To provide a controller of a moving entity making it possible to upgrade the step surmounting performance of a moving entity, which has plural omni-directional wheels, irrespective of the structure of the moving entity, and the moving entity.SOLUTION: A controller 2 controls a moving entity 1 that has plural omni-directional wheels 6 and moves by rotating one or more of the plural omni-directional wheels 6. The controller 2 includes: a determination unit 55 that determines presence or absence of a step in a moving direction of the moving entity 1; and a control unit 57 that, when the determination unit 55 determines that the step is present in the moving direction of the moving entity 1, moves the moving entity 1 in the moving direction by rotating all of the plural omni-directional wheels 6, and enables the moving entity 1 to enter the step. Owing to the controller 2, the step surmounting performance of the moving entity 1 can be upgraded irrespective of the structure of the moving entity 1.SELECTED DRAWING: Figure 2
【課題】移動体の構造にかかわらず、複数のオムニホイールを有する移動体の段差乗り越え性能を向上させることができる移動体の制御装置及び移動体を提供する。【解決手段】制御装置2は、複数のオムニホイール6を有し、複数のオムニホイール6の1つ以上を回転させながら移動する移動体1の制御を行う。制御装置2は、移動体1の移動方向における段差の有無を判断する判断部55と、判断部55により移動体1の移動方向において段差があると判断された場合に、複数のオムニホイール6の全てを回転させて移動方向に移動体1を移動させ、移動体1を段差に進入させる回転制御部57とを備える。制御装置2により、移動体1の構造にかかわらず移動体1の段差乗り越え性能を向上させることができる。【選択図】図2
CONTROLLER OF MOVING ENTITY AND MOVING ENTITY
移動体の制御装置及び移動体
2021-02-15
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS |
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