PROBLEM TO BE SOLVED: To provide an omnidirectional traveling vehicle capable of evacuating at an early stage.SOLUTION: An omnidirectional traveling vehicle comprises: a drive system comprising omnidirectional wheels 30, 31, 32, 33; motors 40, 41, 42, 43 driving the respective omnidirectional wheels 30, 31, 32, 33; and a control part 60 controlling the motors 40, 41, 42, 43. The control part 60 sets an evacuation traveling mode where the omnidirectional wheels of a normal drive system are driven to travel in a case where, under situation where at least 2 drive systems are in normal states, irregularity is detected in the other drive systems.SELECTED DRAWING: Figure 2
【課題】早期に退避することができる全方向移動車両を提供する。【解決手段】全方向移動車両は、全方向車輪30,31,32,33と、各全方向車輪30,31,32,33を駆動するモータ40,41,42,43を有する駆動系と、モータ40,41,42,43を制御する制御部60と、を有する。制御部60は、少なくとも2つの駆動系が正常な状態で、他の駆動系に異常を検出した場合に、正常な駆動系の全方向車輪を駆動して走行する退避走行モードを設定する。【選択図】図2
OMNIDIRECTIONAL TRAVELING VEHICLE
全方向移動車両
2018-09-20
Patent
Electronic Resource
Japanese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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