To provide a composite travelling body which can continue appropriate travelling.SOLUTION: A composite travelling body 10 includes a plurality of self-propelled travelling bodies 11, and travels while making them cooperate with each other. Each of the self-propelled travelling bodies 11 includes a wheel 16 rotating on a travelling surface 15, a motor 21 for driving the wheel 16, a battery 23 for supplying power to the motor 21, a body 14 for storing them, and a controller 20 for controlling travelling of the self-propelled travelling bodies 11. The controller 20 acquires a battery state of the battery 23 of each of the self-propelled travelling bodies 11, and changes travel control for each of the self-propelled travelling bodies 11 according to each of the battery states. Specifically, the controller 20 changes torque distribution and arrangement of the self-propelled travelling bodies 11.SELECTED DRAWING: Figure 3

    【課題】適切な走行を継続することができる複合走行体を提供すること。【解決手段】複合走行体10は、複数の自走式走行体11を備え、複数の自走式走行体を協調させて走行する。各自走式走行体11は、走行面15に対して回転する車輪16と、車輪16を駆動させるモータ21と、モータ21への電力を供給するバッテリ23と、それらを収容する本体14と、自走式走行体11の走行制御を行うコントローラ20を備える。コントローラ20は、各自走式走行体11のバッテリ23のバッテリ状態を取得し、各バッテリ状態に応じて自走式走行体11毎に走行制御を変更する。具体的には、トルク配分や、自走式走行体11の配置を変更する。【選択図】 図3


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    Title :

    COMPOSITE TRAVELLING BODY


    Additional title:

    複合走行体


    Contributors:

    Publication date :

    2022-06-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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