To provide a traveling control device for an omnidirectional moving object that can shorten a stopping distance of the omnidirectional moving object on a downhill.SOLUTION: A traveling control device 10 comprises: four traveling motors 11 that independently rotate and drive four wheels 3; a traveling control unit 16 that controls the traveling motors 11 to cause an omnidirectional mobile robot 1 to travel; a downhill detection unit 17 that detects whether the omnidirectional mobile robot 1 travels a downhill S; and an orientation setting unit 18 that sets an orientation of the omnidirectional mobile robot 1. The orientation setting unit 18 sets the orientation of the omnidirectional mobile robot 1 to a two-wheel drive state in which two wheels 3 of the four wheels 3 facing each other are driven when the downhill detection unit 17 detects that the omnidirectional mobile robot 1 is traveling the downhill S.SELECTED DRAWING: Figure 3
【課題】下り坂における全方向移動体の停止距離を短縮することができる全方向移動体の走行制御装置を提供する。【解決手段】走行制御装置10は、4つの車輪3をそれぞれ独立に回転駆動する4つの走行モータ11と、全方向移動ロボット1を走行させるように走行モータ11を制御する走行制御部16と、全方向移動ロボット1が下り坂Sを走行するかどうかを検知する下り坂検知部17と、全方向移動ロボット1の向きを設定する向き設定部18とを備え、向き設定部18は、下り坂検知部17により全方向移動ロボット1が下り坂Sを走行することが検知されたときは、全方向移動ロボット1の向きを4つの車輪3のうち対向する2つの車輪3が駆動される2輪駆動状態の向きに設定する。【選択図】図3
TRAVELING CONTROL DEVICE FOR OMNIDIRECTIONAL MOVING OBJECT
全方向移動体の走行制御装置
2023-10-12
Patent
Electronic Resource
Japanese
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