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OMNIDIRECTIONAL MOVEMENT DEVICE AND ORIENTATION CONTROL METHOD

Foreign code F180009391
File No. (S2016-0856-N0)
Posted date Apr 20, 2018
Country WIPO
International application number 2017JP023822
International publication number WO 2018003886
Date of international filing Jun 28, 2017
Date of international publication Jan 4, 2018
Priority data
  • P2016-132090 (Jul 1, 2016) JP
  • P2016-170938 (Sep 1, 2016) JP
Title OMNIDIRECTIONAL MOVEMENT DEVICE AND ORIENTATION CONTROL METHOD
Abstract This omnidirectional movement device is provided with a spherical rotational solid (12), and omni-wheels (401)-(404) serving as wheels. A plurality of wheels are disposed in contact with a surface of the rotational solid (12) about an axis (121) of a rotating shaft (120) that causes the rotational solid (12) to roll and move along a straight line, the wheels rotate in a circumferential direction to transfer motive power to the rotational solid (12), and the wheels are capable of rolling the rotational solid (12) in a direction intersecting the circumferential direction.
Scope of claims [claim1]
1. And a rotating body rotating of the sphere, the rotating body in a straight direction while rolling about the axis of the rotation axis moves in contact with the surface of the rotating body and are arranged, and rotated in the circumferential direction to transmit power to the rotating body, and, in the circumferential direction of the rotating body in a direction intersecting the rolling wheel and, in all directions and with the mobile device.
[claim2]
2. And a rotating body rotating of the sphere, the rotating body in a straight direction rolls to move about the axis of the side end of the rotating shaft in contact with the surface of the rotating body in the upper hemispherical disposed plurality, and rotated in the circumferential direction to transmit power to the rotating body, and, in the circumferential direction of the rotating body in a direction intersecting the first rolling wheel and 1, wherein the one end side of the axis of rotation about the axis of the rotating body in a particular position with respect to the surface of the lower hemisphere, symmetrically with respect to the center of the rotating body is disposed in contact with the surface of, and rotated in the circumferential direction to transmit power to the rotating body, and, in the circumferential direction of the rotating body in a direction intersecting the first rolling wheel 2 and, in all directions and with the mobile device.
[claim3]
3. And a rotating body rotating of the sphere, the rotating body in a straight direction and change the steering angle to the axis of rotation to move the one end side of the axis of the rotating body in contact with the surface of the upper hemisphere and are arranged, and rotated in the circumferential direction to transmit power to the rotating body, and, in the circumferential direction of the rotating body in a direction intersecting the first rolling wheel and 1, wherein the other end side of the axis of rotation about the axis of the rotating body in contact with the surface of the upper hemisphere is disposed, and rotating in the circumferential direction to transmit power to the rotating body, and, in the circumferential direction of the rotating body in a direction intersecting the first rolling wheel 2 and, in all directions and with the mobile device.
[claim4]
4. Wherein the first wheel and the second wheel is 1 2, or claim 2 mecha nam wheel according to claim 3 omni wheel in all directions or a mobile device.
[claim5]
5. 1 The two wheel is disposed 2, 1 2 or 2 wherein the first wheel is disposed one by one according to claim 3 claim 2 or all-direction moving device.
[claim6]
6. Wherein the first wheel and second wheel 2 is 1, and the position vector of the point of contact with the rotating body contacts the power determined by the tangent vector of the matrix elements of the transfer matrix, the rotation axis of the matrix elements of the same absolute value in each of the columns are disposed in a position in all directions according to claim 3 claim 2 or mobile device.
[claim7]
7. The power transmission matrix, according to claim 6 represents the angular velocity of the transfer matrix includes all-direction moving device.
[claim8]
8. Wherein in the lower hemisphere of the rotary body is close to or in contact with the surface of, and rotated in the circumferential direction, and, in a direction intersecting the circumferential direction of the rotating body and the rolling wheel and further comprising a mobile device according to claim 3 or claim 2 in all directions.
[claim9]
9. Wherein the vehicle body and provided on the rotating body, attached to the vehicle body, and, 1 1 wherein the first and the second wheel to rotate the driving device, attached to the vehicle body, and, 2 2 wherein the first and the second wheel to rotate the driving device, disposed on the vehicle body, wherein the attitude of the vehicle body and to maintain the stable posture stabilization system, further comprising a mobile device according to claim 3 or claim 2 in all directions.
[claim10]
10. Wherein the posture stabilization system, mounted on the vehicle body, wherein the attitude of the vehicle body due to the change in the attitude angle and the angle of the attitude angle detection unit for detecting an angular velocity of the first and 1, wherein the first and the second wheel 1 2 rotation of the wheel and the rotational speed detector for detecting the number, the number of rotations of the rotating speed detection unit based on the detection result, the first rotating body in which the balls 2 to detect an angular velocity and the angular velocity detecting unit, wherein the attitude angle detection unit detected by the attitude angle information, angular velocity information and the angular velocity detecting unit and the second 1 detected by the angular velocity information 2 based on the first, the attitude of the vehicle body to maintain the first and the second wheel 1 2 wheel torque calculated wheel operation, in accordance with the information with the operation torque of the wheel in the first driving device and the 1 2 wherein the first arithmetic processing unit and the driving device is operated, comprising a mobile device according to claim 9 in all directions.
[claim11]
11. The processing unit, and the attitude angle information, angular velocity information and the second 2 1 based on the angular velocity information, wherein the maintaining the attitude of the vehicle body, wherein the rolling angular acceleration of the rotating body and the target value of the angular acceleration of the vehicle body by turning the target values are calculated, wherein the rotating body to coincide with a target value of the 3 first angular acceleration is calculated, based on the acceleration of the first rotating body 3 angle rotation operation that the corresponding absorber torque calculated, that the corresponding absorber rotation based on the torque information, said first wheel and second wheel operating 2 1 said wheel torque control operation according to claim 10 all-direction moving device.
[claim12]
12. Claim 10 The omnidirectional to system stability of the posture of the mobile device, wherein the attitude angle information, wherein the first and the second 1 2 of the angular velocity information and the angular velocity information obtained, the attitude angle information, angular velocity information and the second 2 1 based on the angular velocity information, wherein the maintaining the attitude of the vehicle body, the rotary member rolling angular acceleration of the vehicle body turns with the target value and calculates a target value of the angular acceleration and, wherein the rotating body to coincide with a target value of the 3 first angular acceleration is calculated, based on the acceleration of the first rotating body 3 angle rotation operation that the corresponding absorber torque calculated, that the corresponding absorber rotation based on the torque information, said first wheel and said second 1 2 wheel operating in all directions and calculates a torque operation wheel attitude control method of the mobile device.
  • Applicant
  • ※All designated countries except for US in the data before July 2012
  • TOKYO UNIVERSITY OF SCIENCE EDUCATIONAL FOUNDATION
  • Inventor
  • HOSHINO TASUKU
IPC(International Patent Classification)
Specified countries (WO201803886)
National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JO JP KE KG KH KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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