4 results about "Omnidirectional vehicle" patented technology

The present invention aims to provide a control device that enables high-precision stopping of an omnidirectional mobile vehicle driven by a drive motor, regardless of the floor surface conditions, and an omnidirectional mobile vehicle equipped with the control device. [Solution] The control device for an omnidirectional vehicle includes a motor drive command generation unit for measuring floor surface movement characteristics, a floor surface movement characteristics measurement unit, and a floor surface movement characteristics storage unit for measuring floor surface movement characteristics in advance; a movement path execution unit and a motor drive command generation unit for movement path execution for performing path-following driving during normal driving; and a stop position error measurement unit and a motor drive command generation unit for correction movement for performing corrective movement according to the floor surface movement characteristics after path-following driving.

The present invention provides a control device adapted to stop, with high accuracy, an omnidirectional vehicle driven by a drive motor irrespective of floor surface properties and the omnidirectional vehicle including the control device. The control device for an omnidirectional vehicle includes: a motor drive command generating section for on-floor mobility characteristic measurement to measure an on-floor mobility characteristic in advance; an on-floor mobility characteristic measuring section; an on-floor mobility characteristic storing section; a moving route executing section to perform route following travel in normal travel; a motor drive command generating section for moving route execution; a stop position error measuring section to perform corrective movement in accordance with the on-floor mobility characteristic after the route following travel; and a motor drive command generating section for corrective movement.

The present invention provides a control device configured to stop with high accuracy an omnidirectional vehicle driven by a drive motor independently of ground surface properties, as well as an omnidirectional vehicle comprising the control device.The control device for an omnidirectional vehicle comprises: a motor drive command generation section for ground mobility characteristic measurement to measure a ground mobility characteristic in advance; a ground mobility characteristic measurement section; a ground mobility characteristic storage section; a motion route execution section to execute a driving route during normal driving; a motor drive command generation section for motion route execution; a stop position error measurement section to perform a corrective movement according to the ground mobility characteristic after the driving route; and a motor drive command generation section for corrective movement.

An omnidirectionally orientable vehicle comprising a main body, arms extending radially therefrom and orientable propulsion modules. Each propulsion module is coupled to an arm and comprises at least three propulsion units rigidly attached to the propulsion module. Each propulsion module is coupled to the arm by interposition of a rotary junction formed by a first revolute joint coupled to the arm and a second revolute joint attached to the propulsion module and perpendicularly coupled to the first revolute joint. The first revolute joint allows the propulsion module to rotate around the arm and the second revolute joint allows the propulsion module to rotate around an axis perpendicular to the arm providing the propulsion module with two DOF relative to the main body. The vehicle comprises rotary encoders located in proximity to the revolute joints and configured to monitor the orientation of the propulsion modules relative to the main body.