To provide a snake-shaped robot (movable body) that can autonomously travel in a facility with a drain ditch dug as a building underground pit and perform an inspection in a place difficult for a human being to access for inspection, and a system for the robot.SOLUTION: Posture control means makes an exception for posture control and driving of a part of a plurality of main body portions and is configured to perform posture control and driving of the remaining main body portions. When the movable body passes above a ditch present in the direction of travel, the posture control means performs up-down direction joint control of allowing the movable body to move directly streight toward the ditch based on the entry prohibited region information and preventing wheel detachment and self-position recognition error with respect to downward movement toward the ditch bottom when a part of the movable body comes close to the upper side of the ditch, and thus the movable body reaches the through-point without having wheel detachment into the ditch and self-position recognition error.SELECTED DRAWING: Figure 10
【課題】建物地下ピットのような排水溝が掘られた施設内を自律型で走行して、人間による立ち入り作業が困難な場所での検査を実現することが可能なヘビ型ロボット(移動体)および、そのためのシステムを提供する。【解決手段】姿勢制御手段は、移動体の複数の本体部の一部を姿勢制御及び駆動の対象外とし、残る本体部で姿勢制御と駆動を行い、姿勢制御手段は、前記移動体が進行方向に存在する溝上を通過するとき、前記進入禁止領域情報に基づき溝に対して正対して直進しながら、移動体の溝上に差し掛かる部分の溝の底方向への下降に対しても脱輪及び自己位置認識乱れを防止する上下方向の関節制御を行い、前記溝への脱輪及び自己位置認識の乱れを起こさず前記経由地点に到達することを特徴とする、移動体を提供する。【選択図】図10
MOVABLE BODY AUTONOMOUSLY MOVABLE STRADDLING GROOVE IN FLOOR IN SPACE AND PROGRAM
空間内の床の溝をまたいで自律移動する移動体およびプログラム
2024-12-05
Patent
Electronic Resource
Japanese
European Patent Office | 2024
|MOVABLE BODY, MOVABLE BODY SYSTEM, MOVABLE BODY CONTROL METHOD AND PROGRAM
European Patent Office | 2023
|MOVABLE BODY CONTROL DEVICE, MOVABLE BODY, MOVABLE BODY CONTROL METHOD AND PROGRAM
European Patent Office | 2020
|European Patent Office | 2021
|