WO2012008005A1 - Corps mobile de type balancier inversé et robot mobile - Google Patents

Corps mobile de type balancier inversé et robot mobile Download PDF

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Publication number
WO2012008005A1
WO2012008005A1 PCT/JP2010/061759 JP2010061759W WO2012008005A1 WO 2012008005 A1 WO2012008005 A1 WO 2012008005A1 JP 2010061759 W JP2010061759 W JP 2010061759W WO 2012008005 A1 WO2012008005 A1 WO 2012008005A1
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WO
WIPO (PCT)
Prior art keywords
moving body
omni
inverted pendulum
pendulum type
foil
Prior art date
Application number
PCT/JP2010/061759
Other languages
English (en)
Japanese (ja)
Inventor
聖熹 鄭
Original Assignee
有限会社ティーエム
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 有限会社ティーエム filed Critical 有限会社ティーエム
Priority to PCT/JP2010/061759 priority Critical patent/WO2012008005A1/fr
Publication of WO2012008005A1 publication Critical patent/WO2012008005A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Definitions

  • the present invention relates to an inverted pendulum type moving body controlled to maintain an inverted posture by an inverted pendulum control model, and further to a mobile robot using the moving body as a moving means.
  • the robot footprint (planar projection area) must be minimized in order to work while moving smoothly in a space where humans are mixed. Is desirable.
  • the inverted pendulum type moving body described in Patent Literature 1 includes a chassis including a pair of wheels whose rotation axes coincide with each other, a wheel driving motor mounted on the chassis, and a control device that controls rotation of the motor. Yes.
  • the inclination of the moving body is detected by a gyro sensor provided in the main body, and the rotation angle of the wheel is detected by an encoder.
  • the control device calculates the drive torque by substituting the detected tilt angle of the main body and the rotation angle of the wheel into a preset control input formula, and performs the inversion by controlling the wheel drive motor.
  • the calculation of the control input equation is obtained by various control theories based on the motion equation of the moving body.
  • the present invention solves the above-described problems, and even if a space for changing the direction cannot be secured by taking advantage of the inverted pendulum type moving body having a small footprint, the obstacle is avoided and the target position is obtained.
  • An object is to provide an inverted pendulum type moving body that can be easily moved.
  • an inverted pendulum type moving body is an inverted pendulum type moving body in which a pair of wheels having the same rotation axis are attached to a main body and controlled based on an inverted pendulum control model.
  • a third omni foil located above, A frame that rotatably supports the axles of the first, second and third omnifoils via bearings; First, second and third motors for rotating the first, second and third omni foils, respectively; And a control device for controlling the first, second and third motors.
  • the third omni foil is configured using an omni foil unit in which a plurality of free rollers are arranged at equal intervals on the outer periphery of a disc-shaped foil.
  • Each of the first and second omnifoils is composed of two omnifoil units, and the two omnifoil units have the same rotational axis and are out of phase in the rotational direction. It is preferable to fix.
  • the omni foil unit further includes a fourth omni foil configured by using one omni foil unit, the rotation axis of the omni foil unit being orthogonal to the rotation axes of the first and second omni foils, and a grounding point thereof
  • a fourth omni foil configured by using one omni foil unit, the rotation axis of the omni foil unit being orthogonal to the rotation axes of the first and second omni foils, and a grounding point thereof
  • a pulley is attached to each of the axle of the third omni foil and the axle of the fourth omni foil, and the rotation of the third motor is controlled by the belt wound between the two pulleys. It is preferable to transmit to the axle.
  • the width of the main body in the front-rear direction is narrower than the diameter of the first and second omnifoils.
  • the inverted pendulum type moving body according to the present invention can move in an oblique direction or a lateral direction without changing the orientation of the main body by controlling the rotation speeds of the three motors. In addition, by combining these linear motion and turning motion, it is possible to easily pass through a narrow passage.
  • the inverted pendulum type moving body of the present invention has a footprint that is the same as that of a conventional inverted pendulum type moving body, so that a compact and slim mobile robot can be realized. Furthermore, since it is not necessary to secure a space for the main body to turn when changing the moving direction, the advantage of the inverted pendulum type moving body having a small footprint can be maximized.
  • FIG. 3 is a block diagram of a control system of the inverted pendulum type moving body according to the first exemplary embodiment; It is the front view (a) and bottom view (b) of the inverted pendulum type mobile body concerning Embodiment 2 of this invention.
  • FIGS. 1A and 1B are a front view and a side view of a mobile robot employing the inverted pendulum type moving body of the present invention as moving means.
  • the mobile robot 1 is one in which a robot 2 is mounted on top of an inverted pendulum type moving body 3.
  • the robot 2 is a robot body 21 to which a work manipulator 22 and a head 23 having an interpersonal interface function are attached.
  • the robot body 21 includes a control device that controls the operation of the robot 2.
  • the configuration and operation of the robot 2 are widely known, and the present invention provides an inverted pendulum type moving body having a novel configuration, and thus the description of the configuration and operation of the robot is omitted.
  • FIG. 2A and 2B are enlarged views of a front view and a bottom view of the inverted pendulum type moving body (hereinafter simply referred to as “moving body”) 3 according to the present embodiment shown in FIG. .
  • the moving body 3 includes a chassis 31, first and second omnifoils 32 and 33 that function as a pair of wheels, a third omnifoil 34 disposed between the first and second omnifoils 32 and 33, these 3 It comprises a frame 35 that supports three omni foils, and motors 36, 37, and 38 that rotationally drive these three omni foils.
  • the rectangular parallelepiped chassis 31 which is the main body of the moving body 3 is formed of a metal plate having sufficient strength, and accommodates the control device 6 and the battery 9 shown in FIG.
  • a metal U-shaped frame 35 is fixed to the lower surface of the chassis 31, and the axles 40 and 41 of the first and second omnifoils 32 and 33 are rotatable on the frame 35 via a bearing 42. It is supported.
  • a metal sub-frame 39 is connected to the lower surface of the frame 35 by welding or the like, and an axle 43 of the third omni wheel 34 is supported by the sub-frame 39 through a bearing 42 so as to be rotatable. Yes.
  • the axle 40 of the first omni foil 32 is connected to the rotating shaft of the motor 36 attached to the frame 35.
  • the axle 41 of the second omni foil 33 is connected to the rotating shaft of the motor 37 attached to the frame 35.
  • the axle 43 of the third omni foil 34 is connected to the rotating shaft of the motor 38 attached to the subframe 39.
  • the motors 36, 37 and 38 are electrically connected to the control device 6 (see FIG. 5) via a cord (not shown).
  • “Omni foil” is a disc-like foil in which a plurality of free rollers that rotate about an axis orthogonal to the rotation axis are arranged on the outer periphery of the disc-shaped foil. “Omni foil” has the property of moving in any direction by rotating at least one of the axle and the free roller.
  • the omni foil 32 is obtained by fixing two omni foil units 32a and 32b having the same shape to each other by screws (not shown) in a state where the rotation axes coincide with each other and the rotation direction phase is shifted by 30 degrees. is there.
  • Six free rollers 46 that are rotatable about an axis orthogonal to the rotation axis A1 are evenly attached to the outer peripheral portion of the wheel 45 constituting each of the omni foil units 32a and 32b.
  • a shaft 47 provided on the outer peripheral portion of the wheel 45 supports the free roller 46 in a rotatable manner.
  • the four holes 48 provided on the side surface of the foil 45 are for reducing the weight of the foil 45 and reducing the moment of inertia.
  • the omni foil 32 is composed of two omni foil units that are out of phase in the rotational direction.
  • the omni foil 32 is constituted by one omni foil unit, there is a gap between the adjacent free rollers 46, and therefore, when the omni foil is rotated, the rotating shaft 42 moves up and down and smooth rotation cannot be realized.
  • the omni foil 32 is composed of two omni foil units whose rotational directions are out of phase, the gap between the free rollers of one omni foil unit is complemented by the free rollers of the other omni foil unit. It becomes a shape to meet.
  • the outer periphery is substantially circular, so that smooth rotation without vertical movement can be realized.
  • the omni foil 32 Since the omni foil 32 has the above-described configuration, when the motor 36 is driven and the foil 45 rotates, the free roller 46 rotates together with the foil 45. On the other hand, when the free roller 46 in the grounded portion rotates, the omni foil 32 can also move in a direction parallel to the rotation axis A1.
  • the configuration and function of the second omni foil 33 are the same as those of the first omni foil 32, and the two omni foil units 33a and 33b are fixed in a state where the rotation axes coincide with each other and the phases are shifted by 30 degrees. Yes.
  • the third omni foil 34 is composed of a single omni foil unit in which six free rollers 46 are attached to the outer peripheral portion of the wheel 45, and its axle 43 is driven by the motor 38. It is connected to the shaft. Since the above-described omnifoils 32 and 33 achieve smooth rotation without vertical movement, the function of the omnifoils 34 is mainly to move the moving body 3 in a direction parallel to the rotation axis A1.
  • the first and second omnifoils 32 and 33 functioning as a pair of wheels are supported by the frame 35 in a state in which the rotation axis A1 coincides.
  • the third omni foil 34 is supported by the subframe 39 in a state in which the rotation axis A2 is orthogonal to the rotation axis A1 of the first and second omni foils 32 and 33. Yes. Accordingly, the first and second omnifoils 32 and 33 are used to move the moving body 3 forward, backward, or turn, and the third omnifoil 33 is used to move the moving body 3 in the lateral direction.
  • the third omni foil 34 has a point where the omni foil contacts the ground (hereinafter referred to as “grounding point”) C3 and the rotation shafts of the first and second omni foils 32 and 33.
  • the frame 35 is supported on a straight line projected on the floor surface, that is, on a straight line connecting the grounding points C1 and C2 of the omnifoils 32 and 33.
  • the mobile robot 1 When the ground contact point C3 of the third omni foil 34 is not on the straight line connecting the ground contact points C1 and C2 of the first and second omni foils 32 and 33, the mobile robot 1 is centered on the rotation axis of the omni foils 32 and 33. It is impossible to perform an inverted operation for balancing while swinging back and forth, and as a result, it is not possible to maintain the inverted posture of the mobile robot 1.
  • FIG. 3 (a) shows the trajectories of the omnifoils 32, 33, and 34 of the moving body 3 when the mobile robot 1 of the present invention is moved obliquely forward by broken lines.
  • FIG. 3B shows the trajectories of the wheels 32w and 33w of the moving body when the mobile robot described in Patent Document 1 is moved obliquely forward.
  • the movement of the moving body 3 in the direction orthogonal to the rotation axis of the first and second omnifoils 32 and 33 is moved in the “translation direction” and in the direction parallel to the rotation axis. This is called movement in the “lateral direction”, and movement in the direction in which the rotating shaft turns is called movement in the “turning direction”.
  • the mobile robot 1 moves from the initial position to the target position according to the control of the control device 6 (see FIG. 5) housed in the main body 31 of the moving body 3.
  • the inverted posture of the mobile robot 1 can be maintained by controlling the rotation of the omni foils 32 and 33 by the control device 6.
  • the movement trajectory control and the inverted posture control will be described later with reference to FIG.
  • the moving body can move only in the direction orthogonal to the rotation axis of the pair of wheels.
  • FIG. 3 (b) when the mobile robot moves from the initial position S to the target position O diagonally left forward, first, the right wheel 33w is rotated with the left wheel 32w stopped rotating, The rotation is performed until the rotation axis A1 is orthogonal to the target position O. Thereafter, the wheels 32w and 33w are rotated to advance to the target position.
  • the moving body 3 of the present invention can realize a moving method that cannot be realized by a conventional moving body by the functions of the omnifoils 32 and 33.
  • 3A the first and second omnifoils 32 and 33 of the moving body 3 are rotated in the forward direction (upward in the drawing in the drawing), and the third omni foil 34 is laterally moved (see FIG. 3). Then rotate it to the left of the page). Then, the moving body 3 does not change the direction of the rotation axis A1, and the vector V1 determined by the moving direction and speed of the omni foils 32 and 33 and the vector V2 determined by the moving direction and speed of the omni foil 34, as shown in the figure. Move in the direction of the vector V3 obtained by adding together.
  • the direction of the rotational axis A1 of the moving body is once changed and then moved forward toward the target position. Since the moving body 3 can move on a straight line connecting the initial position S and the target position O, the trajectory control can be simplified and the time required for the movement can be shortened.
  • FIG. 4 (a) shows the trajectories of the omni foils 32, 33 and 34 when the mobile robot 1 of the present invention is passed through the passage 5 narrower than the lateral width of the mobile robot 1 sandwiched between the walls 4.
  • FIG. 4 (b) shows the trajectories of the wheels 32w and 33w of the moving body when passing through the passage 5 using a conventional mobile robot.
  • the moving body can move only in the direction orthogonal to the rotation axis A1 of the pair of wheels 32w and 33w. Therefore, as shown in FIG. 4B, when the interval of the passage 5 is narrower than the lateral width of the mobile robot 1, the wheels 32w and 33w collide with the wall 4 and cannot pass through the passage 5.
  • the moving body 3 of the present invention can easily pass through the passage 5.
  • the omni foil 32 on the left side of the mobile robot is moved forward (upward on the page) and the omni foil 33 on the right side is moved back (lower on the page) at the initial position S.
  • the mobile robot 1 can pass through the narrow passage 5.
  • the moving body 3 of the present invention can be used in an oblique direction without changing the direction of the rotating shaft by utilizing the property of the omni foil that can be moved in a direction parallel to the rotating shaft by the free roller attached to the outer peripheral portion. And lateral movement can be realized.
  • taking advantage of the inverted pendulum type moving body that has a small footprint it can easily pass even in places where obstacles are scattered or narrow passages by combining translation method, movement in lateral direction and turning direction.
  • a moving body can be realized.
  • the footprint increases the diameter of the omnifoils 32,33. Because it fits in the rectangle to be connected, the advantages of an inverted pendulum type moving body with a small footprint can be maximized.
  • FIG. 5 shows the configuration of the control system of the moving body 3.
  • constituent members having the same functions as those in the above-mentioned drawings are denoted by the same reference numerals and description thereof is omitted. The same applies to the following description.
  • the control system of the moving body 3 includes a control device 6, motor drivers 71, 72, and 73 for the first, second, and third omnifoils 32, 33, 34, first, second, and third omnifoils 32, 33. And 34, motors 36, 37 and 38 for driving, encoders 81, 82 and 83 attached to the motors 36, 37 and 38, and posture angle detecting means 9 of the moving body 3. Electric power consumed by the control device 6 and the motors 36, 37, 38, etc. is supplied from the battery 10 housed in the chassis 31. A secondary battery or a capacitor is used for the battery 10.
  • the control device 6 includes a CPU, a ROM, a RAM, and the like, and executes a control program stored in the ROM, thereby controlling the motor drivers 71, 72, and 73 corresponding to the torque values of the motors 36, 37, and 38. Calculate the value.
  • the control command value is calculated based on the target trajectory data, the output of the attitude angle detection means 9, and the outputs of the encoders 81, 82, and 83.
  • the motor drivers 71, 72 and 73 control the DC power supplied from the battery (usually the secondary battery) 10 according to the control command value from the control device 6 to drive the motors 36, 37 and 38.
  • the encoders 81, 82 and 83 detect the rotation angles of the motors 36, 37 and 38 and output them to the control device 6.
  • the attitude angle detection means 9 is composed of a gyro sensor or the like, and is arranged in a direction orthogonal to the rotation axis A1 of the first and second omnifoils 32 and 33, detects the inclination angular velocity of the moving body 3, and Output.
  • the control device 6 includes target value input means 61, first control command value calculation means 62, second control command value calculation means 63, control command value addition means 64, and third control command value calculation means 65 as function realization means. Including.
  • the target value input means 61 inputs a target value related to the trajectory until the moving body 3 reaches the target position.
  • the target value input means 61 stores, in a built-in memory, target trajectory data that defines the trajectory of the mobile body 3, the speed and acceleration of the mobile body 3 at each position on the trajectory, and the angular velocity and angular acceleration in the turning direction of the mobile body 3. I remember it.
  • the target value input means 61 calculates the target position, target turning angle and target speed of the moving body 3 in the XY plane from the target trajectory data stored in the memory. These calculated values are used as target values for the first control command value calculating means 62, the second control command value calculating means 63, and the third control command value calculating means 65.
  • the target value input means 61 takes in an image of the obstacle from a camera (not shown) installed in the head 23 of the robot 2 and is obtained as a result of image processing.
  • the position data is added to the above target trajectory data, and the target position, target turning angle, and target speed of the moving body 3 are calculated while correcting the trajectory in real time.
  • the first control command value calculating means 62 calculates a torque command value for controlling the movement of the moving body 3 in the translation direction. Specifically, the deviation between the output of the attitude angle detection means 9 and the target value regarding the translation direction of the moving body 3 output from the target value input means 61 and the current value determined from the outputs of the encoders 81 and 82 is input. The torque command values of the motors 36 and 37 are calculated so that the deviation is reduced and the mobile robot 1 is kept inverted.
  • the first control command value calculation means 62 calculates a command value based on, for example, H ⁇ control theory.
  • H ⁇ control theory When the H ⁇ control theory is used, the first control command value calculation means 62 has robustness so that it can stably invert against disturbances and modeling errors.
  • the command value can also be calculated using a control theory other than the H ⁇ control theory (eg, H2 control theory, ⁇ -design method). Since the method for calculating the command value is widely known, the description is omitted here.
  • the second control command value calculation means 63 calculates a torque command value for controlling the movement of the moving body 3 in the turning direction. Specifically, the second control command value calculation means 63 adds a value obtained by multiplying the deviation between the current position and the target position by a predetermined gain and a value obtained by multiplying the deviation between the current speed and the target speed by a predetermined gain. The torque command value for controlling the motors 36 and 37 is calculated from the added value.
  • the control command value adding means 64 adds the control command value calculated by the first control command value calculating means 62 and the control command value calculated by the second control command value calculating means 63, and adds the added value to the motor driver. 71 and 72 are supplied.
  • the final control command values of the motors 36 and 37 are the sum of the control command value calculated by the first control command value calculation means 62 and the control command value calculated by the second control command value calculation means 63. Become.
  • the third control command value calculation means 65 calculates a torque command value for controlling the movement of the moving body 3 in the lateral direction.
  • the movement control of the moving body 3 in the lateral direction is irrelevant to the inverted pendulum control, and only the position control is performed.
  • the third control command value calculating means 65 is the same method as the second control command value calculating means 63, and is used when the moving body 3 moves in an oblique direction or a lateral direction, or when the motor 38 is turned.
  • a control command value is calculated and supplied to the motor driver 73.
  • control device 6 reads the detection values of the encoders 81, 82, and 83 (that is, the rotation angles of the omni wheels 32, 33, and 34).
  • the first control command value calculation means 62 and the turning position control command value calculation means 63 respectively calculate the rotational speeds of the first and second omnifoils 32 and 33 from the temporal changes in the values of the encoders 81 and 82 that have been read. And the current speed and the current turning speed are calculated from the calculated rotation speeds.
  • the third control command value calculating means 65 calculates the rotational speed of the third omni wheel 34 from the temporal change amount of the value of the encoder 83 that has been read, and calculates the current speed from the calculated rotational speed.
  • the first control command value calculation means 62 reads the output of the attitude angle detection means 9.
  • the first control command value calculation means 62 calculates the target position and the target speed from the time after the control device 6 starts the traveling process and the target trajectory data stored in the target value input means 61.
  • the first control command value calculating means 62 next calculates the torque command values of the motors 36 and 37 relating to the translation direction of the moving body 3 respectively. calculate. Further, the turning position control command value calculation means 63 calculates torque command values of the motors 36 and 37 relating to the turning direction of the moving body 3, respectively. Further, the third control command value calculation means 65 calculates the torque command value of the motor 38 in the lateral direction of the moving body 3.
  • the control command value adding means 64 is a control command value for the motors 36 and 37 calculated by the first control command value calculating means 62 and a control command value for the motors 36 and 37 calculated by the turning position control command value calculating means 63. Are added to the corresponding motor drivers 71 and 72. Further, the third control command value calculating means 65 outputs the calculated control command value to the corresponding motor driver 73.
  • the omni foils 32, 33 and 34 are driven by the above-described processes.
  • processing at the next control timing is started.
  • Each process described above is performed at a predetermined time interval (for example, 1 ms), whereby the mobile robot 1 moves along the trajectory defined by the target trajectory data at a predetermined speed, acceleration, angular velocity, and angular acceleration while maintaining inversion. To do.
  • (Embodiment 2) 6A and 6B are a front view and a bottom view of the moving body 3a according to the second embodiment of the present invention.
  • a fourth omni foil 44 is arranged between the first and second omni foils 32 and 33 of the moving body 3 of the first embodiment in addition to the third omni foil 34. It is a thing.
  • the fourth omni foil 44 is composed of a single omni foil unit, similarly to the third omni foil 34, and the axle is in a state where the rotation axis A3 is orthogonal to the rotation axis A1 of the first and second omni foils 32, 33. 50 is supported by the sub-frame 49 connected to the frame 35a through a bearing 42 so as to be rotatable.
  • the fourth omni foil 44 has a grounding point C4 on a straight line connecting the grounding points C1 and C2 of the first and second omnifoils 32 and 33, similarly to the grounding point C3 of the third omnifoil 34. In a positioned state, it is supported by the subframe 49. The reason why the grounding point C4 of the fourth omni foil 44 is positioned on the straight line connecting the grounding points C1 and C2 is to avoid the inversion control of the mobile robot 1 as in the case of the third omni foil 34.
  • the fourth omni foil 44 is supported by the subframe 49 in a state in which the rotation direction phase is shifted by 30 degrees with respect to the third omni foil 34.
  • a pulley 51 is attached to the axle 43 of the third omni foil 34
  • a pulley 52 is attached to the axle 50 of the fourth omni foil 44.
  • the belt 53 is wound between the pulleys 51 and 52, and the rotation of the motor 38 is transmitted to the omni foil 44 via the pulleys 51 and 52. Since the diameters of the pulleys 51 and 52 are equal, the omnifoils 34 and 44 rotate at the same speed while keeping the phase shifted by 30 degrees.
  • the third omni foil 34 is constituted by a single omni foil unit.
  • the free rollers 46 are instantaneously separated from the floor surface, and the third omni foil 34 is idled.
  • the moving body 3 Fluctuations occur in the movement speed in the lateral direction.
  • the synchronous rotation of the two omnifoils 34 and 44 is realized using a pulley and a belt, but the same applies even if a power transmission mechanism combining a plurality of gears is used instead of the pulley and the belt. Can be realized.
  • the moving body of the present invention it is possible to move in the translation direction, the lateral direction, and the turning direction while taking advantage of the omni foil and taking advantage of the inverted pendulum type moving body that the photo print is small. By combining them, it is possible to realize smooth movement of the mobile robot in a space where humans and robots coexist.
  • the omni foils 32, 33, 34, and 44 are configured using the omni foil unit in which the six free rollers 46 are attached to the outer peripheral portion of the foil 45.
  • the configuration is not limited to this. Needless to say, the number and shape of the free rollers 46 may be changed within a range in which smooth rotation can be realized.
  • the application of the moving body according to the present invention is not limited to a mobile robot. Even if it is used as a moving means for a person to ride or a moving means for a wheelchair, the advantage of the moving body of the present invention that can easily pass through a place where obstacles are scattered or a narrow passage can be utilized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un corps mobile de type balancier inversé capable de se déplacer facilement jusqu'à une position cible en évitant les obstacles même s'il n'est pas possible de disposer d'un espace de changement de direction en utilisant les avantages du corps mobile de type balancier inversé ayant une faible surface. Le corps mobile de type balancier inversé (3) selon l'invention comprend une paire de roues ayant un axe de rotation identique qui est fixée à un corps principal et le corps principal est commandé en se basant sur un modèle de commande de balancier inversé. Selon l'invention, la paire de roues inclut des première et deuxième roues omnidirectionnelles (32, 33) comprenant une pluralité de rouleaux libres (46) fixés à la portion périphérique extérieure des roues. Le corps mobile de type balancier inversé comprend en outre une troisième roue omnidirectionnelle (34) comprenant un axe de rotation (A2) perpendiculaire à l'axe de rotation (A1) des première et deuxième roues omnidirectionnelles (32, 33) et dont le point de contact au sol (C3) se trouve sur une ligne droite formée en projetant l'axe de rotation (A1) des première et deuxième roues omnidirectionnelles (32, 33) sur le sol.
PCT/JP2010/061759 2010-07-12 2010-07-12 Corps mobile de type balancier inversé et robot mobile WO2012008005A1 (fr)

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PCT/JP2010/061759 WO2012008005A1 (fr) 2010-07-12 2010-07-12 Corps mobile de type balancier inversé et robot mobile

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PCT/JP2010/061759 WO2012008005A1 (fr) 2010-07-12 2010-07-12 Corps mobile de type balancier inversé et robot mobile

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014205475A (ja) * 2013-04-16 2014-10-30 京町産業車輌株式会社 車輪
CN105644643A (zh) * 2016-02-25 2016-06-08 四川阿泰因机器人智能装备有限公司 一种地面移动机器人全向轮悬挂装置
CN105730216A (zh) * 2016-01-12 2016-07-06 沈阳工业大学 一体化全向轮及其控制方法
CN105773569A (zh) * 2016-02-25 2016-07-20 四川阿泰因机器人智能装备有限公司 一种地面移动机器人底盘系统
CN107457767A (zh) * 2017-07-07 2017-12-12 歌尔科技有限公司 一种紧急避障机器人及其设计方法
CN110709316A (zh) * 2017-05-26 2020-01-17 学校法人东京理科大学 全向移动装置及其姿态控制方法

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JP2008155652A (ja) * 2006-12-20 2008-07-10 Murata Mach Ltd 自走式搬送台車
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JP2014205475A (ja) * 2013-04-16 2014-10-30 京町産業車輌株式会社 車輪
CN105730216A (zh) * 2016-01-12 2016-07-06 沈阳工业大学 一体化全向轮及其控制方法
CN105644643A (zh) * 2016-02-25 2016-06-08 四川阿泰因机器人智能装备有限公司 一种地面移动机器人全向轮悬挂装置
CN105773569A (zh) * 2016-02-25 2016-07-20 四川阿泰因机器人智能装备有限公司 一种地面移动机器人底盘系统
CN110709316A (zh) * 2017-05-26 2020-01-17 学校法人东京理科大学 全向移动装置及其姿态控制方法
CN110709316B (zh) * 2017-05-26 2021-09-07 学校法人东京理科大学 全向移动装置及其姿态控制方法
CN107457767A (zh) * 2017-07-07 2017-12-12 歌尔科技有限公司 一种紧急避障机器人及其设计方法
CN107457767B (zh) * 2017-07-07 2020-04-21 歌尔科技有限公司 一种紧急避障机器人及其设计方法

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