To provide a mobile body, and a conveyance robot, which can suppress distortion in orientation and movement even when a disturbance occurs in rotating body control. This mobile body is provided with abase, a first and second wheel, a first and second driver, a first piece of hardware functioning as a first controller, and, separate from the first piece of hardware, a second piece of hardware functioning as a second controller and having the same configuration as the first piece of hardware. The first piece of hardware functions as an integral control unit which acquires a first measurement value of the rotation state of the first rotating body and a second measurement value of the rotation state of the second rotating body, applies a correction to the relative relation between the first measurement value and the second measurement value so that this approaches a target relative relation obtained on the basis of externally supplied operation information, recalculates the first rotationspeed and the second rotation speed on the basis of the correction, and applies said calculated first rotation speed and second rotation speed to the first controller and the second controller.

    本发明提供即使在旋转体的控制中发生了紊乱的情况下也能够抑制姿势及动作的变形的移动体及搬运机器人。移动体具备:基座、第1车轮及第2车轮、第1驱动器及第2驱动器、作为第1控制器发挥作用的第1硬件以及作为第2控制器发挥作用并独立于上述第1硬件且具有与该第1硬件同等的结构的第2硬件,上述第1硬件还作为综合控制部发挥作用,该综合控制部取得上述第1旋转体的旋转状态的第1测定值和上述第2旋转体的旋转状态的第2测定值,对上述第1测定值与上述第2测定值的相对关系施加使其接近基于由外部赋予的动作信息而得的目标的相对关系的校正,通过上述校正重新求出上述第1旋转速度及上述第2旋转速度,并将该求出的上述第1旋转速度及上述第2旋转速度赋予上述第1控制器及上述第2控制器。


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    Title :

    MOBILE BODY AND CONVEYANCE ROBOT


    Additional title:

    移动体及搬运机器人


    Contributors:

    Publication date :

    2020-07-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern



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