To provide a self-propelled device where uneven wear of rolls of an omni wheel is suppressed.SOLUTION: A self-propelled device 100 comprises a travel body 61 and a controller. The travel body 61 can turn leftward and rightward by applying rotations different from each other to a first driving wheel and a second driving wheel. The controller controls driving of the first driving wheel and the second driving wheel so that the travel body 61 travels along a first travel route repeatedly a plurality of times and then travels along a second travel route 520. The second travel route 520 extends along the first travel route and includes: a first section 521 where the travel body 61 travels in the same direction as an advancing direction of the travel body 61 on the first travel route; and a second section 522 substituted for a partial section of the first travel route, and including timing where the travel body 61 advances to make an angle relative to the advancing direction of the travel body 61 on the partial section of the first travel route.SELECTED DRAWING: Figure 11

    【課題】オムニホイールのローラの偏摩耗が抑制される自走装置、を提供する。【解決手段】自走装置100は、走行体61と、制御装置とを備える。走行体61は、第1駆動輪および第2駆動輪に対して互いに異なる回転が付与されることにより、左右方向に旋回動作が可能である。制御装置は、第1走行ルートに沿った走行体の走行が複数回繰り返された後、走行体61が第2走行ルート520に沿って走行するように、第1駆動輪および第2駆動輪の駆動を制御する。第2走行ルート520は、第1走行ルートに沿って延び、走行体61が、第1走行ルートにおける走行体61の進行方向と同じ方向に進行する第1区間521と、第1走行ルートの一部区間と置き換えられ、走行体61が、第1走行ルートの一部区間における走行体61の進行方向に対して角度をなして進行するタイミングを含む第2区間522とを有する。【選択図】図11


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    Title :

    SELF-PROPELLED DEVICE


    Additional title:

    自走装置


    Contributors:

    Publication date :

    2022-08-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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