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Movement direction control apparatus and computer program

A technology of moving direction and control device, which is applied to control device, position/direction control, control drive and other directions, and can solve problems such as inability to change direction

Inactive Publication Date: 2017-02-15
MURATA MFG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In addition, in the case of a single-wheeled vehicle, the direction cannot be easily changed by changing the angle of the front wheels like a two-wheeled vehicle. Rotate in the vertical direction as the rotation direction of the shaft (hereinafter referred to as the yaw direction) to change the forward direction

Method used

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  • Movement direction control apparatus and computer program
  • Movement direction control apparatus and computer program
  • Movement direction control apparatus and computer program

Examples

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Embodiment Construction

[0039] Next, an example of applying the moving direction control device according to the embodiment of the present invention to a unicycle robot in which the main body installed above the wheels moves back and forth while shaking without being affected by Spinning of the wheels causes a fall.

[0040] figure 1 It is a front view and a side view schematically showing the structure of a unicycle robot to which the moving direction control device according to the embodiment of the present invention is applied. figure 1 (a) shows the front view, figure 1 (b) shows a left side view. The moving direction control device of this embodiment controls so that the moving direction of the main body 3 of the unicycle robot 1 becomes a desired direction.

[0041] Such as figure 1 (a), shown in (b), unicycle robot 1 comprises: wheel 2, and this wheel 2 rotates and moves toward front and rear direction; From above, switch to the yaw direction while shaking in the pitch and roll directions...

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Abstract

In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.

Description

[0001] The application for this invention is an invention patent application with the international application number PCT / JP2010 / 051836, the international application date is February 9, 2010, the application number entering the Chinese national phase is 201080012662.0, and the name is "moving direction control device and computer program" divisional application. technical field [0002] The present invention relates to a movement control device and a computer program that can freely change direction to a yaw direction even if it is a unicycle. Background technique [0003] Conventionally, when a single-wheeled vehicle is moved, the main body swings in a rotational direction approximately in the front-rear direction (hereinafter referred to as a rocking direction) and in a rotational direction approximately in the left-right direction as an axis (hereinafter referred to as a pitch direction). Therefore, it is necessary to control the movement so that the main body moves or ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/027G05D1/0891B62K1/00B60L15/20B60L2200/14B60L2240/12B60L2240/14B60L2240/22B60L2240/24B60L2240/423B60L2260/34B60L2260/44Y02T10/72A63H17/25Y02T10/64G05D3/00B62K17/00
Inventor 辻滋福永茂树名村光弘河合康治白土贤一
Owner MURATA MFG CO LTD
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