JP2010089554A - Omnidirectional movement vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an omnidirectional movement vehicle exerting strong running-through performance on an outdoor rough road and in a place having a step and exerting a travelling function movable to all directions in a narrow place such as the inside of a house. <P>SOLUTION: The omnidirectional movement vehicle includes right and left front wheels 20R, 20L, right and left rear wheels 30R, 30L, and a body 40 supporting the front wheels and rear wheels, the front wheels and rear wheels are respectively provided with a plurality of rotors arranged side by side along the outer periphery of the wheels, and each rotor is individually supported rotatably around an axis orthogonal to a rotation axis of the wheel. The omnidirectional movement vehicle further includes vertical rotary shafts 60 extending in the vehicle vertical direction and attached with the front wheels 20R, 20L and the rear wheels 30R, 30L at four corners of the body 40, and turning means 70 turning the front wheels and rear wheels around the vertical rotary shafts. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention includes a plurality of rotating bodies arranged side by side along the outer circumference of the wheel, and each rotating body is disposed in a swivel manner so that each rotating body is rotatably supported around an axis orthogonal to the wheel rotation axis. The present invention relates to a four-wheeled vehicle.

  2. Description of the Related Art Conventionally, various traveling devices having wheels as means for moving a person are known. In this type of traveling device, at least three or four wheels are disposed at a corner portion of the body or a portion close thereto.

  As this type of vehicle, there is a type in which a pair of front wheels and a rear wheel as a pair of drive wheels are provided, and the axles of the wheels are arranged in the vehicle width direction, that is, vehicles in which the wheels are attached to the body in a non-turning manner. Are known. In such a vehicle, since the wheels themselves do not change the direction, the traveling direction is changed by giving a difference in rotational speed between the left and right drive wheels.

  An omnidirectional wheel 200 shown in FIG. 4A has been developed in order to enhance the traveling function of a vehicle in which the wheel does not change its direction. The omnidirectional wheel 200 includes a plurality of rotating bodies 210 along the outer peripheral edge of the wheel. For example, as illustrated in FIG. 4B, each rotating body 210 is formed so as to gradually expand from the disk-shaped bottom portion 211 toward the opening portion 212 and is formed in a cup shape. Each rotator 210 is disposed such that its tapered bottom region partially enters the inside from the opening 212 of the other rotator, and each rotator 210 is connected to form a circular shape by each rotator 210. A contour is defined. This type of omnidirectional wheel 200 is disclosed in Patent Documents 1-5.

Furthermore, in recent years, as a four-wheel drive type vehicle equipped with the omnidirectional wheel 200, a type that can move more smoothly in all directions has been developed. For example, a four-wheel drive vehicle 300 shown in FIG. 5 has an omnidirectional wheel 200 disposed at each of the four corners of the body, and a motor 250 provided on each omnidirectional wheel so as to drive each omnidirectional wheel separately. And the axle 220 (see FIG. 4A) of each omnidirectional wheel 200 is disposed so as to be inclined from the vehicle width direction so as to face the center Z side of the body 260.
As shown in FIG. 5, the four-wheel drive vehicle 300 includes a motor driver 310, a control computer 320 that controls the motor driver 310, and a joystick or robot controller 330 that transmits an instruction signal to the control computer 320. I have. The joystick 330 is provided with levers and knobs. When the operator turns the levers and knobs, the indicated value is read by the control computer 320, and the control computer 320 calculates the rotation speed of each motor 250 by matrix calculation. In calculation, speed information is sent from the control computer 320 to the motor driver 310. Then, the motor driver 310 drives each motor 250 based on the speed information. As a result, the four-wheel drive vehicle 300 travels as follows.

As shown in FIG. 6A, when the control computer 320 and each motor driver 310 control each motor 250 to cause each wheel 200 to rotate normally, the four-wheel drive vehicle 300 moves forward.
As shown in FIG. 6B, when the right front wheel 200 and the left rear wheel 200 are rotated forward and the other wheels 200, that is, the left front wheel and the right rear wheel are not rotated, the four-wheel drive type is used. The vehicle 300 moves forward to the left. In this case, when the right front wheel 200 and the left rear wheel 200 are reversed, the four-wheel drive vehicle 300 moves diagonally to the right rear. Contrary to FIG. 6B, when the rotation of the right front wheel 200 and the left rear wheel 200 is stopped and the other wheels 200, that is, the left front wheel 200 and the right rear wheel 200 are rotated forward or reversely, The four-wheel drive vehicle 300 moves obliquely toward the right front or left rear.

  As shown in FIG. 6 (C), the control computer 320 and each motor driver 310 rotate the left wheel 200 forward and reverse the right wheel 200. At this time, the rotation speed of each wheel 200 is the same. If there is, the four-wheel drive vehicle 300 rotates on the spot. When the rotation direction of each wheel 200 is reversed from that in FIG. 6C, the four-wheel drive vehicle 300 rotates counterclockwise on the spot.

Thus, according to the four-wheel drive vehicle 300, omnidirectional movement including rotation is possible. When this four-wheel drive vehicle 300 is configured as an electric wheelchair, the electric wheelchair can be moved in a lateral direction without turning over in a small room, which is convenient. Furthermore, when the four-wheel drive vehicle 300 is applied to heavy-weight vehicles and robots such as forklifts and automated guided vehicles (AGVs) as well as electric wheelchairs, they can move in all directions. Therefore, delicate positioning can be performed quickly.
This type of four-wheel drive vehicle is disclosed in Patent Document 6.

JP 2002-58707 A JP 2002-137602 A JP 2003-154802 A JP 2003-154803 A JP 2005-343277 A JP-A-2005-47312

  However, when there is a step in the traveling direction, the four-wheel drive vehicle 300 as shown in FIG. 5 has a weak force over the step and is not suitable for traveling outdoors with many obstacles such as a step.

  The present invention has been created in view of the above points, and exhibits a powerful running performance in places with outdoor rough roads and steps, and has a traveling function that can move in all directions in narrow places such as indoors. The objective is to provide an omnidirectional mobile vehicle that can be demonstrated.

In order to achieve the above object, the present invention includes left and right front wheels, left and right rear wheels, and a body that supports the front wheels and the rear wheels, and the front wheels and the rear wheels are arranged side by side along the outer periphery of the wheels. A plurality of rotating bodies, and each rotating body is supported so as to be rotatable around an axis orthogonal to the rotational axis of the wheel, and the vehicle is vertically moved at four corners of the body. A vertical rotation shaft extending in the direction and having a front wheel and a rear wheel attached thereto, and a rotating means for rotating the front wheel and the rear wheel around the vertical rotation shaft are provided.
In the omnidirectional mobile vehicle of the present invention, preferably, the rotating means includes a front wheel rotating means for rotating the left and right front wheels simultaneously, and a rear wheel rotating means for rotating the left and right rear wheels simultaneously.

  According to the present invention, the direction of the wheel relative to the body can be easily changed according to the road surface condition. Accordingly, it is possible to exhibit a strong running performance in a place having a rough road or a step outdoors, and a traveling function capable of moving in all directions in a narrow place such as indoors.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the figure, Fr indicates the front of the omnidirectional vehicle, and LH indicates the left direction in the width direction of the omnidirectional vehicle.
FIG. 1 is a plan view of an omnidirectional vehicle 10 according to an embodiment of the present invention.
The omnidirectional vehicle 10 includes left and right front wheels (hereinafter simply referred to as wheels) 20L and 20R, left and right rear wheels (hereinafter also simply referred to as wheels) 30L and 30R, and front wheels 20L, And a body 40 that supports the rear wheels 30L and 30R.
In this omnidirectional vehicle 10, each wheel 20L, 20R, 30L, 30R is configured as an omnidirectional wheel as shown in FIG. A wheel-in motor 50 is attached to each of these wheels 20L, 20R, 30L, 30R.

  Furthermore, in the present embodiment, each of these wheels 20L, 20R, 30L, 30R is swivel with respect to the body 40, that is, the rotary shaft 220 (see FIG. 4) is disposed so that the direction of its axis can be changed. It is characterized by having.

  Vertical rotation shafts 60 extending in the vertical direction of the vehicle are respectively disposed at the four corners of the body 40 so that the wheels 20L, 20R, 30L, and 30R are disposed in a swinging manner with respect to the body 40. ing. Although not shown, each vertical rotation shaft 60 is rotatably attached to, for example, a bracket fixed to the corner portion of the body 40. A case 51 constituting a wheel-in motor 50 for the front wheels 20L, 20R and the rear wheels 30L, 30R is fixed to each of the vertical rotation shafts 60. For example, a bracket (not shown) fixed to the case 51 of each wheel-in motor 50 is fixed to the corresponding vertical rotation shaft 60.

  The omnidirectional vehicle 10 of the present embodiment includes a rotating means 70 for rotating the front wheels 20L, 20R and the rear wheels 30L, 30R around the vertical rotation shaft 60. The rotating means 70 includes a front wheel rotating means 71 that rotates the left and right front wheels 20L and 20R simultaneously, and a rear wheel rotating means 72 that rotates the left and right rear wheels 30L and 30R simultaneously.

The front wheel rotating means 71 includes a front wheel turning motor 71A, a front wheel turning lever 71B, a front wheel turning first rod 71C, and a front wheel turning second rod 71D.
Here, the front wheel turning motor 71A is fixed to the body 40, and is fixed to the front side of the upper surface of the rectangular plate 41 constituting the body 40 in the illustrated example. The front wheel turning motor 71A has a front wheel turning rotation shaft 71E, and the front wheel turning rotation shaft 71E protrudes in the vehicle vertical direction at an intermediate portion in the width direction of the left and right front wheels 20L and 20R.

  The front wheel turning lever 71B is attached to the front wheel turning rotary shaft 71E at an intermediate position in the longitudinal direction and rotates together with the front wheel turning rotary shaft 71E. A front wheel turning first rod 71C is rotatably attached to one end of the front wheel turning lever 71B and the left front wheel 20L, and is rotatable to the other end of the front wheel turning lever 71B and the right front wheel 20R, respectively. A second rod 71D for turning the front wheel is attached. As shown in FIG. 1, the front wheel turning first rod 71 </ b> C and the front wheel turning second rod 71 </ b> D are connected to a position behind the mounting position of the vertical rotation shaft 60 on the inner surface of the case 51.

The length L1 of the front wheel turning first rod 71C and the front wheel turning second rod 71D is set to be longer than half the width W of the body 40 (W × 1/2), as shown in FIG. Yes.
The front wheel turning rotary shaft 71E and the front wheel turning lever 71B are rotated by driving the front wheel turning motor 71A, and the front wheel turning first rod 71C and the front wheel turning second rod 71D are moved. The front wheels 20L and 20R rotate around. That is, as indicated by an arrow A in FIG. 1, when the front wheel turning motor 71A and the front wheel turning lever 71B rotate to the right, the front wheel turning first rod 71C and the front wheel turning second rod 71D are pushed left and right. The left and right front wheels 20L, 20R open in a square shape.

  A rotation sensor (not shown) is attached to the front wheel turning lever 71B. For example, a rotary encoder as a rotation sensor is attached to the front wheel turning rotary shaft 71E, and a front wheel turning lever 71B is attached to the front wheel turning rotary shaft 71E via the rotary encoder. The opening angle θ of the front wheels 20L and 20R is calculated by such a rotation sensor. This angle θ is sent to a control computer 92 (see FIG. 2 described later), and the rotation speed of each motor 50 is calculated. The rotation speed of each motor 50 is sent to a motor driver 91 (see FIG. 2 described later), and the motor 50 is driven.

In order to reduce the opening angle θ of the front wheels 20L, 20R with respect to the body 40, the front wheel turning lever 71B is rotated counterclockwise, and the front wheel turning first rod 71C and the front wheel turning second are reversed. Pull the rod 71D inward.
The front wheel turning rotary shaft 71E and the front wheel turning lever 71B are rotated by driving the front wheel turning motor 71A, and the front wheel turning first rod 71C and the front wheel turning second rod 71D are moved. The front wheels 20L and 20R rotate around.

The rear wheel rotating means 72 includes a rear wheel turning motor 72A, a rear wheel turning lever 72B, a rear wheel turning first rod 72C, and a rear wheel turning second rod 72D.
Here, the rear wheel turning motor 72A is fixed to the body 40, and is fixed to the rear side of the upper surface of the plate 41 constituting the body 40 in the illustrated example. The rear wheel turning motor 72A has a rear wheel turning rotation shaft 72E, and the rear wheel turning rotation shaft 72E protrudes in the vehicle vertical direction at an intermediate portion in the width direction of the left and right rear wheels 30L, 30R.
The rear wheel turning lever 72B is attached to the rear wheel turning rotary shaft 72E at an intermediate position in the longitudinal direction and rotates together with the rear wheel turning rotary shaft 72E. A first rear wheel turning rod 72C is rotatably attached to one end of the rear wheel turning lever 72B and the left rear wheel 30L, and the other end of the rear wheel turning lever 72B and the right rear wheel 30R are attached. The rear wheel turning second rod 72 </ b> D is attached to each of the two wheels in a rotatable manner. As shown in FIG. 1, the rear wheel turning first rod 72 </ b> C and the rear wheel turning second rod 72 </ b> D are connected to the front side of the mounting position of the vertical rotation shaft 60 on the inner surface of the case 51.

The length L2 of the rear wheel turning first rod 72C and the rear wheel turning second rod 72D is set to be longer than half of the body width W (W × 1/2), as shown in FIG. ing.
By driving the rear wheel turning motor 72A, the rear wheel turning rotary shaft 72E and the rear wheel turning lever 72B rotate, and the rear wheel turning first rod 72C and the rear wheel turning second rod 72D move. The rear wheels 30L and 30R rotate around the vertical rotation shaft 60. That is, when the rear wheel turning motor 72A and the rear wheel turning lever 72B rotate to the right, the rear wheel turning first rod 72C and the rear wheel turning second rod 72D are pushed left and right, and the left and right rear wheels 30L, 30R opens in a reverse C shape.

  A rotation sensor (not shown) is attached to the rear wheel turning lever 72B. For example, a rotary encoder as a rotation sensor is attached to the rear wheel turning rotary shaft 72E, and a rear wheel turning lever 72B is attached to the rear wheel turning rotary shaft 72E via the rotary encoder. The opening angle of the rear wheels 30L and 30R is calculated by such a rotation sensor. This angle is sent to a control computer 92 (see FIG. 2 described later), and the number of rotations of each motor 50 is calculated. The rotation speed of each motor 50 is sent to a motor driver 91 (see FIG. 2 described later), and the motor 50 is driven.

In order to reduce the opening angle of the rear wheels 30L and 30R with respect to the body 40, the rear wheel turning lever 72B is rotated counterclockwise, and the rear wheel turning first rod 72C and the rear wheel turning are reversed. The second rod 72D is pulled inward.
By driving the rear wheel turning motor 72A, the rear wheel turning rotary shaft 72E and the rear wheel turning lever 72B rotate, and the rear wheel turning first rod 72C and the rear wheel turning second rod 72D move. The rear wheels 30L and 30R rotate around the vertical rotation shaft 60.

  Further, a brake device 80 is provided on the rear wheels 30L and 30R of the present embodiment. In the present embodiment, for example, the rotor brake disclosed in paragraph (0017) of Japanese Patent Application Laid-Open No. 2004-344289 and FIG. 4 can be used as the brake device 80. The brake device 80 does not suppress the rotation of the rear wheels 30L and 30R, but suppresses the rotation of each rotating body 210 of the omnidirectional wheel 200 as shown in FIG. 4 forming the rear wheels 30L and 30R. When the brake device 80 is operated, the rotation of each rotating body 210 is restricted, so that the rear wheels 30L and 30R cannot move in the lateral direction. Note that the rotation of the rear wheels 30L and 30R themselves around the rotation shaft 220 (see FIG. 4) is suppressed by, for example, an electromagnetic brake attached to the motors of the rear wheels 30L and 30R.

FIG. 2 is a block diagram of a control system in the omnidirectional vehicle 10 according to the embodiment of the present invention. As shown in FIG. 2, the omnidirectional vehicle 10 includes a motor driver 91, a control computer 92 that controls the motor driver 91, and a joystick or robot controller 93 that transmits an instruction signal to the control computer 92. . In the figure, 50 is a motor for traveling, 80 is a brake device, 71A and 72A are motors for driving a lever, and 94 is a rotation sensor (so-called angle sensor).
In this embodiment, from the joystick or robot controller 93 to the control computer 92, for example, a turning signal for turning the front wheels 20L, 20R and / or the rear wheels 30L, 30R, and the front wheels 20L, 20R and / or the rear wheels 30L, 30R. A travel signal for traveling while rotating and a stop signal for decelerating during the travel signal are sent.

  When receiving the turning signal, the control computer 92 drives the lever driving motor, that is, the front wheel turning motor 71A and the rear wheel turning motor 72A to rotate the front wheel turning lever 71B and the rear wheel turning lever 72B. . By rotation of these levers 71B and 72B, the first rods 71C and 72C and the second rods 71D and 72D connected to the levers 71B and 72B move, and the front wheels 20L and 20R and the rear wheels 30L and 30R are vertically rotated. Rotate around 60 to change the angle relative to the body 40.

  When the control computer 92 receives the travel signal, the rotation angle of the front wheels 20L and 20R and the rear wheels 30L and 30R is calculated by the rotation sensor 94, and this angle is sent to the control computer 92. The rotational speed of each motor 50 is calculated, and the rotational speed of each motor 50 is sent to the motor driver 91 to drive the motor 50. Thereby, the wheel rotates and the omnidirectional vehicle 10 travels.

The control computer 92 activates the brake device 80 when receiving a signal to stop the rotation of the rotating body 210 of the rear wheels 30L and 30R. Thereby, the rotation of the rotating body 210 of the rear wheels 30L and 30R is suppressed, and the rear wheels 30L and 30R of the omnidirectional vehicle 10 are rotated around the rotation shaft 220 (see FIG. 4) like a general tire. Progress in the direction of rotation.
When receiving a signal to stop the vehicle, the control computer 92 activates the electromagnetic brakes of the rear wheels 30L and 30R to suppress the rotation of the rear wheels 30L and 30R. As a result, the omnidirectional vehicle 10 decelerates, and the vehicle stops if the time for suppressing rotation is long.

The omnidirectional vehicle configured as described above can travel in a mode as shown in FIGS. 3 (A) to 3 (C), for example.
FIG. 3A is a view showing the omnidirectional vehicle 10 in the four-wheel drive mode. In this four-wheel drive mode, the rotation shafts 220 of the front wheels 20L and 20R and the rear wheels 30L and 30R are orthogonal to the front-rear direction. The direction, that is, the rotational direction of each wheel is all in the front-rear direction.
In this mode, the brake device 80 is activated, and the rotating bodies 210 of the rear wheels 30L and 30R are restrained from rotating. Therefore, the rear wheels 30L and 30R function like ordinary tires and around the rotating shaft 220. Plays the role of moving the vehicle in the direction of rotation.
Therefore, all the wheels can rotate in the same direction. Thereby, when all the wheels are rotated in the forward rotation direction, high forward traveling performance can be exhibited, and for example, good traveling can be performed even on rough terrain such as outdoor steps, sandy beaches, and snowy roads.

FIG. 3B is a diagram showing the omnidirectional vehicle 10 in the hybrid mode. In the hybrid mode, only the front wheels 20L and 20R are vertically moved by the front wheel turning motor 71A from the four-wheel drive state shown in FIG. Rotate around the rotation axis 60 and open in a square shape. The rear wheels 30L and 30R have all the rotation directions of the rear wheels 30L and 30R in the front-rear direction, that is, the direction in which the rotation shaft 220 is orthogonal to the front-rear direction.
In this hybrid mode, the omnidirectional vehicle 10 can travel in the four-wheel drive mode or the omnidirectional movement mode.
In the four-wheel drive mode, the brake device 80 is operated, and the rotation of the rotating bodies 210 of the rear wheels 30L and 30R is suppressed, causing the rear wheels 30L and 30R to function like ordinary tires, and the rear wheels 30L. , 30R advances the vehicle in the direction of rotation around the rotation shaft 220.
In the omnidirectional movement mode, the rotation of the rotating bodies 210 of the rear wheels 30L and 30R is allowed without operating the brake device 80, and the rear wheels 30L and 30R are not allowed to move in the lateral direction unlike ordinary tires. It becomes possible.
Among the hybrid modes, according to the four-wheel drive mode, the rear wheels 30L and 30R rotate in the forward rotation direction, thereby improving the forward traveling performance. On the other hand, according to the omnidirectional movement mode, the direction can be easily changed by rotating the left and right front wheels 20L and 20R and the left and right rear wheels 30L and 30R in the forward or reverse direction.

FIG. 3C is a diagram showing the omnidirectional vehicle 10 in the omnidirectional movement mode. The four-wheel drive state shown in FIG. 3B is used to rotate the rear wheels 30L and 30R with the rear-wheel turning motor 72A. Rotate it around 60 and open it upside down. By controlling the rotation of each of the four wheels, the omnidirectional vehicle 10 can easily move in all directions. Thereby, it is possible to move freely in a narrow indoor place without troublesome operations such as turning over. In the omnidirectional movement mode, for example, unlike the four-wheel drive mode and the hybrid mode, the brake device 80 is always opened.
Each mode is switched between the four-wheel drive mode in FIG. 3 (A), the four-wheel drive mode in FIG. 3 (B), the omnidirectional movement mode in FIG. 3 (B), and the omnidirectional movement mode in FIG. 3 (C). Follow the order or reverse order.

As described above, the omnidirectional vehicle 10 according to the embodiment of the present invention exhibits strong running performance in a place having a rough road or a step outdoors in the four-wheel drive mode, and indoors in the omnidirectional movement mode. In a narrow place, it exhibits a traveling function that can move in all directions. In the hybrid mode, it is less effective than the four-wheel drive mode and the omnidirectional movement mode, but both functions can be exhibited.
In addition, since the omnidirectional vehicle 10 according to the embodiment of the present invention can switch between the four-wheel drive mode and the omnidirectional movement mode while traveling, the omnidirectional vehicle 10 is applied as a traveling means for a robot or an AVG. The working time of the robot and AVG can be shortened.

Although detailed above, the present invention can be implemented in various forms without departing from the spirit of the present invention.
In the embodiment, the case where the left and right front wheels are simultaneously rotated around the vertical rotation shaft 60 by the front wheel rotation means 71 has been described. However, the left and right front wheels 20L and 20R are separately rotated around the vertical rotation shaft 60. May be configured. The left and right rear wheels 30L and 30R may also be individually driven and controlled to rotate about the vertical rotation shaft 60.
The present invention can be applied not only to robots and AVGs but also to electric wheelchairs.
In the omnidirectional vehicle of the present invention, the structure of the body is not limited to the above-described configuration example. For example, the body structure is configured by combining a pipe-shaped member or a combination of a pipe-shaped member and a plate-shaped member. Also good.

1 is a plan view of an omnidirectional vehicle according to an embodiment of the present invention. It is a block diagram of a control system in the omnidirectional vehicle according to the embodiment of the present invention. (A)-(C) are the figures for demonstrating the driving | running | working method of the omnidirectional mobile vehicle of FIG. (A) is a perspective view which shows the conventional omnidirectional wheel, (B) is a figure which shows the rotary body of an omnidirectional wheel. It is a perspective view which shows the conventional four-wheel drive vehicle. (A)-(C) are the figures for demonstrating the driving | running | working method of the four-wheel drive vehicle of FIG.

Explanation of symbols

10 omnidirectional vehicle 20L, 20R front wheel 30L, 30R rear wheel 40 body 41 plate 50 wheel-in motor 51 case 60 vertical rotating shaft 70 rotating means 71 front wheel rotating means 71A front wheel turning motor 71B front wheel turning lever 71C for front wheel turning First rod 71D Front wheel turning second rod 71E Front wheel turning rotary shaft 72 Rear wheel rotating means 72A Rear wheel turning motor 72B Rear wheel turning lever 72C Rear wheel turning first rod 72D Rear wheel turning second rod 72E Rotating shaft for turning rear wheel 80 Brake device 91 Motor driver 92 Control computer 93 Robot controller 94 Rotating sensor 200 Omni-directional wheel 210 Rotating body 211 Bottom 212 Opening 220 Axle 220 Rotating shaft A Arrow W Width Z Center

Claims (5)

A plurality of rotating bodies including left and right front wheels, left and right rear wheels, and a body that supports the front wheels and the rear wheels, wherein the front wheels and the rear wheels are arranged along the outer circumference of the wheels, respectively. Each rotator is supported so as to be rotatable around an axis orthogonal to the rotation axis of the wheel, respectively,
A vertical rotation shaft that extends in the vehicle up-down direction at four corners of the body and to which the front wheel and the rear wheel are attached; and a rotating means that rotates the front wheel and the rear wheel around the vertical rotation shaft. An omnidirectional mobile vehicle characterized by that.   2. The omnidirectional vehicle according to claim 1, wherein the rotating means includes a front wheel rotating means for simultaneously rotating left and right front wheels.   The omnidirectional vehicle according to claim 1 or 2, wherein the rotating means includes rear wheel rotating means for simultaneously rotating left and right rear wheels. The front wheel rotating part is attached to the front wheel turning rotary shaft at a middle position in the longitudinal direction, and a front wheel turning motor having a front wheel turning rotary shaft protruding in the vehicle vertical direction at an intermediate part in the width direction of the left and right front wheels. A front wheel turning lever that rotates together with the front wheel turning rotary shaft, a front wheel turning first rod rotatably attached to one end of the front wheel turning lever and the left front wheel, and the front wheel turning lever. A front rod turning second rod rotatably attached to the other end and the right front wheel,
The front wheel turning rotary shaft and the front wheel turning lever are rotated by the driving of the front wheel turning motor, and the first and second rods for turning the front wheels are moved to move the front wheel around the vertical rotation shaft. The omnidirectional vehicle according to claim 2, wherein the vehicle rotates. The rear wheel rotating unit includes a rear wheel turning motor having a rear wheel turning rotary shaft projecting in the vehicle vertical direction at an intermediate portion in the width direction of the left and right rear wheels, and the rear wheel turning at an intermediate position in the longitudinal direction. A rear wheel turning lever attached to the rotating shaft for rotation and rotating together with the rotating shaft for turning the rear wheel, and a first rear wheel turning lever rotatably attached to one end of the rear wheel turning lever and the left front wheel. A rod, and a rear wheel turning second rod rotatably attached to the other end of the rear wheel turning lever and the right front wheel,
The rear wheel turning rotary shaft and the rear wheel turning lever are rotated by the driving of the rear wheel turning motor and the first and second rods for turning the rear wheel are moved. The omnidirectional vehicle according to claim 3 or 4, wherein the rear wheel rotates.