JP7365084B1 - traveling device - Google Patents

Abstract

[Problem] To achieve both torque requirements and quietness during running even when using small diameter wheels. A traveling device 1 includes a chassis 10, a first motor 11 and a second motor 12 mounted on the chassis 10, and output shafts 11b and 12b of the first motor 11 and the second motor 12, respectively. It includes a first wheel 13 and a second wheel 14 attached. Each of the first motor 11 and the second motor 12 is mounted on the chassis 10 at an angle inclined with respect to the contact surfaces of the output shafts 11b, 12b, the first wheel 13, and the second wheel 14. [Selection diagram] Figure 2

Description

The present invention relates to a motor-driven traveling device that travels on lanes that have been laid in advance.

2. Description of the Related Art Model cars that transmit power from a motor to wheels via gears and shafts have been known (for example, Patent Document 1). This model car basically travels straight, but if a lane with left and right side walls is used, it can be driven along this lane.

Japanese Patent Application Publication No. 2006-198206

Incidentally, although it is necessary to employ a relatively large-diameter motor in order to obtain large torque, there are cases where large-diameter wheels cannot be mounted on the traveling device due to restrictions on the width of the lane or the height of the side walls, for example. In this case, the first consideration is to attach a small-diameter wheel directly to the output shaft of a large-diameter motor, but in that case, the small-diameter wheel would float above the running surface, and the torque from the motor would be transferred to the running surface. unable to communicate adequately. Therefore, as an alternative, interposing gears or shafts between the motor and the wheels is also being considered. However, in that case, rotation noise from the gears and shafts will be generated, making it difficult to maintain quietness. As described above, when using a large-diameter motor and small-diameter wheels, there is a problem in that it is difficult to achieve both torque requirements and quietness. Furthermore, if gears or shafts are required as a power transmission mechanism for the traveling device, the traveling device cannot be sufficiently miniaturized and may also become a cause of failure.

In addition, when the traveling device is driven in a lane with left and right side walls, there will not be any major problems if the traveling device travels completely straight, but for example, the weight balance of the vehicle body, the mounting position of the wheels, the degree of tire wear, etc. If there is a bias in the direction of the vehicle, the traveling device may not travel straight but may travel biased to the left or right. In fact, it is extremely difficult to make a traveling device go completely straight, and most traveling devices have a bias in the direction of travel. Furthermore, in order to ensure that the vehicle moves straight, a sensor may be installed inside or outside the vehicle body to detect miscalculations of the vehicle attitude or straight motion, and the errors may be corrected in the control. However, due to limitations such as cost and space inside the vehicle, it is not possible to install a sensor that detects the direction of travel of the vehicle, and due to the conditions of the space in which the vehicle is traveling (such as driving in a dark place), Due to problems such as difficulty in detecting the vehicle's attitude and direction of travel, it may not be possible to control the vehicle's attitude or straight-line movement. In this case, the traveling device travels along the lane while continuing to contact either the left or right sidewall of the lane. In this case, problems arise, such as a reduction in the traveling speed of the traveling device and uneven wear on the vehicle body and tires. For this reason, there is a desire to avoid a situation where the traveling device continues to travel in contact with either the left or right sidewall of the lane.

Therefore, the first object of the present invention is to achieve both torque requirements and quietness during running when using small-diameter wheels. A second object of the present invention is to suppress the traveling device from continuing to travel biased to either the left or right side within the lane. The present invention aims to solve at least one of the first problem and the second problem described above.

The present invention relates to a traveling device 1. The present invention relates to a traveling device 1. The traveling device 1 includes a chassis 10, a first motor 11, a second motor 12, first wheels 13, and second wheels 14. The first motor 11 and the second motor 12 are mounted on the left and right sides of the chassis 10, respectively. Note that the traveling device 1 only needs to include at least two motors 11 and 12, and may further include another motor (a third motor, a fourth motor). The first wheel 13 is attached to the output shaft 11b of the first motor 11, and the second wheel 14 is attached to the output shaft 12b of the second motor 12. Here, the first motor 11 and the second motor 12 are mounted on the chassis 10 so that their output shafts 11b and 12b are inclined with respect to the contact surfaces of the first wheels 13 and the second wheels 14, respectively. has been done. Note that the "ground contact surface" herein refers to the line segment that connects the contact point with the first wheel 13 and the contact point with the second wheel 14 on the flat surface when the traveling device 1 is placed on the flat surface. are parallel surfaces. Moreover, the "angle inclined to the ground plane" specifically means that each output shaft 11b, 12b is not parallel or perpendicular to the ground plane, and the wheels 13, 14 side of each output shaft 11b, 12b is not parallel to or perpendicular to the ground plane. This means that it is tilted downward.

As in the above configuration, by tilting the output shaft 11b of the first motor 11 and the output shaft 12b of the second motor 12, for example, small diameter wheels 13 and 14 can be directly attached to each output shaft 11b and 12b. Also, the wheels 13 and 14 are grounded on the running surface, and the torque from each motor 11 and 12 can be sufficiently transmitted to the running surface. Furthermore, each wheel 13, 14 can be directly attached to each motor 11, 12, and there is no need to interpose gears or shafts between each wheel 13, 14 and each motor 11, 12, so that driving At times, the rotation noise of gears and the like is not generated, making it possible to improve quietness during driving. Furthermore, by eliminating intermediate members such as gears and shafts, the traveling device 1 can be easily miniaturized, breakdowns are less likely to occur, and maintenance is also facilitated.

In the traveling device 1 according to the present invention, the first wheel 13 and the second wheel 14 preferably include wheel members 13a, 14a and tire members 13b, 14b, respectively. The wheel members 13a, 14a are directly attached to the output shafts 11b, 12b of the respective motors 11, 12 (rotatably supported by the shafts). The tire members 13b, 14b are attached to the outer periphery of the wheel members 13a, 14a. Note that it is preferable that the tire members 13b and 14b are replaceable. Since the wheel members 13a and 14a are directly fixed to the output shafts 11b and 12b of the motors 11 and 12 in this manner, intermediate members such as gears and shafts are not required as described above.

The traveling device 1 according to the present invention may be configured such that the tire members 13b and 14b are in line contact with the ground contact surface. In conventional traveling devices (such as model cars), tire members generally make surface contact with the ground contact surface. On the other hand, in the traveling device 1 according to the present invention, since the output shafts 11b and 12b of each motor 11 and 12 are tilted as described above, the tire members 13b and 14b come into line contact with the ground contact surface. .

In the traveling device 1 according to the present invention, it is preferable that no gears are interposed between the first motor 11 and the first wheels 13 and between the second motor 12 and the second wheels 14. Thereby, as described above, it is possible to improve the quietness when the traveling device 1 runs.

It is preferable that the traveling device 1 according to the present invention further includes a control device 16 that independently controls the first motor 11 and the second motor 12. Specifically, it is preferable that the control device 16 is capable of separately controlling the rotational speed of the first motor 11 and the rotational speed of the second motor 12. As a result, various methods can be used depending on the application, such as stopping only the second motor 12 while the first motor 11 is being driven, or reducing the rotation speed of the first motor 11 to be lower than the rotation speed of the second motor 12. control is possible.

In the traveling device 1 according to the present invention, the control device 16 includes a state in which the rotational speed of the first motor 11 is faster than the second motor 12 and a state in which the rotational speed of the second motor 12 is faster than the first motor 11. It is preferable to switch between two or more types of states regularly or randomly. Furthermore, the states in which the control device 16 switches may further include a state in which the rotational speed of the first motor 11 and the rotational speed of the second motor 12 are equal, in addition to the above two types of states. In this way, by switching the slow rotational speed of the first motor 11 and the second motor 12, when the traveling device 1 runs on a lane having left and right side walls, the traveling device 1 can be moved to either the left or right side wall. Continued contact can be prevented. In other words, even if it is ideal for the traveling device 1 to travel straight, in reality, the traveling device 1 often travels biased to either the left or right side due to an unbalanced weight balance or the like. Therefore, even if the traveling device 1 tends to move toward the left, for example, the slow rotational speeds of the first motor 11 and the second motor 12 are switched regularly or randomly, so that the traveling device 1 can be moved intentionally. can be made to touch the right side wall or the left side wall. Thereby, it is possible to prevent the traveling device 1 from continuing to contact either the left or right side wall unevenly.

A traveling device 1 according to another aspect of the present invention includes a chassis 10, a first motor 11 and a second motor 12 mounted on the chassis 10, and a first wheel driven by the first motor 11 and the second motor 12. 13 and a second wheel 14, and a control device 16 that independently controls the first motor 11 and the second motor 12. The control device 16 regularly or regularly controls two or more states including a state in which the rotational speed of the first motor 11 is faster than the second motor 12 and a state in which the rotational speed of the second motor 12 is faster than the first motor 11. Switch randomly.

According to the present invention, when downsizing the traveling device by employing small-diameter wheels, it is possible to achieve both torque requirements and quietness during traveling. Further, according to the present invention, it is possible to prevent the traveling device from continuing to travel biased to either the left or right side within the lane.

FIG. 1 shows how a traveling device travels on a lane. FIG. 2 shows an example of the cross-sectional structure of the entire traveling device. FIG. 3 shows an example of a cross-sectional structure of a drive mechanism included in the traveling device. FIG. 4 is a perspective view showing an example of a drive mechanism included in the traveling device. FIG. 5 is a side view showing an example of a drive mechanism included in the traveling device. FIG. 6 is a block diagram showing a configuration example of a control device included in the traveling device. FIG. 7 schematically shows an example of basic control of a traveling device, its problems, and an example of improved control.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated using drawings. The present invention is not limited to the embodiments described below, but also includes modifications from the following embodiments as appropriate within the range obvious to those skilled in the art.

FIG. 1 shows how the traveling device 1 travels along a lane that has been laid out in advance. As shown in FIG. 1, the traveling device 1 includes a vehicle body 2 and a dome-shaped cover 3 attached to the top thereof. The vehicle body 2 is provided with a drive mechanism for driving the traveling device 1 and a light emitting mechanism for causing LEDs and the like to emit light, as will be described in detail later. The traveling device 1 receives propulsion force from the drive mechanism of the vehicle body 2 and travels along the lane. This lane is provided with side walls on both left and right sides of the running surface, and the vehicle body 2 of the traveling device 1 travels while contacting the side walls of this lane. As a result, the traveling device 1 moves forward while going straight or curving along the shape of the lane. Further, the vehicle body 2 of the traveling device 1 is equipped with a light emitting mechanism. Since the cover 3 covering the vehicle body 2 is transparent or semi-transparent, when the light emitting mechanism of the vehicle body 2 emits light, the light passes through the cover 3 and is visible from the outside. As the cover 3, for example, a known polycarbonate material or silicone material can be used. Furthermore, the cover 3 may be constituted by a half mirror. A half mirror transmits light going from the inside to the outside, and reflects light going from the outside to the inside. In this case, a half mirror film may be attached to the inner surface of the cover 3 made of, for example, a silicone member.

FIG. 2 is a sectional view showing the overall structure of the traveling device 1. Moreover, FIGS. 3 to 5 mainly show a sectional view, a perspective view, and a side view of the drive mechanism of the traveling device 1. As shown in each figure, the traveling device 1 includes a chassis 10, and various devices such as a motor and a battery (not shown) are mounted on the chassis 10. When mounting various devices on the chassis 10, they may be fixed using screws or bolts, for example, or welded with solder or the like. The shape of the chassis 10 may be designed according to the purpose of the traveling device 1. The chassis 10 may be made of plastic if it is necessary to reduce the weight of the traveling device 1, and may be made of metal if higher rigidity is required.

The traveling device 1 is provided with at least two motors 11 and 12. Wheels 13 and 14 are independently attached to each motor 11 and 12, respectively. The wheels 13 and 14 rotate by supplying electric power from a battery (not shown) to drive each motor 11 and 12, and the traveling device 1 obtains a propulsion force when these wheels 13 and 14 come into contact with the traveling surface. . In this embodiment, since the traveling device 1 employs a rear wheel drive system, the motors 11 and 12 are mounted at the rear of the chassis 10. In the illustrated example, the first motor 11 drives the first wheel 13 on the left side, and the second motor 12 drives the second wheel 14 on the right side with respect to the traveling direction of the traveling device 1. Note that the traveling device 1 is not limited to a rear wheel drive system, but may be a front wheel drive system.

As each motor 11, 12, a known motor can be adopted. Specifically, each motor 11, 12 includes a rotating part 11a, 12a including a stator and a rotor, and an output shaft (shaft) 11b for outputting the rotational force obtained by the rotating part 11a, 12a to the outside. 12b. Further, each of the wheels 13 and 14 may also be a known wheel. Specifically, each wheel 13, 14 includes wheel members 13a, 14a made of metal or plastic, and tire members 13b, 14b made of rubber with high frictional force attached to the outer periphery of the wheel members 13a, 14a. Equipped with Note that since the tire members 13b and 14b are consumables, they can be removed from the wheel members 13a and 14a and replaced as appropriate. In the present invention, for example, as shown in FIGS. 3 and 4, the wheel members 13a and 14a of the respective wheels 13 and 14 are directly fixed to the output shafts 11b and 12b of the respective motors 11 and 12. . Note that the wheel members 13a, 14 and the output shafts 11b, 12b may be fixed by frictional force generated between them, or a known fixing method such as adhesive or welding may be used. Thereby, the rotational force of the output shafts 11b, 12b is directly transmitted to the wheel members 13a, 14a. That is, in general model cars, the output shaft of the motor and the wheel members of the wheels are interlocked by intervening intermediate parts such as gears and shafts, but in the traveling device 1 according to the present invention, these intermediate members is not required.

In addition, in order to ensure torque, the rotating parts 11a, 12a (stators and rotors) of the motors 11, 12 have large diameters, and at the same time, each wheel 13, 12 is There is a desire to adopt a small diameter one. The traveling device 1 according to the present invention is also basically designed to meet these demands. In particular, by reducing the size of the wheels 13 and 14, as shown in FIG. 1, for example, it becomes difficult for the viewer to see the wheels 13, giving the impression that the dome-shaped cover 3 is running on a lane. It can be given to the viewer. However, when large-diameter motors 11, 12 and small-diameter wheels 13, 14 are used at the same time, if the output shafts 11b, 12b of the motors 11, 12 are arranged parallel to the ground plane G, the wheels 13, 14 It will float off this ground plane G. Specifically, such a problem occurs when the diameters of the tire members 13b, 14b of each wheel 13, 14 are smaller than the diameter of the rotating parts 11a, 12a of each motor 11, 12.

Therefore, in the traveling device 1 according to the present invention, even when the diameter of the tire members 13b, 14b of each wheel 13, 14 is smaller than the diameter of the rotating part 11a, 12a of each motor 11, 12, the tire member 13b, 14b Each of the motors 11 and 12 is tilted diagonally and fixed to the chassis 10 so as to contact the ground plane G. That is, as shown in FIG. 3, each motor 11, 12 is fixed to the chassis 10 so that the output shaft 11b, 12b is inclined at an angle with respect to the ground contact surface G of each wheel 13, 14. There is. More specifically, in FIG. 3, the rotation axis of the output shaft 11b of the first motor 11 is indicated by the symbol S1, the rotation axis of the output shaft 12b of the second motor 12 is indicated by the symbol S2, and the rotation axis of the output shaft 11b of the first motor 11 is indicated by the symbol S2. The ground plane is indicated by the symbol G. In this case, the angles θ1 and θ2 formed by the rotational axes S1 and S2 and the ground plane G are preferably 10 to 80 degrees, preferably 30 to 70 degrees, and preferably 45 to 60 degrees. Particularly preferred. In this way, by fixing each motor 11, 12 to the chassis 10 with the output shafts 11b, 12b inclined with respect to the ground plane G, even if each wheel 13, 14 has a small diameter, the tire member 13b and 14b can be brought into firm contact with the ground plane G.

In addition, in FIG. 3, a line perpendicular to the ground plane G is further indicated by the symbol V. Here, the rotation axes S1 and S2 of the output shafts 11b and 12b of the respective motors 11 and 12 are also inclined at an angle with respect to the vertical line V. The angles θ3 and θ4 formed by the rotational axes S1 and S2 and the vertical line V are preferably 10 to 80 degrees, preferably 20 to 60 degrees, and particularly preferably 30 to 45 degrees.

Further, when the wheels 13 and 14 are directly attached to each motor 11 and 12 as described above, and each motor 11 and 12 is tilted and fixed to the chassis 10, the wheels 13 and 14 are in line contact with the ground plane G. becomes. That is, the tire members 13b and 14b of each wheel 13 and 14 do not make surface contact with the ground contact surface G, but contact the ground contact surface G with one side (center side of the vehicle body 2) floating. Note that this situation can also be seen from the side view of the vehicle body 2 shown in FIG.

In addition to the wheels 13 and 14 (drive wheels) fixed to the motors 11 and 12 described above, the traveling device 1 includes a plurality of side rollers 18 that contact the side walls of the lane, and a running surface of the lane (ground contact surface G). ) is provided with a plurality of driven wheels 19 in contact with. These side rollers 18 and driven wheels 19 are not connected to a drive source such as a motor, but are wheels for assisting the travel of the traveling device 1. In this embodiment, the side rollers 18 are arranged one each at the front, rear, left, and right corners of the chassis 10, and the driven wheels 19 are arranged at two places in front of the chassis 10, on the left and right. Note that the number of side rollers 18 and driven wheels 19 can be increased or decreased depending on the size of the chassis 10 or the like. This makes it easier for the traveling device 1 to travel along the lane laid in advance. Note that the traveling device 1 according to the present embodiment is basically designed to travel straight when traveling on a flat surface without lanes.

For example, as shown in FIG. 2, the traveling device 1 further includes an electronic board 15, a control device 16, and a plurality of light emitting elements 17. The electronic board 15 is fixed to the chassis 10, and the control device 16 is attached to this electronic board 15. Each of the aforementioned motors 11 and 12 is electrically connected to a control device 16 via this electronic board 15 and is controlled by this control device 16. Similarly, the plurality of light emitting elements 17 are electrically connected to a control device 16 via this electronic board 15 and are controlled by this control device 16. In this way, the control device 16 is used to control the driving state of each motor 11 and 12 and the light emitting state of the light emitting element 17.

FIG. 6 is a block diagram showing a control system centered on the control device 16. In the example shown in FIG. 6, the control device 16 includes a processor 16a, a memory 16b, a communication module 16c, a drive control circuit 16d, and a light emission control circuit 16e. An example of the processor 16a is a known CPU or other control circuit. The processor 16a performs predetermined arithmetic processing according to programs and data stored in the memory 16b, and executes various control processing while writing the results of the arithmetic operations to the work space of the memory 16b. The memory 16b includes, for example, a volatile memory such as a RAM (Random Access Memory), or a nonvolatile memory such as a flash memory, and is used for arithmetic processing by the processor 16a described above. In this embodiment, the processor 16a reads a program stored in the memory 16b, and performs processing for driving each motor 11, 12 and causing each light emitting element 17 to emit light according to this program.

The communication module 16c is a communication device for wirelessly communicating with an external device. The communication module 16c performs wireless communication using known wireless communication standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), and NFC, other proprietary standards, frequencies such as the SubGHz band, or P2MP and Mesh communication other than WLAN. It may be something. For example, the control device 16 communicates with an external server device (not shown) via this communication module 16c. In this case, the control device 16 can control the driving state of each motor 11 and 12 and the light emitting state of each light emitting element 17 based on instructions received from an external server device. Further, the control devices 16 of the plurality of traveling devices 1 can also communicate with each other via the communication module 16c. In this case, information may be shared between the plurality of traveling devices 1 to control the driving state of each motor 11 and 12 and the light emitting state of each light emitting element 17. For example, position information may be shared among a plurality of traveling devices 1, and traveling speeds may be adjusted so as not to collide with each other on the lane. Alternatively, for example, position information may be shared among a plurality of traveling devices 1, and the light emitting state of each light emitting element 17 may be changed according to the mutual spacing. Note that each traveling device 1 can identify or estimate its own position information from an NFC tag placed on the lane, a Bluetooth (registered trademark) beacon, etc. using the communication module 16c.

The drive control circuit 16d supplies electric power from the battery to each motor 11 so that the first motor 11 and the second motor 12 are driven under predetermined rotation conditions (rotation speed, rotation direction, etc.). , 12. Note that by switching the rotation direction of each motor 11, 12, it is also possible to switch forward and backward movement of the traveling device 1. Further, this drive control circuit 16d can control the first motor 11 and the second motor 12 independently. Further, the light emission control circuit 16e supplies power from the battery to each light emitting element 17 so that each light emitting element 17 emits light under predetermined light emission conditions (emission color, brightness, etc.) based on a control command from the processor 16a. It is a circuit. This light emission control circuit 16e can control each light emitting element 17 independently.

Additionally, the traveling device 1 includes a battery (not shown). The battery may be a primary battery or a secondary battery. However, since operational efficiency is higher if the battery can be recharged repeatedly, it is preferable to use a secondary battery as the battery. Battery power is supplied to each motor 11, 12, a control device 16, and a light emitting element 17, for example.

FIG. 7 shows an example of control of the vehicle body 2 of the traveling device 1. FIG. 7(a) shows an example of basic control of the vehicle body 2. In the example shown in FIG. 7(a), the vehicle body 2 is controlled to always travel straight. Specifically, the traveling device 1 according to the present invention can control the left and right motors 11 and 12 independently. In order to make the vehicle body 2 go straight, the rotational speeds of the left and right motors 11 and 12 should basically be made equal. In this case, the vehicle body 2 would ideally travel straight, but in reality, the vehicle body 2 may travel to the left or right due to an imbalance in the vehicle body 2 or the like. In the example shown in FIG. 7(a), the rotational speeds of the left and right motors 11 and 12 are made equal so that the vehicle body 2 travels straight, but the vehicle body 2 actually curves to the left and travels on the left side of the lane. continues to touch the wall. If the vehicle body 2 continues to contact the side wall of the lane in this manner, there is a concern that the running efficiency of the vehicle body 2 may decrease or uneven wear may occur on the vehicle body 2 and the tire members 13b and 14b.

On the other hand, FIG. 7(b) shows an example of improved control of the vehicle body 2. In the example shown in FIG. 7(b), similarly to FIG. 7(a), we are dealing with a vehicle body 2 that has a habit of proceeding to the left even if it is attempted to proceed straight. In this case, in FIG. 7(b), the control direction of the vehicle body 2 is changed regularly. Specifically, in FIG. 7(b), the movement of the vehicle body 2 along the lane is divided into nine frames. In the first frame, the vehicle body 2 is controlled to move straight. At this time, the rotational speeds of the first motor 11 and the second motor 12 become equal. However, due to the characteristics of the vehicle body 2, the vehicle body 2 actually moves to the left. Next, in the second and third frames, the vehicle body 2 is intentionally controlled to move toward the right side. At this time, the rotation speed of the first motor 11 provided on the right side of the chassis 10 is made slower than the rotation speed of the second motor 12 provided on the left side of the chassis 10 (only the first motor 11 may be stopped). ). Next, in the fourth frame, the rotational speeds of the first motor 11 and the second motor 12 are made equal again to control the vehicle body 2 to move straight. If we pay attention to this fourth frame, we can see that the vehicle body 2 is not in contact with either side wall of the lane. This is because the vehicle body 2, which tends to move toward the left, is deliberately controlled to move toward the right, so that the force moving toward the left cancels out the force moving toward the right. This is the result.

Next, in the fifth and sixth frames, the vehicle body 2 is intentionally controlled to move toward the left. At this time, the rotation speed of the first motor 11 provided on the right side of the chassis 10 is made faster than the rotation speed of the second motor 12 provided on the left side of the chassis 10 (only the second motor 12 may be stopped). ). In this case, the vehicle body 2, which tends to move to the left, will proceed further toward the left, but since the lane is provided with a side wall, the vehicle body 2 will continue to proceed along this lane. Next, in the seventh frame, the rotational speeds of the first motor 11 and the second motor 12 are made equal again to control the vehicle body 2 to move straight. Next, in the 8th and 9th frames, similarly to the 2nd and 3rd frames, the vehicle body 2 is controlled to move toward the right side. As a result, when focusing on the 9th frame, it can be seen that the vehicle body 2 is in a state where it is not in contact with either side wall of the lane.

As described above, by regularly switching the slow rotation speeds of the first motor 11 and the second motor 12, it is possible to form a period in which the vehicle body 2 moves straight without touching the side wall of the lane. Thereby, the running efficiency of the vehicle body 2 can be improved compared to the basic control example shown in FIG. 7(a).

In the example shown in FIG. 7(b), it is unclear whether the vehicle body 2 tends to move toward the left or the right. Control is to be carried out regularly. However, if the peculiarities of the vehicle body 2 are known in advance, only one of the leftward control and rightward control may be continued. Further, in the example shown in FIG. 7B, leftward control and rightward control are performed regularly, but these controls may be performed completely randomly. Even with random control, if the probability of occurrence of left-biased control and right-biased control is approximately equal, approximately the same result as when these controls are performed regularly can be obtained.

As mentioned above, in this specification, in order to express the content of the present invention, embodiments of the present invention have been described with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and includes modifications and improvements that are obvious to those skilled in the art based on the matters described in this specification.

DESCRIPTION OF SYMBOLS 1... Traveling device 2... Vehicle body 3... Cover 10... Chassis 11... First motor 11a... Rotating part 11b... Output shaft 12... Second motor 12a... Rotating part 12b... Output shaft 13... First wheel 13a... Wheel member 13b... Tire member 14...Second wheel 14a...Wheel member 14b...Tire member 15...Electronic board 16...Control device 16a...Processor 16b...Memory 16c...Communication module 16d...Drive control circuit 16e...Light emission control circuit 17...Light emitting element 18...Side Roller 19...driven wheel

Claims (4)

chassis and
a first motor and a second motor mounted on the chassis;
comprising a first wheel and a second wheel respectively attached to output shafts for outputting the rotational force obtained by the rotating parts of the first motor and the second motor to the outside ,
Each of the first motor and the second motor is mounted on the chassis at an angle where the output shaft is inclined with respect to the ground contact surface of the first wheel and the second wheel,
Each of the first wheel and the second wheel includes a wheel member directly attached to the output shaft and a tire member attached to the outer periphery of the wheel member,
The diameters of the tire members of the first wheel and the second wheel are smaller than the diameters of the rotating parts of the first motor and the second motor,
A traveling device in which no gear is interposed between the first motor and the first wheel and between the second motor and the second wheel. The traveling device according to claim 1 , wherein the tire member is in line contact with the ground contact surface. The traveling device according to claim 1, further comprising a control device that independently controls the first motor and the second motor. The control device regularly or regularly controls two or more states including a state in which the rotational speed of the first motor is faster than the second motor and a state in which the rotational speed of the second motor is faster than the first motor. The traveling device according to claim 3 , wherein the traveling device switches randomly.

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