a second wheel set 420 which form two rows in the axial direction of the rotation shaft. On the circumference of the wheel body 411 of the first wheel set 410 , a plurality of barrel-shaped rollers (rollers) 412 to 414 arranged at equal intervals are rotatably installed around the rotating shaft 415 . Here, the term "equidistant interval" means that the three rollers 412 to 414 are mounted at an interval of 120 degrees. The second wheel set 420 is disposed on one side of the first wheel set 410 , and is on the opposite side to the speed reducer 441 side. On the circumference of the wheel body 421 of the second wheel set 420 , similarly, a plurality of barrel-shaped rollers 422 to 424 arranged at equal intervals are rotatably installed around the rotating shaft 425 . The arrangement interval of the rollers 422 to 424 of the second wheel set 420 is shifted from the arrangement interval of the rollers 412 to 414 of the first wheel set 410 by a half pitch, specifically, 60 degrees. With this configuration, the omnidirectional wheel 401 rotates in the circumferential direction A to transmit power to the rotating body 12, and the rotating body 12 can be rolled in the direction (here, the orthogonal direction) B that intersects the circumferential direction A. .

Here, as shown in FIG. 2 , if the rotation axis of the shaft 430 of the omnidirectional wheel 401 is a and the rotation axis 415 of the rollers 412 to 414 is b, the rotation axis b is at a skewed position with respect to the rotation axis a Orthogonal.

The configuration of each of the second driving unit 42 , the third driving unit 44 , and the fourth driving unit 46 is the same as that of the first driving unit 40 . That is, as shown in FIG. 2 , the second driving unit 42 includes the omnidirectional wheel 402 as the first omnidirectional wheel, the speed reducer 441 and the first omnidirectional wheel 402 . It is constituted by the AC servo motor 442(2) of the drive device. The third driving unit 44 includes an omnidirectional wheel 403 serving as a second omnidirectional wheel, a speed reducer 441, and an AC servo motor 442(3) serving as a second driving device. The fourth driving unit 46 includes an omnidirectional wheel 404 serving as a second omnidirectional wheel, a reducer 441, and an AC servo motor 442(4) serving as a second driving device.

In the omnidirectional moving device 10 of this embodiment, it can move in the front-rear direction and the left-right direction, and can rotate. Of course, it is possible to realize the movement in the diagonal direction, the movement in the front and rear directions, the left-right direction or the diagonal direction accompanied by the rotation. Moreover, in the omnidirectional movement apparatus 10, it is set as the structure which can obtain the maximum output in the advancing direction.

[Configuration of omnidirectional wheels]

In general, a plurality of omnidirectional gear trains are arranged at equal intervals around the axis of the vertical axis (Z axis) (see FIGS. 9 and 10 ). On the other hand, as shown in FIG. 3(A) , in the omnidirectional moving device 10, the omnidirectional wheels 401 and 402 are located around the shaft 121 on the one end side of the rotating shaft 120 that makes the rotating body 12 roll and move in the straight direction, It is arranged in contact with the surface of the upper hemisphere 12B of the rotating body 12 . Here, the rotating body 12 does not have a fixed rotating shaft, and the rotating shaft 120 is the effective rotation center of the rotating body 12 when the rotating body 12 rolls in the straight direction. Since the rotating body 12 rolls in the straight running direction (arrow X direction), the axial direction of the rotating shaft 120 coincides with the vehicle body width direction (arrow Y direction). In addition, the shaft circumference 121 on one end side of the rotating shaft 120 is on the right side in the vehicle body width direction when viewed from the rider, and corresponds to the latitude when the rotating body 12 is regarded as a celestial body.

As shown in FIG. 3(B) , the omnidirectional wheels 403 and 404 are arranged around the shaft 122 on the other end side of the rotating shaft 120 in contact with the surface of the upper hemisphere 12B of the rotating body 12 . The shaft circumference 122 on the other end side of the rotating shaft 120 is in the width direction of the vehicle body when viewed from the rider The left side corresponds to the latitude when the rotating body 12 is regarded as a celestial body. The arrangement positions of the omnidirectional wheels 403 and 404 are the rotating bodies opposite to the specific positions 403P and 404P of the surface of the hemisphere 12A under the rotating body 12 around the shaft 121 on the one end side of the rotating shaft 120 shown in FIG. 3(A) 12 is centrally symmetric.

Originally, the omnidirectional wheel 403 is arranged around the shaft periphery 121 in the lower hemisphere 12A, and the omnidirectional wheel 404 is arranged around the shaft periphery 121 in the lower hemisphere 12A. The specific position 403P is the position where the hemisphere 12A below the shaft circumference 121 is suitable for disposing the omnidirectional wheel 403 when the maximum output in the travel direction is obtained. Also, similarly, the specific position 404P is the position where the lower hemisphere 12A around the shaft 121 is suitable for disposing the omnidirectional wheel 404 . In the present embodiment, it is difficult to install the third drive unit 44 and the fourth drive unit 46 on the lower hemisphere 12A side. Therefore, the omnidirectional wheel 403 and the 404.

Furthermore, when the first driving unit 40 to the third driving unit 44 are provided, omnidirectional wheels 401 and 402 are arranged around the shaft 121 on one end side of the rotating shaft 120 in contact with the upper hemisphere 12B of the rotating body 12 . (Refer to FIG. 3(A)). And about the omnidirectional wheel 403, the omnidirectional wheel 403 is arrange|positioned in contact with the upper hemisphere 12B of the rotating body 12 in the shaft periphery 122 of the other end side of the rotating shaft 120 (refer FIG.3(B)). In this case, when viewed from the axial direction of the rotating shaft 120 , the omnidirectional wheel 403 is disposed in the middle portion of the omnidirectional wheel 403 and the omnidirectional wheel 404 shown in FIG. 3(B) .

Returning to FIGS. 1(A) to 1(D) , a sensor unit 50 is disposed on the vehicle body 14 of the omnidirectional mobile device 10 and under the saddle 18 . Moreover, the control unit 60 is arrange|positioned at the vehicle body rear side on the vehicle body 14. As shown in FIG. The sensor unit 50 and the control unit 60 construct the posture stabilization system 600 shown in FIG. 4 , the posture stabilization system 600 maintains the posture of the vehicle body 14 stably, and, The vehicle body 14 is driven while the posture of the vehicle body 14 is kept stable.

[Composition of Posture Stabilization System]

As shown in FIG. 4 , the posture stabilization system 600 of the omnidirectional mobile device 10 includes a sensor unit 50 and a control unit 60 .

The sensor unit 50 includes a posture angle detection unit 501 . The posture angle detection unit 501 uses, for example, an Inertial Measurement Unit (IMU). In the posture angle detection unit 501, the posture angle of the vehicle body 14 and the angular velocity which is the first angular velocity caused by the change of the posture angle of the vehicle body 14 about each axis are detected. The posture angle is the posture angle information, and the angular velocity is output from the posture angle detecting unit 501 as the first angular velocity information.

The control unit 60 includes an operation display unit 601, an arithmetic processing unit (controller) 602, a digital-to-analog converter (D/A converter) 603, an angular velocity detection unit 604, a servo amplifier 605(1) to a servo amplifier 605(4), and power supply 606 . Here, the AC servo motor 422 ( 1 ) of the first drive unit 40 to the AC servo motor 422 ( 4 ) of the fourth drive unit 46 are incorporated into the posture stabilization system 600 as the rotation number detection unit 607 . Each of the AC servo motor 422( 1 ) to the AC servo motor 422( 4 ) is provided with, for example, an encoder (not shown), and the encoder is used to detect the rotational speed of the omnidirectional wheel 401 to the omnidirectional wheel 404 . The rotation number detection unit 607 includes the AC servo motor 422( 1 ) to the AC servo motor 422( 4 ) and the servo amplifier 605( 1 ) to the servo amplifier 605( 4 ).

The operation display unit 601 performs the operation of starting and ending the posture stabilization system 600 , and the display of the operation state of the posture stabilization system 600 .

The arithmetic processing unit 602 uses, for example, an assembly based on the mini-ITX standard. personal computer. In the arithmetic processing unit 602, at least the following processes (A) to (D) are executed.

(A) The posture angle detection unit 501 acquires posture angle information obtained by detecting the posture angle of the vehicle body 14 and first angular velocity information obtained by detecting the angular velocity caused by the change of the posture angle.

(B) The rotation number detection unit 607 detects the rotation numbers of the omnidirectional wheels 401 to 404 . The rotation number detection unit 607 acquires the detection result of the rotation number, and based on the detection result, calculates an angular velocity that is the second angular velocity at which the rotating body 12 rolls. The second angular velocity is acquired as the second angular velocity information.

(C) Based on the posture angle information, the first angular velocity information, and the second angular velocity information, the roller operating torque of the omnidirectional wheel 401 to the omnidirectional wheel 404 for maintaining a stable posture of the vehicle body 14 is calculated.

(D) Actuating the first driving unit 40 to the fourth driving unit 46 according to the roller operation torque information.

Furthermore, in the arithmetic processing unit 602, in the process (D), the following processes (a) to (d) are executed.

(a) Based on the posture angle information, the first angular velocity information, and the second angular velocity information, calculate the target value of the angular acceleration of the rolling body 12 and the target of the angular acceleration of the car body 14 to keep the posture of the vehicle body 14 stable. value.

(b) Calculating the angular acceleration as the third angular acceleration of the rotating body 12 that matches the target value.

(c) Based on the third angular acceleration information, the rotating body operating torque of the operating rotating body 12 is calculated.

(d) Based on the operating torque information of the rotating body, the roller operating torque for operating the omnidirectional wheel 401 to the omnidirectional wheel 404 is calculated.

The wheel operation torque information (digital information) output from the arithmetic processing unit 602 is output to the digital-to-analog converter 603 as a torque command. In the digital-to-analog converter 603, the torque command is converted into analog information, and the torque command converted into the analog information is output from the digital-to-analog converter 603 to each of the servo amplifiers 605(1) to 605(4). Also, from the arithmetic processing unit 602, the sequence command is output to the servo amplifiers 605(1) to 605(4). The servo amplifiers 605(1) to 605(4) control each of the AC servomotors 422(1) to 422(4) according to the torque command.

On the other hand, when the rotational speed of each of the AC servomotor 422(1) to the AC servomotor 422(4) is detected in the rotational speed detection unit 607, the detection result is passed through the servo amplifier 605(1) to the servo amplifier. Each of 605(4) is output to the angular velocity detection unit 604. Here, the angular velocity detection unit 604 is constituted by a pulse counter, counts the number of revolutions per unit time, and generates angular velocity information. The angular velocity information is output to the arithmetic processing unit 602 .

Furthermore, the posture stabilization system 600 is equipped with a power supply 606 which is detachable. The power source 606 uses a secondary battery, specifically a storage battery. In addition, the power source 606 includes a secondary battery for supplying power to the control system and a secondary battery for supplying power to the power system. To describe in detail, the control system includes a posture angle detection unit 501 , an operation display unit 601 , an arithmetic processing unit 602 , a digital-to-analog converter 603 , and an angular velocity detection unit 604 . On the other hand, the power system includes a servo amplifier 605( 1 ) to a servo amplifier 605( 4 ) and an AC servo motor 422( 1 ) to an AC servo motor 422( 4 ).

[Posture control method of omnidirectional mobile device]

The posture control method of the omnidirectional mobile device 10 is as follows. Here, FIG. 5 is a flowchart illustrating a posture control method. FIG. 6 is an algorithm for implementing the gesture control method. In the description of the posture control method, FIG. 1 to FIG. 4 are appropriately referred to.

1. Posture control method of omnidirectional mobile device with 3 omnidirectional wheels

(1) Obtaining the posture angle of the vehicle body and the first angular velocity

First, the posture angle detection unit 501 shown in FIGS. 4 and 6 is used to detect the posture angle θ _b of the vehicle body 14 and the first angular velocity (first derivative of θ _b ) of the vehicle body 14 accompanying the change in the posture angle. As shown in FIGS. 4 to 6 , the arithmetic processing unit 602 acquires the posture angle information and the first angular velocity information from the posture angle detection unit 501 ( S10 ).

(2) Obtaining the number of revolutions of the omnidirectional wheel

Next, the rotation numbers of the omnidirectional wheels 401 to 403 are detected using the AC servo motors 422 ( 1 ) to 422 ( 3 ) of the rotation number detection unit 607 shown in FIG. 4 . As shown in FIGS. 4 and 6 , the detected rotational speed is output to the angular velocity detection unit 604 via the servo amplifiers 605 ( 1 ) to 605 ( 3 ). In the angular velocity detection unit 604 , the rotation numbers of the omnidirectional wheels 401 to 403 are acquired as the angular velocity information θ ₀ . As shown in FIG. 5 , the arithmetic processing unit 602 acquires the angular velocity information θ ₀ from the angular velocity detection unit 604 ( S11 ).

(3) Obtaining the second angular velocity of the rotating body

Here, in FIG. 7 , the three omnidirectional wheels 401 to 403 are shown relative to the omnidirectional moving device ₁₀ by a three-dimensional coordinate system including the _X0 axis, the Y0 axis, and the _Z0 axis, which is set as the origin _O0 . A schematic diagram of the arrangement position of the rotating body 12 .

The arrangement position and driving force of each of the omnidirectional wheels 401 to 403 relative to the rotating body 12 are determined by the position vector pk of the contact point between the rotating body 12 and each of the omnidirectional wheels 401 to 403 and the tangent vector _t of the contact point _k means. Let n be the number of omnidirectional wheels, and k is an integer from 1 to n. The position vector p ₁ is a position vector from the center O _b of the rotating body 12 to the contact point between the rotating body 12 and the omnidirectional wheel 401 . Similarly, the position vector p ₂ is the position vector from the center _Ob to the contact point between the rotating body 12 and the omnidirectional wheel 402 , and the position vector p ₃ is the position vector from the center _Ob to the contact point between the rotating body 12 and the omnidirectional wheel 403 . position vector.

The tangent vector t ₁ is the unit tangent vector of the contact point between the rotating body 12 and the omnidirectional wheel 401 . Similarly, the tangent vector t ₂ is the unit tangent vector of the junction of the rotating body 12 and the omnidirectional wheel 402 , and the tangent vector _t3 is the unit tangent vector of the junction of the rotating body 12 and the omnidirectional wheel 403 .

Assuming that the angular velocity of the rotating body 12 around the axis in the front-rear direction of the vehicle body is ω _x , the angular velocity of the rotating body 12 around the axis in the width direction of the vehicle body is ω _y , and the angular velocity of the rotating body 12 around the axis in the vertical direction of the vehicle body is ω y . As ω _z , the angular velocity vector ω _s of the rotating body 12 is represented by the following equation (1) (see FIG. 6 ).

[Number 1]

[Number 2]

、

、

，則全向輪401~全向輪403之角速度彙總而成之角速度向量

係由下述式(2)表示(參照圖6)。 If the angular velocity of each of the omnidirectional wheels 401 to 403 is set as

,

,

, then the angular velocity vector obtained by summing the angular velocities of the omnidirectional wheel 401 to the omnidirectional wheel 403

It is represented by following formula (2) (refer FIG. 6).

The power transmission matrix T is represented by the following formula (3) using position vectors p ₁ , p ₂ , p ₃ , tangent vectors t ₁ , t ₂ , t ₃ and the radius r ₀ of the omnidirectional wheels 401 to 403 .

[Number 3]

[Number 4]

與角速度向量 ω _s 之關係由下述式(4)表示。 According to the power transmission matrix T shown in equation (3), the angular velocity vector

The relationship with the angular velocity vector ω _s is represented by the following formula (4).

In addition, when the generalized inverse matrix of the power transmission matrix T is used in the equation (4), it is represented by the following equation (5) (see FIG. 6 ).

[Number 5]

According to the above formula (5), the second angular velocity of the rotating body 12 is calculated from the angular velocity of the omnidirectional wheel 401 to the omnidirectional wheel 403 . As shown in FIG. 6 , the second angular velocity is calculated using the arithmetic processing unit 602 . As shown in FIG. 5 , the arithmetic processing unit 602 acquires the second angular velocity as the second angular velocity information ( S12 ).

(4) Calculation of target value

In order to maintain the posture of the vehicle body 14 on the rotating body 12 stably, it is necessary to correct the posture angle of the vehicle body 14 and the first angular velocity of the vehicle body 14 based on the posture angle of the vehicle body 14 and the target value of the angular acceleration when the rotating body 12 rolls, and The target value of the angular acceleration when the vehicle body 14 rotates. Assuming that the target value is u, the target value u is calculated by the following formula (6) (see FIG. 6 ).

[Number 6]

u = K _d x _d (6)

As shown in the following formula (7), the target value u is the target angular acceleration u ₁ of the rotation of the vehicle body 14 , the target angular acceleration u ₂ of the rotating body 12 around the axis in the front-rear direction of the vehicle body, and the width of the rotating body 12 around the vehicle body The vector obtained by summing the target angular acceleration u ₃ of the direction axis.

[Number 7]

If the roll angle (roll angle) is γ, the pitch angle (pitch angle) is β, and the yaw angle (yaw angle) is α, the x _d of the formula (6) is given by the following formula (8) express.

[Number 8]

In addition, K _d is a feedback gain matrix, which is determined based on the mass of the vehicle body 14 and the rotating body 12 , the position of the center of gravity, the moment of inertia, and the like.

As shown in FIGS. 5 and 6 , the target value u, that is, the target value of the angular acceleration of the rolling body 12 and the target value of the angular acceleration of the vehicle body 14 are calculated using the arithmetic processing unit 602 ( S13 ).

(5) Calculation of the operating angular acceleration of the rotating body

為目標角速度。 When stabilizing the posture of the vehicle body 14 on the rotating body 12, it is necessary to reduce the influence of disturbance. Therefore, a PID control (Proportional Integral Differential Controller) is added to the target value u, and a new manipulated variable of angular acceleration is calculated (see FIG. 6 ). Here, θ _2d is the target angle,

is the target angular velocity.

[Number 9]

，則操作量

由下述式(9)表示。 If the operation amount is set to

, then the amount of operation

It is represented by the following formula (9).

ω _xd is the target angular velocity of the rotating body 12 around the axis in the front-rear direction of the vehicle body, and the target angular velocity ω _xd is represented by the following formula (10).

[Number 10]

θ _xd is a target angle of the rotating body 12 around the axis in the front-rear direction of the vehicle body, and the target angle θ _xd is represented by the following formula (11).

[Number 11]

θx _is the angle of the revolving body 12 around the axis of the vehicle body front-rear direction, and the angle θx _is represented _by the following formula (12) using the angular velocity ωx of the revolving body 12 around the vehicle body front-rear direction axis.

[Number 12]

ω _yd is the target angular velocity of the rotating body 12 about the axis in the width direction of the vehicle body, and the target angular velocity ω _yd is represented by the following formula (13).

[Number 13]

θ _yd is a target angle of the rotating body 12 around the axis in the width direction of the vehicle body, and the target angle θ _yd is represented by the following formula (14).

[Number 14]

θ _y is the angle of the rotating body 12 about the axis of the vehicle body width direction, and the angle θ _y is represented by the following formula (15) using the angular velocity ω _y of the rotating body 12 about the axis of the vehicle body width direction.

[Number 15]

As shown in FIGS. 5 and 6 , the operation angular acceleration of the rotating body 12 is calculated as the third angular acceleration using the arithmetic processing unit 602 ( S14 ).

(6) Calculation of the operating torque of the rotating body

[Number 16]

，使用下述式(16)計算出(參照圖6)。 The torque τ _s of the rotating body 12 is based on the operation amount of the rotational angular acceleration of the rotating body 12 and the vehicle body 14

, calculated using the following formula (16) (see FIG. 6 ).

Here, the sub-matrix of the inertia matrix is represented by the following equation (17), equation (18), and equation (19).

[Number 17]

[Number 18]

[Number 19]

In addition, the gravitational term is represented by the following formula (20). The following formula (21) is a matrix representing the replacement of the input shaft.

[Number 20]

[Number 21]

In the above equations (17) and (18), Is is the moment of _inertia of the rotating body 12 around the contact point between the rotating body 12 and the ground. The inertia moment I _s is represented by the following formula (22).

[Number 22]

Here, I _bxx , I _bxy , I _bxz , I _byy , I _byz , and I _bzz are the inertia moment and inertia product of the vehicle body 14 . m _b is the mass of the body 14 . s _z is the distance from the center O _b of the rotating body 12 to the center of gravity of the vehicle body 14 . _rs is the radius of the rotating body 12 . g is the gravitational acceleration constant. m _s is the mass of the rotating body 12 .

[Number 23]

係繞旋轉體12中心之慣性力矩。

It is the moment of inertia around the center of the rotating body 12 .

As shown in FIGS. 5 and 6 , the operating torque of the rotating body 12 is calculated using the arithmetic processing unit 602 ( S15 ).

(7) Calculation of operating torque of omnidirectional wheel

In order for the rotating body 12 to generate torque, the operating torque τ _o to be generated by each of the omnidirectional wheels 401 to 403 is calculated by the following formula (23).

[Number 24]

係全向輪401~403之慣性力矩。

It is the inertia moment of the omnidirectional wheels 401~403.

As shown in FIGS. 5 and 6 , the operating torque τ _o of the omnidirectional wheels 401 to 403 is calculated using the arithmetic processing unit 602 ( S16 ). The operation torque τ _o is transmitted to the omni-directional wheels 401 to 403 via the AC servomotors 422(1) to 422(3) as the roller operation torques.

If the sequence of the posture control method described above is executed, in the omnidirectional moving device 10 , the posture of the vehicle body 14 can be kept stable on the rotating body 12 . Furthermore, the omnidirectional movement device 10 can be driven while the posture of the vehicle body 14 is kept stable.

2. Posture control method of omnidirectional mobile device with 4 omnidirectional wheels

The posture control method of the omnidirectional mobile device 10 with four omnidirectional wheels 401 to 404 is basically the same as that of the omnidirectional mobile device 10 with three omnidirectional wheels 401 to 403 . The description of the posture control method here uses Fig. 4 to Fig. 6, and the repetition is omitted as much as possible. description and only a brief description of the different sequences.

(1) Obtaining the posture angle of the vehicle body and the first angular velocity

Using the posture angle detection unit 501 shown in FIGS. 4 and 6 , the posture angle of the vehicle body 14 and the first angular velocity of the vehicle body 14 are detected. As shown in FIGS. 4 to 6 , the arithmetic processing unit 602 acquires the posture angle information and the first angular velocity information from the posture angle detection unit 501 ( S10 ).

(2) Obtaining the number of revolutions of the omnidirectional wheel

Next, the rotation numbers of the omnidirectional wheels 401 to 404 are detected using the AC servo motors 422 ( 1 ) to 422 ( 4 ) of the rotation number detection unit 607 shown in FIG. 4 . As shown in FIGS. 4 and 6 , the detected number of revolutions is output to the angular velocity detection unit 604 via the servo amplifiers 605 ( 1 ) to 605 ( 4 ). As shown in FIG. 5 , the arithmetic processing unit 602 acquires the angular velocity information θ ₀ from the angular velocity detection unit 604 ( S11 ).

(3) Obtaining the second angular velocity of the rotating body

Here, FIG. 8 is a schematic diagram showing the arrangement positions of the four omnidirectional wheels 401 to 404 of the omnidirectional moving device 10 with respect to the rotating body 12 using a three-dimensional coordinate system.

The arrangement position and driving force of each of the omnidirectional wheels 401 to 404 relative to the rotating body 12 are determined by the position vector pk of the contact point between the rotating body 12 and each of the omnidirectional wheels 401 to 404 and the tangent vector _t of the contact point _k means. The position vector p ₁ is a position vector from the center O _b of the rotating body 12 to the contact point between the rotating body 12 and the omnidirectional wheel 401 . Similarly, the position vector p ₂ is the position vector from the center _Ob to the contact point between the rotating body 12 and the omnidirectional wheel 402 , and the position vector p ₃ is the position vector from the center _Ob to the contact point between the rotating body 12 and the omnidirectional wheel 403 . position vector. Moreover, the position vector p ₄ is the position vector from the center _Ob to the contact point of the rotating body 12 and the omnidirectional wheel 404 .

The tangent vector t ₁ is the unit tangent vector of the contact point between the rotating body 12 and the omnidirectional wheel 401 . Similarly, the tangent vector t ₂ is the unit tangent vector of the contact point between the rotating body 12 and the omnidirectional wheel 402 , and the tangent vector _t3 is the unit tangent vector of the contact point of the rotating body 12 and the omnidirectional wheel 403 . Moreover, the tangent vector t ₄ is the unit tangent vector of the contact point between the rotating body 12 and the omnidirectional wheel 404

Assuming that the angular velocity of the rotating body 12 around the axis in the front-rear direction of the vehicle body is ω _x , the angular velocity of the rotating body 12 around the axis in the width direction of the vehicle body is ω _y , and the angular velocity of the rotating body 12 around the axis in the vertical direction of the vehicle body is ω y . As ω _z , the angular velocity vector ω _s of the rotating body 12 is represented by the aforementioned formula (1).

[Number 25]

、

、

、

，則全向輪401~全向輪404之角速度彙總而成之角速度向量

由下述式(24)表示(參照圖6)。 If the angular velocity of each of the omnidirectional wheels 401 to 404 is set as

,

,

,

, then the angular velocity vector obtained by summing the angular velocities of the omnidirectional wheel 401 to the omnidirectional wheel 404

It is represented by following formula (24) (refer FIG. 6).

_The power _{transmission matrix T is determined by} the following _{formula (} 25) said.

[Number 26]

Based on the aforementioned formula (4), if the generalized inverse matrix of the power transmission matrix T shown in formula (25) is used, the aforementioned formula (5) can be obtained, and the rotating body can be calculated according to the angular velocity of the omnidirectional wheel 401 to the omnidirectional wheel 404 The second angular velocity of 12. As shown in FIG. 6 , the second angular velocity uses an arithmetic processing unit 602 After calculation, as shown in FIG. 5 , the arithmetic processing unit 602 acquires the second angular velocity information ( S12 ).

(4) Calculation of target value

Based on the posture angle of the vehicle body 14 and the first angular velocity of the vehicle body 14 , the target value of the angular acceleration during the rolling of the rotating body 12 and the target value of the angular acceleration during the turning of the vehicle body 14 are calculated. The target value is set to u. As shown in FIGS. 5 and 6 , the target value u is calculated by the above-mentioned formula (6) using the arithmetic processing unit 602 ( S13 ).

(5) Calculation of the operating angular acceleration of the rotating body

PID control is added to the target value u, and a new manipulated variable of angular acceleration is calculated (see FIG. 6 ). As shown in FIGS. 5 and 6 , the operation angular acceleration of the rotating body 12 is calculated as the third angular acceleration using the arithmetic processing unit 602 ( S14 ).

(6) Calculation of the operating torque of the rotating body

The torque τ _s of the rotating body 12 is calculated using the aforementioned formula (16) (see FIG. 6 ). Here, the sub-matrix of the inertia matrix is represented by the aforementioned equations (17), (18) and (19), and the gravity term is represented by the aforementioned equations (20) and (21).

As shown in FIGS. 5 and 6 , the operating torque of the rotating body 12 is calculated using the arithmetic processing unit 602 ( S15 ).

(7) Calculation of operating torque of omnidirectional wheel

The operating torque τ _o to be generated by each of the omnidirectional wheels 401 to 404 is calculated by the aforementioned formula (23). As shown in FIGS. 5 and 6 , the operation torque τ _o is calculated using the arithmetic processing unit 602 ( S16 ). The operating torque τ _o is transmitted to the omnidirectional wheels 401 to 404 as the roller operating torque via the AC servomotors 422( 1 ) to 422(4).

If the sequence of the posture control method described above is performed, the movement in the omnidirectional In the device 10 , the posture of the vehicle body 14 can be kept stable on the rotating body 12 . Furthermore, the omnidirectional movement device 10 can be driven while the posture of the vehicle body 14 is kept stable.

(Function and effect of this embodiment)

As shown in FIGS. 2 , 3(A) and 3(B), the omnidirectional moving device 10 shown in FIGS. 1(A) to 1(D) includes a spherical rotating body 12 and a rotating body as 12. Omnidirectional wheels 401 and 402 or omnidirectional wheels 403 and 404 of the rollers arranged in surface contact. The omnidirectional wheels 401 to 404 rotate along the circumferential direction A to transmit power to the rotating body 12 , and can make the rotating body 12 roll in the direction B that intersects the circumferential direction A.

Here, the omnidirectional wheels 401 and 402 are arranged on the surface of the rotating body 12 around the axis 121 of the rotating shaft 120 that makes the rotating body 12 roll and move in the straight direction. In addition, a plurality of omnidirectional wheels 403 and 404 are arranged on the surface of the rotating body 12 around the axis 122 of the rotating shaft 120 which makes the rotating body 12 roll and move in the straight direction.

Therefore, when moving in the straight direction, the power is efficiently transmitted from the omnidirectional wheels 401 and 402 or the omnidirectional wheels 403 and 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.

Furthermore, as shown in FIGS. 2 , 3(A) and 3(B), the omnidirectional moving device 10 shown in FIGS. 1(A) to 1(D) includes a spherical rotating body 12 and a The surface-contacting omnidirectional wheels 401 and 402 of the first omnidirectional wheel and the omnidirectional wheels 403 and 404 serving as the second omnidirectional wheel are arranged in contact with the surface of the rotating body 12 . All of the omnidirectional wheels 401 to 404 rotate along the circumferential direction A to transmit power to the rotating body 12 , so that the rotating body 12 can roll in the direction B that intersects the circumferential direction A.

Here, as shown in FIG. 3(A), the omnidirectional wheels 401 and 402 are connected to the rotating body A plurality of shafts 121 on one end side of the rotating shaft 120 that rolls and moves in the straight direction are arranged on the surface of the upper hemisphere 12B of the rotating body 12 . On the other hand, the omnidirectional wheels 403 and 404 are arranged at the center of the rotating body 12 opposite to the specific positions 403P and 404P of the surface of the lower hemisphere 12A of the rotating body 12 at the shaft periphery 121 on one end side of the rotating shaft 120 . Surfaces in symmetrical positions. In addition, the omnidirectional wheels 403 and 404 are arranged around the shaft periphery 122 on the other end side of the rotating shaft 120 , and are arranged on the surface of the upper hemisphere 12B of the rotating body 12 .

In FIG. 9 , the arrangement relationship between the rotating body R _b of the comparative example and the three omnidirectional wheels Oh ₁ to Oh ₃ is shown. The parameters related to the disposition of the omnidirectional wheels Oh ₁ to Oh ₃ of the driving rotating body R _b are the position vector p _k and the unit tangent vector t _k . Here, the position vector pk is the position vector of the contact point of the _k -th omnidirectional wheel _Ohk with the center O _b of the rotating body R _b as the starting point and the rotating body R _b . k is an integer of 1 or more. The unit tangent vector t _k is the unit tangent vector of the k-th omnidirectional wheel Oh _k at the joint.

Regarding the position vector p _k when the three omnidirectional wheels Oh ₁ to Oh ₃ are equally distributed in the hemisphere R _bu above the rotating body R _b around the vertical axis Z _b , the position vector p _k is set relative to the vertical axis Z _b as At a tilt of 45 degrees, the position vector p _k is represented by the following equation (26).

[Number 27]

Here, _rs is the radius of the rotating body R _b .

In addition, the unit tangent vector t _k is represented by the following formula (27).

[Number 28]

The relationship between the angular velocity of the rotating body R _b and the angular velocity of the omnidirectional wheels Oh ₁ to Oh ₃ is represented by the following formula (28).

[Number 29]

Here, r ₀ is the radius of the omnidirectional wheel Oh ₁ to Oh ₃ .

[Number 30]

係全向輪Oh₁~Oh₃之角速度彙總而成之向量。 Also, ω _s is the angular velocity vector of the rotating body R _b ,

It is a vector obtained by summing up the angular velocities of the omnidirectional wheels Oh ₁ ~Oh ₃ .

T-series power transfer matrix.

In the comparative example shown in FIG. 9 , the absolute values of the matrix elements in the third row of the power transmission matrix T of equation (28) are equal, so the output of the rotary axis (vertical axis Z _b ) becomes the maximum. The output in the direction of travel is halved.

With respect to the above-described comparative example, FIG. 7 shows the arrangement relationship between the rotating body 12 and the three omnidirectional wheels 401 to 403 in the present embodiment. Two omnidirectional wheels 401 and 402 are arranged on the upper hemisphere 12B around the shaft 121 on one end side of the rotating shaft 120 (see FIG. 3(A) ), and on the upper hemisphere 122 around the shaft on the other end side of the rotating shaft 120 12B, one omnidirectional wheel 403 is arranged (see FIG. 3(B) ).

Regarding the position vector pk at this time, when the position _{vector pk} is set at an inclination of 45 degrees with respect to the rotation axis 120, the position _{vector pk} is represented by the following formula (29).

[Number 31]

In addition, the unit tangent vector t _k is represented by the following formula (30).

[Number 32]

Furthermore, the relationship between the angular velocity of the rotating body 12 and the angular velocity of the omnidirectional wheels 401 to 403 is represented by the following formula (31).

[Number 33]

In the present embodiment shown in FIG. 7 , the absolute values of the matrix elements in the second row of the power transmission matrix T of the aforementioned formula (31) are equal, so the output of the rotation axis 120 (horizontal axis Y _b ) becomes the maximum. That is, the output in the traveling direction becomes the maximum. In this way, when moving in the straight direction, power is efficiently transmitted from each of the omni-directional wheels 401 to 403 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.

Moreover, in FIG. 10, the arrangement|positioning relationship of the rotating body _Rb of a comparative example and _four omnidirectional wheels Oh1 _- Oh4 is shown. Regarding the position vector p _k when the four omnidirectional wheels Oh ₁ to Oh ₄ are equally distributed on the hemisphere R _bu above the rotating body R _b around the vertical axis Z _b , the position vector p _k is set to 45 relative to the vertical axis Z _b In the case of an inclination of 10 degrees, the position vector p _k is represented by the following formula (32). The unit tangent vector t _k is represented by the following formula (33).

[Number 34]

[Number 35]

The relationship between the angular velocity of the rotating body R _b and the angular velocity of the omnidirectional wheels Oh ₁ to Oh ₄ is represented by the following formula (34).

[Number 36]

In the comparative example shown in Fig. 10, the absolute values of the matrix elements in each row of the first row to the third row of the power transmission matrix of the above formula (34) will be equal, therefore, the rotation axis in the left and right directions (horizontal The output of each of the axis X _b ), the rotational axis in the forward direction (horizontal axis Y _b ), and the rotational axis (vertical axis Z _b ) becomes the largest.

With respect to the above-mentioned comparative example, FIG. 8 shows the arrangement relationship between the rotating body 12 and the four omnidirectional wheels 401 to 404 in the present embodiment. Two omnidirectional wheels 401 and 402 are arranged on the upper hemisphere 12B around the shaft 121 on one end side of the rotating shaft 120 (see FIG. 3(A) ), and on the upper hemisphere 122 around the shaft on the other end side of the rotating shaft 120 12B, two omnidirectional wheels 403 and 404 are arranged (see FIG. 3(B) ).

Regarding the position vector pk at this time, when the position _{vector pk} is set at an inclination of 45 degrees with respect to the rotation axis 120, the position _{vector pk} is represented by the following formula (35).

[Number 37]

In addition, the unit tangent vector t _k is represented by the following formula (36).

[Number 38]

Furthermore, the relationship between the angular velocity of the rotating body 12 and the angular velocity of the omnidirectional wheels 401 to 404 is represented by the following formula (37).

[Number 39]

In the present embodiment shown in FIG. 8, the absolute values of the matrix elements in each row of the first row to the third row of the power transmission matrix T of the aforementioned formula (37) are equal, so not only the rotation axis 120 (horizontal axis) The output of Y _b ) becomes the largest, and the output of the rotation axis (horizontal axis X _b ) and the rotary axis ( (vertical axis Z _b ) in the left and right directions also become the largest. In this way, when moving in the straight direction, the power is fully automatic Each of the wheels 401 to 404 is efficiently transmitted to the rotating body 12, and the rotating body 12 can be rolled in the straight running direction with the maximum output.

Furthermore, in the omnidirectional moving device 10 of the present embodiment, as shown in FIG. 2 , the roller trains are provided as omnidirectional wheels 401 to 404 . In the omnidirectional wheels 401-404, as shown in Fig. 3(A) and Fig. As shown in 3(B), the rotating body 12 can be rolled in the straight running direction with the maximum output, and the rotating body 12 can also be rolled in a direction other than the straight running direction.

Furthermore, in the omnidirectional moving device 10 of the present embodiment, as shown in FIGS. 7 and 8 , two omnidirectional wheels 401 and 402 are arranged as the first rollers, and one omnidirectional wheel 403 or two omnidirectional wheels are arranged. The directional wheels 403 and 404 serve as the second rollers. Therefore, according to the minimum number of rollers, the number of parts and the weight are set to the minimum, so that the rotating body 12 can be rolled in all directions.

Furthermore, according to the omnidirectional moving device 10 of the present embodiment, among the matrix elements of the power transmission matrix T, among the matrix elements of the rotation axis 120 for moving the rotating body 12 in the straight direction, the absolute values of the matrix elements in each row are equal. At the position, the omnidirectional wheels 401~404 (or 401~403) are arranged. Therefore, when moving in the straight direction, power is efficiently transmitted from each of the omnidirectional wheels 401 to 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.

Furthermore, according to the omnidirectional moving device 10, the power transmission matrix T includes a transmission matrix representing the angular velocity. In the transfer matrix representing the angular velocity of the rotating shaft 120 that moves the rotating body 12 in the straight direction, omnidirectional wheels 401 to 404 (or 401 to 403 ) are respectively arranged at positions where the absolute values of the matrix elements in each row are equal. . Therefore, when moving in the straight direction, the power is efficiently transmitted from the omnidirectional wheels 401 to 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.

Furthermore, as shown in FIGS. 1(A) to 1(D) , the omnidirectional moving device 10 is provided with auxiliary wheels 32 and 36 which contact or approach the surface of the lower hemisphere 12A of the rotating body 12 . The auxiliary wheels 32 and 36 rotate in the circumferential direction A similarly to the omnidirectional wheels 401 to 404 shown in FIG. Therefore, spin The upper hemisphere 12B of the rotating body 12 is in contact with the omnidirectional wheels 401 to 404 , and the auxiliary wheels 32 and 36 are provided in the lower hemisphere 12A of the rotating body 12 , so that the rotating body 12 can be rolled in all directions and the rotating body 12 can be prevented from falling off.

Moreover, as shown in FIGS. 1 and 2 , according to the omnidirectional moving device 10 , the vehicle body 14 is provided on the rotating body 12 . AC servo motors 422 ( 1 ) and 422 ( 2 ) are connected to the shafts 430 of the omnidirectional wheels 401 and 402 . The AC servo motors 422 ( 1 ) and 422 ( 2 ) are mounted on the vehicle body 14 . Moreover, AC servomotors 422(3) and 422(4) are connected to the shafts 430 of the omnidirectional wheels 403 and 404, and the AC servomotors 422(3) and 422(4) are attached to the vehicle body 14. All of the omnidirectional wheels 401 to 404 are in contact with the surface of the upper hemisphere 12B of the rotating body 12 . Therefore, the load of the vehicle body 14 is supported by the omnidirectional wheels 401 to 404 via the AC servo motors 422 ( 1 ) to 422 ( 4 ), so that the vehicle body 14 can be stabilized by the posture stabilization system 600 shown in FIGS. 4 and 6 . When the posture is maintained in a stable state, the rotating body 12 is rolled in the straight direction with the maximum output.

Furthermore, as shown in FIG. 4 , according to the omnidirectional movement device 10 , the posture stabilization system 600 includes the posture angle detection unit 501 , the rotational speed detection unit 607 , the angular velocity detection unit 604 , and the arithmetic processing unit 602 . The attitude angle detection unit 501 is attached to the vehicle body 14 shown in FIG. 1 , and detects the attitude angle of the vehicle body 14 and the first angular velocity generated with the change of the attitude angle. The rotation number detection unit 607 detects the rotation numbers of the omnidirectional wheel 401 to the omnidirectional wheel 404 . The angular velocity detection unit 604 detects the second angular velocity at which the rotating body 12 rolls based on the detection result of the rotational speed of the rotational speed detection unit 607 .

Here, as shown in FIGS. 4 to 6 , the arithmetic processing unit 602 calculates the roller operation torques of the omnidirectional wheels 401 to 404 maintaining the posture of the vehicle body 14 ( S16 ). The wheel operating torque is based on the posture angle information detected by the posture angle detection unit 501 and the first angular velocity information. The information ( S10 ) and the second angular velocity information ( S12 ) detected by the angular velocity detection unit 604 are calculated. The arithmetic processing unit 602 operates the AC servo motors 422( 1 ) to 422( 4 ) shown in FIGS. 2 and 4 according to the roller operation torque information.

Therefore, in the posture stabilization system 600 , the power for maintaining the posture of the vehicle body 14 is transmitted from the omnidirectional wheels 401 to 404 to the rotating body 12 . Therefore, in the state where the posture of the vehicle body 14 is stabilized, the maximum power can be utilized. The output causes the rotating body 12 to roll in the straight direction.

Furthermore, as shown in FIGS. 4 to 6 , according to the omnidirectional movement device 10 , the arithmetic processing unit 602 calculates the target value of the angular acceleration of the rolling body 12 and the vehicle body 14 to maintain the posture of the vehicle body 14 . The target value of the angular acceleration of rotation (S13). The target value is calculated based on the posture angle information, the first angular velocity information ( S10 ), and the second angular velocity information ( S12 ). The arithmetic processing unit 602 further calculates the third angular acceleration of the rotating body 12 that matches the target value ( S14 ), and calculates the rotating body operating torque for operating the rotating body 12 based on the third angular acceleration ( S15 ). Based on the rotating body operating torque, the arithmetic processing unit 602 calculates the roller operating torque for operating the omnidirectional wheels 401 to 404 ( S16 ).

As a result, in the arithmetic processing unit 602, the power to keep the posture of the vehicle body 14 stable is calculated. Therefore, the power is transmitted from the omnidirectional wheels 401 to 404 to the rotating body 12 , so that the rotating body 12 can be rolled in the straight direction with the maximum output while the posture of the vehicle body 14 is kept stable.

Furthermore, according to the posture control method of the omnidirectional mobile device 10 , as shown in FIG. 5 , the posture stabilization system 600 first acquires posture angle information, first angular velocity information and second angular velocity information ( S10 , S12 ). Secondly, based on the posture angle information, the first angular velocity information and the With the second angular velocity information, the target value of the angular acceleration of the rolling body 12 and the target value of the angular acceleration of the turning body 14 are calculated to maintain the posture of the vehicle body 14 ( S13 ). Next, the third angular acceleration of the rotating body 12 that matches the target value is calculated ( S14 ), and based on the third angular acceleration information, the rotating body operating torque for operating the rotating body 12 is calculated ( S15 ). Then, based on the rotational body operating torque information, the roller operating torque for operating the omnidirectional wheels 401 to 404 is calculated.

As a result, the posture stabilization system 600 calculates the power for maintaining the posture of the vehicle body 14 stably. Therefore, the power is transmitted from the omnidirectional wheels 401 to 404 to the rotating body 12 . Therefore, in the omnidirectional moving device 10 , the rotating body 12 can be rolled in the straight traveling direction with the maximum output, and the posture of the vehicle body 14 can be maintained stable.

In addition, in the attitude control method of the omnidirectional moving device 10 , as shown in FIG. 6 , the attitude of the vehicle body 14 is controlled based on the power transmission matrix T. As shown in FIG. To explain in detail, in the input stage of the arithmetic processing of the arithmetic processing unit 602, based on the aforementioned formula (5), the angular velocity vector ω _s of the rotating body 12 is calculated from the generalized inverse matrix of the power transmission matrix T ( S12 in FIG. 5 ) . On the other hand, in the output stage of the arithmetic processing of the arithmetic processing unit 602 , based on the aforementioned formula (23), the roller operations as the omnidirectional wheels 401 to 404 transmitted to the rotating body 12 are calculated according to the generalized inverse matrix of the power transmission matrix T The operating torque τ _o of the torque (S16 in FIG. 5 ).

Therefore, the posture of the vehicle body 14 can be maintained stable regardless of the arrangement interval of the omnidirectional wheels 401 to 404 , the contact angle of the omnidirectional wheels 401 to 404 with respect to the surface of the rotating body 12 , and the like. In other words, the posture control method of the present embodiment is suitable for the posture control method of the omnidirectional mobile device 10 of the present embodiment, and can also be applied to the posture control of other devices.

(Second Embodiment)

An omnidirectional movement device 10 according to a second embodiment of the present invention will be described with reference to FIG. 11 . Here, in the description of the present embodiment, the same or substantially the same constituent elements as those of the omnidirectional moving device 10 of the first embodiment are assigned the same reference numerals, and repeated descriptions are omitted.

The omnidirectional moving device 10 of the present embodiment basically has the same configuration as the omnidirectional moving device 10 of the first embodiment, but the rollers use Mecanum wheels 405 to 408 (see FIG. 11 ). Here, the example in which the four Mecanum wheels 405 to 408 are arranged will be described, but the number of Mecanum wheels may be three, as in the omnidirectional movement device 10 of the first embodiment.

Although the detailed structure is omitted, like the omnidirectional wheels 401 to 404 shown in FIG. 2 , the Mecanum wheels 405 to 408 rotate in the circumferential direction A to transmit the driving force to the rotating body 12 and enable the rotating body 12 to rotate. Roll in the direction B that intersects the circumferential direction A.

In FIG. 11, the arrangement|positioning relationship of the rotating body 12 of this embodiment and four Mecanum wheels 405-408 is shown. Two Mecanum wheels 405 and 406 are arranged on the upper hemisphere 12B around the shaft 121 on one end side of the rotating shaft 120 , and two microphones are arranged on the upper hemisphere 12B around the shaft 122 on the other end side of the rotating shaft 120 . Namm Wheels 407 and 408.

Here, in the Mecanum wheels 405 to 408 , the unit tangent vector t _k between the contact points p ₁ to p ₄ of the rotating body 12 forms 45 degrees with respect to the tangent on the circumference. Assuming that the radius of the rotating body 12 is _rs , the position vector p _k is represented by equation (38), and the unit tangent vector t _k is represented by equation (39).

[Number 40]

[Number 41]

Furthermore, if the radius of the Mecanum wheels 405 to 408 is r _m , the power transmission matrix T is represented by the following formula (40).

[Number 42]

In the present embodiment shown in FIG. 11 , the absolute values of the matrix elements in each row of the first row to the third row of the power transmission matrix T of the above formula (40) are the same.

In addition, the torque transmission matrix T(T ^T T) ^-1 is represented by the following formula (41).

[Number 43]

The absolute values of the matrix elements in each row of the first row to the third row of the torque transfer matrix T(T ^T T) ^-1 are the same.

As described above, in the omnidirectional moving device 10 of the present embodiment, even if the Mecanum wheels 405 to 408 are used as the rollers, the output of the rotating shaft 120 (horizontal axis Y _b ) is maximized, and the rotating shaft in the left-right direction becomes the largest. The outputs of the (horizontal axis X _b ) and the rotary axis (vertical axis Z _b ) also become maximum. In this way, when moving in the straight direction, power is efficiently transmitted from each of the Mecanum wheels 405 to 408 to the rotating body 12 , and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.

In addition, according to the omnidirectional moving device 10 and the posture control method thereof of the present embodiment, the same functions and effects as those obtained by the omnidirectional moving device 10 and the posture control method of the first embodiment can be obtained.

(Other Embodiments)

The present invention is not limited to the above-described embodiments, and various changes can be made without departing from the gist of the present invention. For example, in the case of three omnidirectional wheels 401 to 403 , the present invention can also exchange one end side and the other end side of the rotating shaft 120 of the rotating body 12 . Moreover, the present invention may include five or more omnidirectional wheels. Furthermore, in order to realize the miniaturization and weight reduction of the omnidirectional moving device, it is preferable to set three or four omnidirectional wheels.

Furthermore, in the above-described embodiment, the three omnidirectional wheels 401 to 403 or the four omnidirectional wheels 401 to 404 are arranged at equal intervals. In the present invention, as long as among the matrix elements of the power transmission matrix, among the matrix elements of the rotation axis 120 that makes the rotating body 12 roll in the straight direction, the absolute values of the matrix elements in each row are equal, then the omnidirectional The intervals between the wheels 401 to 404 are not limited to equal intervals.

Furthermore, in the above-mentioned embodiment, the omnidirectional wheels 401 to 404 are constituted by two rows of wheel sets 410 and 420, but in the present invention, the omnidirectional wheels 401 to 404 may be constituted by one or more than three rows of wheel sets. In addition, in the present invention, four or more rollers may be arranged in the wheel set 410 , and four or more rollers may be arranged in the wheel set 420 .

In addition, in the above-described embodiment, the rotating body 12 is rolled in the straight direction. The one end side and the other end side of the rotating shaft 120 are provided with omnidirectional wheels 401 to 404, but also around the axis of the one end side or the other end side of the rotating shaft 120, a transmission power can be arranged The omnidirectional wheels 401~404. An auxiliary wheel is preferably arranged around the shaft on the other end side.

Furthermore, the above-mentioned modification example is also the same in the case of the Mecanum wheels 405 to 408 .

12‧‧‧Rotating body

12A‧‧‧Lower Hemisphere

12B‧‧‧Upper Hemisphere

120‧‧‧Rotary axis

121‧‧‧Around axis

122‧‧‧Around axis

401‧‧‧Omnidirectional wheel (the first omnidirectional wheel)

402‧‧‧Omnidirectional wheel (the first omnidirectional wheel)

403‧‧‧Omnidirectional Wheel (Second Omnidirectional Wheel)

403P‧‧‧Specific location

404‧‧‧Omnidirectional Wheel (Second Omnidirectional Wheel)

404P‧‧‧Specific location

a‧‧‧Rotary axis

b‧‧‧Rotary axis

X‧‧‧axis

Z‧‧‧axis

Claims (11)

An omnidirectional moving device, comprising: a spherical rotating body; a first roller located on a first latitude line perpendicularly intersecting the surface of the sphere of the rotating body and a rotating shaft, and the first weft line is located on the first latitude line that makes the rotating body roll The center of the rotating body of the rotating shaft that moves the vehicle body in the straight direction to the circumference of one end side of the axis, the first roller is in contact with the surface of the upper hemisphere of the rotating body at the first weft The line is provided with a plurality of, and the first roller rotates in the circumferential direction to transmit power to the rotating body along the first weft, and can make the rotating body roll in a direction crossing the circumferential direction; and a second roller, a plurality of surfaces are arranged in contact on the center-symmetrical position of the rotating body, and the center-symmetrical position is located on the second latitude line perpendicularly intersecting the spherical surface of the rotating body and the rotation axis and is relative to a specific position, the second latitude line is located around the axis from the center of the rotating body to the other end side of the rotating shaft, the specific position is located on the surface of the lower hemisphere of the rotating body, and the position opposite to the center of the rotating body , the second roller rotates in the circumferential direction to transmit power to the rotating body along the second weft, and can make the rotating body roll in the direction crossing the circumferential direction, wherein the first roller and the second roller is mounted on the vehicle body. An omnidirectional moving device, comprising: a spherical rotating body; a first roller located on a first latitude line perpendicularly intersecting the surface of the sphere of the rotating body and a rotating shaft, and the first weft line is located on the first latitude line that makes the rotating body roll and the center of the rotating body of the rotating shaft that moves the vehicle body in the straight direction to the circumference of the shaft on one end side, the first roller is connected to the The surface of the upper hemisphere of the rotating body is disposed on the first weft in contact with the surface, and the first roller rotates in the circumferential direction to transmit power to the rotating body along the first weft, and can Make the rotating body roll in the direction intersecting with the circumferential direction; and a second roller, a plurality of second latitude lines that are arranged in contact with the surface of the hemisphere above the rotating body and perpendicularly intersect with the rotating shaft, the The second weft is located around the axis from the center of the rotating body to the other end side of the rotating shaft, the second roller rotates in the circumferential direction to transmit power to the rotating body along the second weft, and The rotating body can be rolled in a direction intersecting the circumferential direction, wherein the first roller and the second roller are attached to the vehicle body. The omnidirectional moving device according to claim 1 or 2, wherein the first scroll wheel and the second scroll wheel are omnidirectional wheels or Mecanum wheels. The omnidirectional moving device according to claim 1 or 2, wherein there are two first rollers, and one or two second rollers. The omnidirectional moving device according to claim 1 or 2, wherein the arrangement positions of the first roller and the second roller are such that: the first roller and the second roller are in contact with the rotating body. Among the matrix elements of the power transmission matrix determined by the position vector of the contact point and the tangent vector of the contact point, among the matrix elements of the rotation axis, the absolute values of the matrix elements in each row are equal. The omnidirectional mobile device of claim 5, wherein the power transfer matrix includes a transfer matrix representing the angular velocity. The omnidirectional moving device according to claim 1 or 2, further comprising an auxiliary wheel, which contacts or approaches the surface of the lower hemisphere of the rotating body and rotates in the circumferential direction, Also, the rotating body can be rolled in a direction intersecting with the circumferential direction. The omnidirectional moving device according to claim 1 or 2, further comprising: the vehicle body, which is arranged on the rotating body; and a first driving device, which is mounted on the vehicle body and rotates the first roller. a second driving device mounted on the vehicle body and rotating the second roller; and a posture stabilization system arranged on the vehicle body to maintain a stable posture of the vehicle body. The omnidirectional moving device according to claim 8, wherein the posture stabilization system includes: a posture angle detection unit installed on the vehicle body to detect the posture angle of the vehicle body and the resulting changes in the posture angle. A first angular velocity; a rotation number detection part detects the rotation number of the first roller and the second roller; an angular velocity detection part detects the rotation speed of the rotating body based on the detection result of the rotation number of the rotation number detection part a second angular velocity; and an arithmetic processing unit for calculating the maintenance of the vehicle body based on the posture angle information detected by the posture angle detection unit, the first angular velocity information, and the second angular velocity information detected by the angular velocity detection unit The roller operating torques of the first roller and the second roller in the posture are based on the roller operating torque information to actuate the first driving device and the second driving device. The omnidirectional mobile device according to claim 9, wherein the arithmetic processing unit calculates, based on the posture angle information, the first angular velocity information, and the second angular velocity information, that the posture of the vehicle body is maintained the target value of the angular acceleration of the rolling of the rotating body and the target value of the angular acceleration of the rotation of the vehicle body; Calculate the third angular acceleration of the rotating body that is consistent with the target value; calculate the rotating body operating torque for operating the rotating body based on the third angular acceleration; calculate the operating torque based on the rotating body operating torque information. The roller operating torque of the first roller and the second roller. A posture control method of an omnidirectional mobile device, which is applied to the posture stabilization system of the omnidirectional mobile device according to claim 9, the posture control method comprising: acquiring the posture angle information, the first angular velocity information and all the the second angular velocity information; based on the posture angle information, the first angular velocity information and the second angular velocity information, calculate the target value of the angular acceleration of the rolling body of the rotating body maintaining the posture of the vehicle body and the the target value of the angular acceleration of the rotation of the vehicle body; calculate the third angular acceleration of the rotating body that is consistent with the target value; based on the third angular acceleration, calculate the rotating body operating torque for operating the rotating body; and based on Based on the operating torque information of the rotating body, the roller operating torque for operating the first roller and the second roller is calculated.

Images