Title:
MOVING BODY CONTROL DEVICE, MOVING BODY, MOVING BODY CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/196410
Kind Code:
A1
Abstract:
The purpose of the present disclosure is to accurately control a moving direction of a moving body (mobile work robot). A moving body control device (control unit 7) has disturbance estimation units 73L, 73R and rotation speed control units 72L, 72R. The disturbance estimation units 73L, 73R obtain disturbance information on the basis of a drive input amount and the rotation speed of each of a plurality of drive wheels (wheels 2L, 2R). The rotation speed control units 72L and 72R control the rotation speed of each of the plurality of drive wheels (wheels 2L, 2R) such that the orientation of a main body is controlled on the basis of the disturbance information obtained by the disturbance estimation units 73L and 73R.
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Inventors:
SHIBUSAWA SHINGO
INOUE SHUJI
KOMATSU MAYUMI
INOUE SHUJI
KOMATSU MAYUMI
Application Number:
PCT/JP2020/012732
Publication Date:
October 01, 2020
Filing Date:
March 23, 2020
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
A47L9/28; G05B11/36; G05B13/02; G05D1/02
Domestic Patent References:
| WO2008029524A1 | 2008-03-13 | |||
| WO2013084354A1 | 2013-06-13 |
Foreign References:
| JP2008263676A | 2008-10-30 | |||
| JP2015521760A | 2015-07-30 | |||
| CN109597310A | 2019-04-09 |
Attorney, Agent or Firm:
HOKUTO PATENT ATTORNEYS OFFICE (JP)
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