To appropriately recover a mobile robot in which an abnormality has occurred. A control device for a mobile robot is provided with: at least four wheels arranged on the front, rear, left, and right; and motors that drive each of the wheels. The control device is provided with: an abnormality detecting unit that detects abnormalities in each of the motors; an arrangement position changing unit thatchanges an arrangement position of the wheels corresponding to the motors in which an abnormality has not been detected, when the abnormality detecting unit has detected abnormalities in the motors corresponding to all the wheels on either the left or the right; and a travel control unit that drive-controls the motors in which an abnormality has not been detected to cause the mobile robot to travel to a prescribed target position.
本发明适当地回收发生了异常的移动机器人。移动机器人的控制装置是具备至少配置在前后左右的4个车轮、分别驱动车轮的电动机的移动机器人的控制装置。该控制装置具备:异常检测部,其分别检测电动机的异常;配置位置变更部,其在通过异常检测部检测到与左右的任意一方的全部车轮对应的电动机的异常的情况下,变更与没有检测到异常的电动机对应的车轮的配置位置;行驶控制部,其对没有检测到异常的电动机进行驱动控制,使移动机器人行驶到预定的目标位置。
CONTROL DEVICE FOR MOBILE ROBOT AND MOBILE ROBOT SYSTEM
移动机器人的控制装置和移动机器人系统
2020-07-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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