To provide a moving truck having mobility and an omnidirectional moving function, and a control method and a program of the moving truck.SOLUTION: A mobile truck of the embodiment has a vehicle body unit, a plurality of wheel units, and a first drive unit connected to the wheel unit, having a first rotation axis, and capable of rotating the wheel unit in the first rotation direction with the first rotation axis as the rotation center, a second drive unit that couples the vehicle body unit and the first drive unit to each other, has a second rotation axis extending in a direction different from the first rotation axis, and is capable of rotating the wheel unit and the first drive unit in a second rotation direction about the second rotation shaft, and a control unit that is provided in the vehicle body unit and is capable of controlling the first drive unit and the second drive unit. The wheel unit has a plurality of sub-wheel units rotatable in a third rotation direction different from the first rotation direction.SELECTED DRAWING: Figure 1
【課題】機動性および全方向移動機能を有する移動台車、移動台車の制御方法およびプログラムを提供する。【解決手段】実施形態の移動台車は、車体部と、複数の車輪部と、前記車輪部に接続され、第一回転軸を有し、前記第一回転軸を回転中心として前記車輪部を第一回転方向に回転可能な第一駆動部と、前記車体部と前記第一駆動部とを連結し、前記第一回転軸と異なる方向に延びる第二回転軸を有し、前記第二回転軸を回転中心として前記車輪部および前記第一駆動部を第二回転方向に回転可能な第二駆動部と、前記車体部に設けられ、前記第一駆動部および前記第二駆動部を制御可能な制御部と、を持つ。前記車輪部は、前記第一回転方向と異なる第三回転方向に回転可能な複数の副車輪部を有する。【選択図】図1
MOVING TRUCK, MOVING TRUCK CONTROL METHOD, AND PROGRAM
移動台車、移動台車の制御方法およびプログラム
2024-10-04
Patent
Electronic Resource
Japanese