Title:
倒立振子型移動装置
Document Type and Number:
Japanese Patent JP6748013
Kind Code:
B2
Abstract:
To provide an inverted pendulum type mobile apparatus which is movable in a desired direction.SOLUTION: A mobile object 1 comprises: a base 10 on which an occupant can get; a plurality of mecanum wheels 20; a driving part 23 capable of driving each of the plurality of mecanum wheels 20; a first sensor 31 capable of outputting a posture signal according to inclination of the base 10; and a control part 40 controlling the driving part 23 based on the posture signal. Each of four mecanum wheels 20 provided on a lower plane 102 of the base 10 has a rotatable wheel 221 and a plurality of barrels 222. The barrel 222 is rotatably provided on radial outside of the wheel 221 while ground-contacting with a contacted ground surface 8, and has a rotation axis at a position deviated with respect to a rotation axis of the wheel 221. Four wheels 21 of the respective four mecanum wheels 20 have rotation axes positioned on a virtual straight line VL1.SELECTED DRAWING: Figure 1
Inventors:
Youtaro Mogi
Takenori Matsue
Michihiro Matsuura
Masami Kurosaka
Sato rack
Tomonari Igami
Koji Kawasaki
Takenori Matsue
Michihiro Matsuura
Masami Kurosaka
Sato rack
Tomonari Igami
Koji Kawasaki
Application Number:
JP2017067336A
Publication Date:
August 26, 2020
Filing Date:
March 30, 2017
Export Citation:
Assignee:
株式会社ＳＯＫＥＮ
株式会社デンソー
株式会社デンソー
International Classes:
B62K17/00
Domestic Patent References:
| JP2011111048A | ||||
| JP2010076630A | ||||
| JP2012254760A | ||||
| JP2017001450A | ||||
| JP2010227490A | ||||
| JP2006123014A |
Foreign References:
| WO2016208689A1 | ||||
| WO2015072922A1 | ||||
| US20160270988 |
Attorney, Agent or Firm:
Masaki Hattori