To provide an autonomous robot capable of suppressing lateral slip even when a main body does not largely turn on a floor surface.SOLUTION: An autonomous robot 1 includes: a force sensor 14 which detects a lateral force as a force of a left drive wheel 11a and a right drive wheel 11b in a direction along the wheel axis acting on the left drive wheel and the right drive wheel upon travel of a main body 10 in a straight line; an acquisition part which acquires a left target speed and a right target speed respectively for the left drive wheel and the right drive wheel; a correction amount calculation part which calculates a left correction amount and a right correction amount respectively for the left target speed and the right target speed based on the lateral force detected by the force detection part; a correction part which corrects the left target speed and the right target speed respectively based on the left correction amount and the right correction amount; and a driving part which drives the left drive wheel and the right drive wheel based on the left target speed and the right target speed corrected by the correction part.SELECTED DRAWING: Figure 1
【課題】本体が床面上を大きく旋回していなくても、横滑りを抑制することができる自走式ロボットを提供する。【解決手段】自走式ロボット1は、本体10の直進時に、左駆動輪11a及び右駆動輪11bに作用する左駆動輪及び右駆動輪の車輪軸方向の力である横力を検出する力センサ14と、左駆動輪及び右駆動輪のそれぞれに対する左目標速度及び右目標速度を取得する取得部と、力検出部が検出した横力に基づいて左目標速度及び右目標速度のそれぞれに対する左補正量及び右補正量を算出する補正量算出部と、左補正量及び右補正量に基づいて左目標速度及び右目標速度のそれぞれを補正する補正部と、補正部により補正された左目標速度及び右目標速度に基づいて左駆動輪及び右駆動輪を駆動させる駆動部とを備える。【選択図】図1
AUTONOMOUS ROBOT
自走式ロボット
2021-03-04
Patent
Electronic Resource
Japanese
Autonomous Mobile Robot and Method for Autonomous Loading with Autonomous Mobile Robot
European Patent Office | 2023
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