移動体、および搬送ロボット
移動体、および搬送ロボット
[Problem] To provide a mobile body, and a conveyance robot, which can suppress distortion in orientation and movement even when a disturbance occurs in rotating body control. [Solution] This mobile body is provided with a base, a first and second wheel, a first and second driver, a first piece of hardware functioning as a first controller, and, separate from the first piece of hardware, a second piece of hardware functioning as a second controller and having the same configuration as the first piece of hardware. The first piece of hardware functions as an integral control unit which acquires a first measurement value of the rotation state of the first rotating body and a second measurement value of the rotation state of the second rotating body, applies a correction to the relative relation between the first measurement value and the second measurement value so that this approaches a target relative relation obtained on the basis of externally supplied operation information, recalculates the first rotation speed and the second rotation speed on the basis of the correction, and applies said calculated first rotation speed and second rotation speed to the first controller and the second controller.
Dokumentinformationen
移動体、および搬送ロボット
2022-09-13
Patent
Elektronische Ressource
Japanisch
| IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern |