JP2005080856A - Passive type movable carriage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a passive type movable carriage with a simple structure and high safety, which can arbitrarily change motion characteristics of a carriage body in accordance with a human intention and environmental information by changing a braking force of a brake built into a wheel. <P>SOLUTION: The brakes, whose braking torque can be controlled, are built into at least two of a plurality of wheels of the movable carriage; and the braking force of the brake of each wheel is controlled according to a force applied by humans etc., in accordance with the set target angular acceleration, angular velocity and rotational angle of each wheel, so that the motion characteristics including the travel direction and travel velocity of the carriage body can be changed. This makes the motion characteristics of the movable carriage arbitrarily changed according to the human intention and the environmental information, so as to enable an assistance suitable for a user. Additionally, the use of the brake alone enables the constitution of a structurally simple and highly safe system. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a passive mobile trolley suitable for assistance for guiding a user to a target place or assistance based on the state of the user or the environment, and more particularly, a brake incorporated in at least two wheels. The present invention relates to a passive type mobile carriage that can ensure safety and change motion characteristics by changing the braking force of the vehicle based on the force applied by a human or the like.

  Various welfare devices have been developed to support the lives of the elderly and persons with disabilities and promote independence. Among them, there are currently a large number of mobility aids that assist in movement that is essential in daily life. This includes walking sticks, walker, and wheelchairs, which are properly used depending on the degree and nature of walking function impairment. Of these, the walker is often used by people who have a poor walking function, although walking is not impossible at all, but the cane lacks stability.

  The simplest walker is a very simple one that simply attaches a wheel to the frame, and it is currently mainstream, but due to the low rolling resistance of the casters, the walking speed increases and the risk of falling accidents There is. At the same time, since the movement characteristics are unchanged, there is a problem that the target movement is difficult depending on the user's disability.

  On the other hand, research into incorporating a brake into a walker has also been made. By attaching a brake, it is possible to prevent a fall due to excessive speed, ensuring safety and stability. For example, in Patent Document 1, a wheel having a brake mechanism using a functional fluid such as an electrorheological fluid or a magnetorheological fluid as a functional fluid is attached to a part or all of a leg wheel of an auxiliary vehicle, and attached to the auxiliary vehicle body. A welfare medical auxiliary vehicle has been proposed in which the state of the functional fluid is changed based on the detection signal of the attached acceleration sensor so that the brake mechanism operates. Further, Patent Document 2 does not operate when the running speed of the walking vehicle is less than a predetermined value, and when it exceeds the predetermined value, a power generation braking force is generated by the power generators on the left and right of the vehicle body. A braking device for a walking vehicle has been proposed in which traveling is suppressed. Furthermore, in Patent Document 3, the user is supported by a support portion, and the driving wheels are controlled by controlling the speed or torque of the left and right motors according to the output of the force sensor, the distance sensor, the speed sensor and the parameters set by the setting device. There has been proposed a walking assist device that is driven to control the movement of the base body forward, backward, and swivel.

JP 2000-157585 A JP 2001-104418 A JP 2001-170119 A

  However, in the above proposal, only the prevention of overspeed and emergency stop are considered, and support for guiding the user to the target location, support based on the user's failure status and environmental status, etc. Is not considered.

  In addition, research is also being carried out in which a motor is mounted on the wheel of a walker and the system actively supports the user. These walkers are equipped with force sensors, environmental information sensors, and the like, and can change exercise characteristics according to the user's exercise ability, environmental information, and the like. However, the use of motors tends to increase the cost and size, and it is important to take safety measures in consideration of motor malfunction.

The present invention has a simple structure and high safety, in which the motion characteristics of the vehicle body can be arbitrarily changed based on a person's intention and environmental information by changing the braking force of the brake incorporated in the wheel. It aims at providing a passive type mobile trolley.
It is another object of the present invention to provide a passive mobile carriage that can move a vehicle body along a set target route and guide it to a destination by changing a braking force of a brake incorporated in a wheel. And

  In order to solve the above-described object, the passive mobile carriage according to the first aspect of the present invention is incorporated in a vehicle body stably supported by a plurality of wheels and at least two of the plurality of wheels. A brake that can control the braking torque, a means for setting the target angular acceleration, angular velocity, and rotation angle of each wheel in which the brake is incorporated, and a brake brake according to the set target angular acceleration, angular velocity, and rotation angle of each wheel. Control means that controls the force independently, and the control means controls the braking force of each wheel brake based on the force applied by humans etc. and environmental information, and changes the motion characteristics including the moving direction and moving speed of the vehicle body It is characterized by letting.

  The passive type mobile carriage of the invention described in claim 2 is a vehicle body that is stably supported by a plurality of wheels, a brake that can control braking torque incorporated in at least two of the plurality of wheels, The target angular velocity of each wheel is derived from the means for specifying the target route, the relative angle between the target route and the traveling direction of the vehicle body, the distance between the target route and the vehicle body, the actual vehicle angular velocity, and the like. Control means for determining and independently controlling the brake force of each wheel brake based on the force applied by a person or the like, and controlling the brake force of each wheel brake based on the force applied by a person etc. It is characterized by moving along.

  According to the invention of claim 1, by adjusting the braking force of the brake based on the force applied by a human or the like or the environmental information, the movement characteristics of the mobile carriage can be arbitrarily changed based on the human intention or the environmental information. Thus, appropriate support for the user is possible, and only the brake is used, so that the structure is simple and the safety is improved.

  According to the invention of claim 2, since the braking force of the brakes of each wheel is adjusted based on the force applied by a human or the like so as to correct the deviation of the vehicle body with respect to the set target route, the vehicle body is advanced along the target route. It is possible to support users appropriately. In particular, when applied to walker, functions that guide elderly people, disabled people, and blind users to destinations that have not been considered in walker with brakes in the past. It is possible to provide support based on the degree of support and support in accordance with the environment.

  Examples of the present invention will be described below.

  A passive intelligent walking support system will be described with reference to the drawings as an embodiment of a passive mobile carriage according to the present invention. FIG. 1 is a perspective view of a prototype walking machine, FIG. 2 is a front view of a rear wheel portion on one side, and FIG. 3 is a diagram for explaining the operating principle of a powder brake.

  A walking machine 1 as a moving carriage includes a rear wheel 2, a front wheel 3, a powder brake 4, a frame 5, and a control device 6. The rear wheel 2 is composed of two wheels, and as shown in FIG. 2, a powder brake 4 and a gear 7 are incorporated in the axle of each wheel. A gear 8 meshes with the gear 7, and an encoder 9 is provided on the gear 8 axis. The front wheel 3 is composed of two wheels, for example, a caster, an omni wheel or a mecanum wheel.

  As shown in FIG. 3, the powder brake 4 connects the magnetic powder 41 in a chain shape with the magnetic flux of the coil 40 that is excited, and generates a brake torque by the connecting force or frictional force between the powders. The excitation current of the powder brake 4 and the output torque are in a substantially proportional relationship, and continuous torque control is possible. Torque control is performed by taking out an electric signal corresponding to the vehicle speed from the encoder 9 and adjusting the exciting current of the exciting coil of the powder brake 4 based on this electric signal.

  FIG. 4 is a diagram showing a kinematic model of the walking machine. FIG. 5 is a block diagram of the speed control system. Here, an example of a control system that generates a certain motion based on human power is shown.

ただし、νは歩行機の並進速度、ωは歩行機の回転速度、dθ_ｒ／ｄｔ（θ_ｒドット），dθ_ｌ／ｄｔ（θ_ｌドット）は右・左後輪の角速度、R_wは車輪の半径、Ｔは左右車輪の間隔である。ここで、逆運動学は以下で表される。

Where ν is the translation speed of the walking machine, ω is the rotational speed of the walking machine, dθ _r / dt (θ _r dot), dθ _l / dt (θ _l dot) are the angular velocities of the right and left rear wheels, and R _w is the wheel. , T is the distance between the left and right wheels. Here, inverse kinematics is expressed as:

ここで、ブレーキがかかっていないときのある車輪の運動方程式を求めると次式になる。

Here, the equation of motion of a certain wheel when the brake is not applied is obtained as follows.

ただし、τ_ｋは人が歩行機を押したことによって発生する車軸回りのトルク、ｄ^２θ_{ｗｈｅｅｌ}／ｄｔ^２，（θ_{ｗｈｅｅｌ}ツードット）は車輪の角加速度、ｄθ_{ｗｈｅｅｌ}／ｄｔ（θ_{ｗｈｅｅｌ}ドット）は車輪の速度、Ｊは車軸周りの慣性モーメント、Ｄは粘性摩擦抵抗である。これにパウダーブレーキ等によりブレーキ力τ_ｂが加わると次式になる。

Where τ _k is the torque around the axle generated by the person pushing the walker, d ² θ _wheel / dt ² , (θ _wheel ^two dots) is the angular acceleration of the _wheel , and dθ _wheel / dt (θ _wheel dots) is Wheel speed, J is the moment of inertia around the axle, and D is viscous frictional resistance. When a braking force τ _b is applied to this by a powder brake or the like, the following equation is obtained.

人の力によるトルクτ_ｋを外乱としてみることで、通常のサーボ系と同様のＰＩ制御系を構成することができる。そこで、ｕ_ｇ＝ｄ^２θ_{ｗｈｅｅｌ}／ｄｔ^２として、次式の特性を有する補償器を設ける。

A PI control system similar to a normal servo system can be configured by considering the torque τ _k due to human power as a disturbance. _Therefore, the _{^{u g = d 2 θ wheel /}} dt 2, provided with a compensator having the characteristics of the following equation.

ただし、ｄ^２θ_{ｗｈｅｅｌ−ｄ}／ｄｔ^２，ｄθ_{ｗｈｅｅｌ−ｄ}／ｄｔは車輪の目標角加速度、角速度である。
最終的なブレーキトルクは以下の式で与えられる。

Here, d ² θ _wheel-d / dt ² and dθ _wheel-d / dt are the target angular acceleration and angular velocity of the wheel.
The final brake torque is given by:

ここで、車輪の目標角加速度、角速度を車輪ごとに適切に指定することにより歩行機の運動特性を様々に変えることができる。ただし、この制御系はｄθ_{ｗｈｅｅｌ−ｄ}／ｄｔ≦ｄθ_{ｗｈｅｅｌ}／ｄｔの時のみ有効である。ｄθ_{ｗｈｅｅｌ−ｄ}／ｄｔ＞ｄθ_{ｗｈｅｅｌ}／ｄｔのときは目標速度を満足することは不可能である。また積分動作における誤差は人が歩行機を押していないとき、もしくは人が一定の力以下で押しているときも時々刻々と増加するため、過制動の原因となる。そこで、ｄθ_{ｗｈｅｅｌ−ｄ}／ｄｔ＞ｄθ_{ｗｈｅｅｌ}／ｄｔのときは積分要素を0とする。

Here, the motion characteristics of the walker can be variously changed by appropriately designating the target angular acceleration and angular velocity of the wheel for each wheel. However, this control system is effective only when dθ _wheel-d / dt ≦ dθ _wheel / dt. When dθ _wheel-d / dt> dθ _wheel / dt, it is impossible to satisfy the target speed. In addition, the error in the integral operation increases every moment when the person is not pushing the walking machine or when the person is pushing below a certain force, which causes overbraking. Therefore, when dθ _wheel-d / dt> dθ _wheel / dt, the integral element is set to zero.

  Next, an example of trajectory tracking control in which the walker generates motion along a trajectory (target route) given in advance to the walker will be described.

  As a premise of the trajectory tracking control, it is difficult to accurately control the target speed of the wheel when using human force and braking force. This is because even if the target speed is given, if the person pushes the walker at a speed lower than that, the target speed is not realized. The fact that the target speed is uncertain indicates that even if a target route is set, there is a possibility that the target speed is not met. Therefore, in order to perform the trajectory tracking control with this system, it is necessary to consider a tracking method that returns to the target path even if it is off the path. As this tracking method, "Control of wheel moving body" by Shigeki Iida, University of Tsukuba Graduate School of Engineering Research Science Request Paper, 1991, was applied in this system. This method realizes the target path by generating the rotational angular velocity of the mobile robot from the position / posture error from the target path.

It is assumed that the vehicle deviates from the target route due to some disturbance as shown in FIG. In order to follow the target path, the relative angle (posture error) θ _e between the target path and the direction of travel of the walker is set as the distance (position error) η _e between the target path and the walker, and the angular velocity of the walker The target value (dω _d / dt) of ω _d is determined as follows.

k_θ,k_ω,k_ηは比例定数（＞0）である。ただしωは歩行機の実際の角速度を表す。ここでω_ｄから各車輪の目標角速度を導出し、ブレーキ力を決定する式に代入することにより、軌道追従制御が実現できる。

k _θ , k _ω , and k _η are proportional constants (> 0). Where ω represents the actual angular velocity of the walker. Here derives a target angular velocity of each wheel from the omega _d, by substituting the equation for determining the braking force, trajectory tracking control can be realized.

  In the method of this embodiment, the rotation direction is determined in the direction opposite to the displacement from the displacement relating to the target path. Therefore, the same control is possible even when the target route is not only a straight line but also a curved line such as a circle.

  Two experiments were conducted to confirm the effectiveness of the passive intelligent walking support system of this example.

  In the first experiment, a walking machine is placed on a gentle slope, and is driven by gravity, and its behavior is measured (FIG. 7A). Similarly, a walking machine is arranged on a gentle slope and no brake is applied, that is, in a free brake state, the control is applied (FIG. 7B).

A constant-velocity control experiment was performed with a downward slope having an inclination angle Θ = 6.8 [deg]. At the same time, the linear path following control of equation (1) was also applied. At this time, τ _h is a torque corresponding to mg sin Θ where m is the weight of the walker. The target constant velocity is 0.1 [m / sec], and the target route is a straight line with y = 0 [m]. For comparison, the same measurement was performed for an uncontrolled state, that is, a free brake state. 8 and 9 show the experimental results. In the free brake state, the speed increases as the time increases, and the locus derails from the target route. On the other hand, when the path following control was performed, it was confirmed that substantially constant speed traveling was realized and the target linear path was substantially followed.

  In the second experiment, as shown in FIG. 10, an S-shaped target route 10 combining a straight line and a circle is generated, and the walking ability of a slightly complicated target route is obtained by pushing the walker 1 by a human 11. Confirm. Five healthy people who didn't know the target route were asked to push the walker. The target speed was set to 0.3 [m / sec]. FIG. 11 shows the experimental results. It can be seen that there is almost no deviation between the target route and the locus of the walker.

  Explains the control algorithm that can change the motion characteristics of the walker according to the motor ability of the user, and the control that sets the target route and follows the route, considering that the user navigates to the destination To do.

Since the walking machine does not have a drive system that acts actively, a force / moment applied from a person or the environment, that is, an external force becomes the driving force. Therefore, the control law of the walker is that f _{hw is} the force generated by the person or the environment applied to the walker, and τ _bw is the braking torque of the wheel.

となる条件式を導くことが出来る。ここでR_wは車輪の半径を示す。

The following conditional expression can be derived. Here, R _w indicates the radius of the wheel.

Next, the derivation of the braking force based on the dynamic model of the second embodiment will be described.
By adjusting the braking force, we will change the apparent inertial mass and viscous resistance of the walker, and consequently change the motion characteristics of the walker.
First, in order to simplify the discussion, it is assumed that the walker is used on a horizontal plane, and the driving force is only the force / moment applied by a person. The mass center of the walking device is to be in the axle center, the total mass m, the traveling direction viscous friction coefficient D, and moment of inertia about the center of mass J, a viscous friction coefficient of the rotation direction and D _theta. As shown in FIG. 12, the force applied by the person in the traveling direction of the walker is f _h , the rotation moment generated by the person is n _h , the braking force in the traveling direction is f _b , the rotation moment generated by the brake is n _b , and absolute coordinates Assuming that the position / posture of the walker represented by the system is q, and the transformation matrices are E _h and E _b , the equation of motion of the walker is expressed by the following equation.

いま、使用者の運動能力に応じてＭやＤを任意に変える事が出来れば、使用者にとって操作性のよいシステムが構築できると考えられる。そこで、歩行機が次式の特性を満たすような制御則を考える。

Now, if M and D can be arbitrarily changed according to a user's athletic ability, it is thought that a system with good operability for the user can be constructed. Therefore, a control law is considered so that the walker satisfies the following equation.

ここで、Ｍ_ｄはみかけの慣性質量、Ｄ_ｄはみかけの粘性抵抗を示し，利用者の障害の程度等に基づいて任意に設定するパラメータである。
本システムは進行方向に対して横滑りが出来ないという、次式で表される非ホロノミック速度拘束を受ける。

Here, M _d represents the apparent inertial mass, D _d represents the apparent viscous resistance, and is a parameter that is arbitrarily set based on the degree of the user's failure.
This system is subject to a nonholonomic velocity constraint expressed by the following equation that it cannot skid in the direction of travel.

そこで、式(3)(4)で示された動的モデルに速度拘束を加え，次元の縮小化を行い
τ_ｂ＝［ｆ_ｂ，ｎ_ｂ］を導出すると次式のようになる。

Therefore, when the speed constraint is applied to the dynamic model shown in the equations (3) and (4), the dimension is reduced and τ _b = [f _b , n _b ] is derived as follows.

また、左右両輪で実現するブレーキトルクｔ_ｒ，ｔ_ｌはｆ_ｂ，ｎ_ｂにより次式で与えられる。

The brake torque _t r to achieve the left and right wheels, _{t l} is given by the following equation by _f b, _{n b.}

ここで、Ｔは左右車輪の間隔を示す。従って式(8)を用いてブレーキトルクを指定することにより，歩行機のみかけの慣性質量Ｍ_ｄ,及び粘性抵抗Ｄ_ｄを実現することができ，歩行機の運動特性を任意に変化させることが可能となる。しかし、本システムに搭載されたエンコーダの性能上、加速度フィードバックを行うことは困難である。そこで実用的な観点からＭ_ｄ＝Ｍとし，粘性抵抗のみを変化させることを考え式(6)(7)を次式のように修正する。

Here, T indicates the distance between the left and right wheels. Therefore, by specifying the brake torque using Equation (8), the apparent inertial mass M _d and viscous resistance D _d of the walker can be realized, and the motion characteristics of the walker can be changed arbitrarily. It becomes possible. However, it is difficult to perform acceleration feedback because of the performance of the encoder installed in this system. Therefore, from a practical point of view, M _d = M and only the viscous resistance is changed, and equations (6) and (7) are corrected as follows.

但し、高分解能のエンコーダや高精度な加速度計を用いることで、（２）式の条件を満たす状態において慣性質量と粘性抵抗の両方を変化させる事は可能である。慣性質量や粘性抵抗パラメータを使用者の運動能力や障害の程度によって変化させることで、操作性の良いシステムの実現が可能になると考えられる。

However, by using a high-resolution encoder or a high-accuracy accelerometer, it is possible to change both the inertial mass and the viscous resistance in a state where the condition of the expression (2) is satisfied. It is considered that a system with good operability can be realized by changing the inertial mass and viscous resistance parameters according to the user's motor ability and the degree of obstacles.

Next, the path following control of the second embodiment will be described.
Consider guiding the user to the target location and performing route tracking control. In order for the representative point set in the walker to follow the route, the Virtual Attractive Force shown in the following equation is used as the force generated according to the shortest distance from the representative point of the walker to the route as shown in FIG. .

Δｅは代表点から目標経路までの最短距離を表す位置ベクトルを示す。ここで、代表点を図１３のように車軸の中心から歩行機への進行方向への距離ｒにとると，このｆ_ｖは歩行機の質量中心に作用するよう力/モーメント^ｗｆ_ｖ，^ｗｆ_ｖとして次式で表される。

Δe represents a position vector representing the shortest distance from the representative point to the target route. Here, when the representative point is a distance r in the direction of travel from the axle center to the walking machine as shown in FIG. 13, this f _v is a force / moment ^w f _v , ^w so as to act on the center of mass of the walking machine. represented by the following formula as f _v.

ここでθ_ｄは代表点における歩行機の目標姿勢を示す。従って、目標経路を与え、粘性抵抗を可変としたとき、ブレーキ力τ_ｂは次式で与えられる．

Here, θ _d indicates the target posture of the walking machine at the representative point. Therefore, when the target path is given and the viscous resistance is variable, the braking force τ _b is given by the following equation.

式(13)(14)で表されるｆ_ｂ，ｎ_ｂを式(8)に代入し，各車輪のブレーキトルクを制御することにより、粘性抵抗を変化させつつ，代表点を目標経路に追従させる事が可能となる。

F _b of the formula (13) _(14), by a n _b into Equation (8), to control the braking torque of each wheel, while changing the viscosity resistance, tracking the representative points to the target route It is possible to make it.

  The present embodiment is a walking machine using a brake capable of controlling braking torque such as ER brake, MR brake, powder brake, etc., and an actuator such as a motor is not mounted. Thus, walker motion can only be generated by human forces or forces applied from some other system. Therefore, the walking machine itself does not exercise on its own, and it becomes a very safe system.

  In addition, the user can freely change the direction and speed of movement based on the force applied by the walker by adjusting the braking force of the brakes built into at least two wheels. Based on the environment, it can be used for various purposes such as walking support and transport of heavy objects. Furthermore, by incorporating brakes on three or more wheels, it becomes possible to control the movement of the vehicle body more complicatedly. In particular, when a vehicle body that can move in all directions is constructed using omni wheels, etc., it is possible to control the movement (including rotation) of the vehicle body in all directions by incorporating brakes on at least three of the wheels. It becomes. In addition, since no actuator is used, the structure is relatively simple and the number of batteries required for operation is reduced.

Another embodiment of the present invention will be described.
-By incorporating a sensor system that recognizes environmental information such as a visual system, an ultrasonic sensor, and a laser range finder into a moving carriage, it becomes possible to prevent a collision with an obstacle in advance. In addition, by recognizing the distinction between a roadway and a sidewalk, staircases, etc., the user can use the system only in a safe place. In addition, by using these sensor systems and constantly grasping the distance between the user and the moving carriage, the movement of the moving carriage is changed according to the position of the user, and control such as speed change and stop is performed. The mobile cart can be used more safely by adding a safety function to stop or stop the mobile cart when the user goes away from the mobile cart.

・ Equipped with a force sensor, etc., on the part of the moving carriage that comes into contact with humans, estimates human intentions and conditions from the information, and adjusts the braking force of each wheel based on the information to provide appropriate human support. Can be done.

-The omnidirectional movement function can be realized by using wheels such as a Mecanum wheel and an omni wheel as the wheels of the moving carriage.

This system can be applied not only to the purpose of supporting walking, but also to a system that aims to guide a blind person to a target location, for example. It can also be applied to, for example, baby carriages, children's walker, silver carts, wheelchairs, etc., by controlling the braking force of each wheel of these carts based on the user's condition and environmental information, and easily A system that can be used safely can be constructed.

・ It can be easily used by changing the braking force attached to the moving cart according to the characteristics of the user's athletic ability and habit, the environment using the moving cart, the work using the moving cart, etc. .

-It can also be applied to an object handling system based on human forces or forces generated by some other system, and can be expected to be widely used. For example, in hospitals, it can be used for exercise control of meal distribution vehicles, beds, stretchers, etc., and in supermarkets, it can be applied to shopping carts. In addition, it can also be applied to handling heavy objects in factories and airports, and environmental information, etc., by moving one or more passive mobile trolleys with at least one mobile trolley. Therefore, it is possible to safely transport a large amount of luggage without colliding with an obstacle or the like.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

It is a perspective view of the prototype of the passive type mobile trolley concerning the present invention. It is a perspective view of the rear-wheel part in which the powder brake was integrated. It is explanatory drawing of the principle of operation of a powder brake. FIG. 2 is a diagram showing a kinematic model in Embodiment 1 of the passive mobile trolley according to the present invention. It is a block diagram of a speed control system. It is explanatory drawing of a path | route following control algorithm. It is explanatory drawing of an experiment without brake control in the straight running by gravity using inclination. It is explanatory drawing of an experiment with brake control in the straight running by gravity using the inclination. It is a figure which shows the experimental result of speed control. It is a figure which shows the experimental result of a linear path | route. It is explanatory drawing of S character path follow-up experiment. It is a figure which shows the experimental result of S character path following. It is a figure which shows the kinematic model in Example 2 of the passive type mobile trolley | bogie which concerns on this invention. It is explanatory drawing of the path | route following control algorithm in Example 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile trolley 2 Rear wheel 3 Front wheel 4 Powder brake 5 Frame 6 Control apparatus 9 Encoder

Claims (2)

A vehicle body stably supported by a plurality of wheels;
A brake capable of controlling a braking torque incorporated in at least two of the plurality of wheels;
Means for setting a target angular acceleration, angular velocity, and rotation angle of each wheel incorporating the brake;
Control means for independently controlling the braking force of the brake according to the set target angular acceleration, angular velocity and rotation angle of each wheel,
The control means controls the braking force of each wheel brake based on the force applied by a person or the like, environmental information, etc., and changes the motion characteristics including the moving direction and moving speed of the vehicle body, Trolley. A vehicle body stably supported by a plurality of wheels;
A brake capable of controlling a braking torque incorporated in at least two of the plurality of wheels;
A means of specifying a target route;
The target angular velocity of each wheel is derived from the relative angle between the target route and the traveling direction of the vehicle body, the distance between the target route and the vehicle body, the actual angular velocity of the vehicle body, etc., and the brake of each wheel is braked based on the target angular velocity. Control means for determining and independently controlling the force,
The said control means controls the braking force of the brake of each wheel based on the force which a person etc. apply, and makes the vehicle body move along the said target path | route, The passive type mobile cart characterized by the above-mentioned.

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