WO2018003886A1 - Dispositif de déplacement omnidirectionnel et procédé de commande d'orientation - Google Patents

Dispositif de déplacement omnidirectionnel et procédé de commande d'orientation Download PDF

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Publication number
WO2018003886A1
WO2018003886A1 PCT/JP2017/023822 JP2017023822W WO2018003886A1 WO 2018003886 A1 WO2018003886 A1 WO 2018003886A1 JP 2017023822 W JP2017023822 W JP 2017023822W WO 2018003886 A1 WO2018003886 A1 WO 2018003886A1
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WO
WIPO (PCT)
Prior art keywords
rotating body
wheel
vehicle body
angular velocity
rotating
Prior art date
Application number
PCT/JP2017/023822
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English (en)
Japanese (ja)
Inventor
祐 星野
Original Assignee
学校法人東京理科大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 学校法人東京理科大学 filed Critical 学校法人東京理科大学
Priority to CN201780040317.XA priority Critical patent/CN109414956B/zh
Priority to JP2018525231A priority patent/JP6951611B2/ja
Publication of WO2018003886A1 publication Critical patent/WO2018003886A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/14—Ball-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/08—Ball castors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles

Definitions

  • the present invention relates to an omnidirectional moving device and a posture control method thereof.
  • Patent Document 1 discloses a transport device and a drive mechanism.
  • This transport device includes one spherical rotating body and three omni wheels.
  • the omni wheel is in contact with the spherical rotating body to roll the spherical rotating body, and further allows movement in a direction different from the rolling direction of the spherical rotating body.
  • the three omni wheels are arranged at equal intervals around the vertical axis (Z axis) of the spherical rotating body in the upper hemisphere of the spherical rotating body.
  • a wheel drive unit is connected to each omni wheel.
  • a loading platform is provided on the spherical rotating body via a frame portion, and the wheel driving unit is fixed to the frame unit.
  • the loading platform can be tilted, can be moved back and forth, left and right in the tilted direction, and can further turn. That is, the transport device can move with a high degree of freedom in all directions.
  • the present invention provides an omnidirectional movement device capable of moving a rotating body in a straight traveling direction with a maximum output and a posture control method for the omnidirectional movement device capable of stably maintaining the posture of a vehicle body. To do.
  • an omnidirectional moving device includes a spherical rotating body and a surface of the rotating body around an axis of a rotating shaft that rolls the rotating body and moves in a straight direction. And a wheel that rotates in the circumferential direction to transmit power to the rotating body and that allows the rotating body to roll in a direction that intersects the circumferential direction.
  • the omnidirectional moving device includes a spherical rotating body and a wheel disposed in contact with the surface of the rotating body.
  • the wheel rotates in the circumferential direction to transmit power to the rotating body, and enables the rotating body to roll in a direction intersecting the circumferential direction.
  • a plurality of wheels are arranged on the surface of the rotating body around the axis of the rotating shaft that causes the rotating body to roll and move in the straight direction. For this reason, when moving in the straight traveling direction, power is efficiently transmitted from the wheel to the rotating body, and the rotating body can be rolled in the straight traveling direction by the maximum output.
  • the omnidirectional movement device is a spherical rotating body and a surface of the upper hemisphere of the rotating body around an axis on one end side of the rotating shaft that rolls the rotating body and moves in the straight direction.
  • a first wheel that is arranged in contact with each other, rotates in the circumferential direction to transmit power to the rotating body, and allows the rotating body to roll in a direction intersecting the circumferential direction, and one end side of the rotating shaft
  • a second wheel that enables the rotating body to roll in a direction that intersects the direction.
  • the omnidirectional moving device includes a spherical rotating body, and a first wheel and a second wheel disposed in contact with the surface of the rotating body.
  • Each of the first wheel and the second wheel rotates in the circumferential direction to transmit power to the rotating body, and enables the rotating body to roll in a direction intersecting the circumferential direction.
  • a plurality of the first wheels are arranged on the surface of the upper hemisphere of the rotating body around an axis on one end side of the rotating shaft that rolls the rotating body and moves in the straight direction.
  • the second wheel is disposed on the surface of the center of symmetry of the rotating body with respect to a specific position on the surface of the lower hemisphere of the rotating body around the axis on one end side of the rotating shaft. Therefore, when moving in the straight traveling direction, power is efficiently transmitted from each of the first wheel and the second wheel to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.
  • the omnidirectional movement device is a spherical rotating body and a surface of the upper hemisphere of the rotating body around an axis on one end side of the rotating shaft that rolls the rotating body and moves in the straight direction.
  • a first wheel that is arranged in contact with each other, rotates in the circumferential direction to transmit power to the rotating body, and allows the rotating body to roll in a direction intersecting the circumferential direction; and the other end of the rotating shaft Around the axis on the side, it is placed in contact with the surface of the upper hemisphere of the rotating body, rotates in the circumferential direction, transmits power to the rotating body, and can roll the rotating body in a direction intersecting the circumferential direction And a second wheel.
  • the omnidirectional moving device includes a spherical rotating body, and a first wheel and a second wheel disposed in contact with the surface of the rotating body. Both the first wheel and the second wheel rotate in the circumferential direction to transmit power to the rotating body and allow the rotating body to roll in a direction intersecting the circumferential direction.
  • a plurality of the first wheels are arranged on the surface of the upper hemisphere of the rotating body around an axis on one end side of the rotating shaft that rolls the rotating body and moves in the straight direction.
  • the second wheel is disposed on the surface of the upper hemisphere of the rotating body around the axis on the other end side of the rotating shaft. Therefore, when moving in the straight traveling direction, power is efficiently transmitted from each of the first wheel and the second wheel to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.
  • the first wheel and the second wheel are an omni wheel or a mecanum wheel.
  • the rotating body can be rolled in the straight direction by the maximum output, and The rotating body can be rolled in directions other than the straight direction.
  • the omnidirectional mobile device in the omnidirectional mobile device according to the fifth embodiment of the present invention, in the omnidirectional mobile device according to the second embodiment or the third embodiment, two first wheels are arranged and one or two second wheels are arranged. Individually arranged.
  • the rotating body can be rolled in all directions.
  • the first wheel and the second wheel have a position vector of a contact point with the rotating body, Of the matrix elements of the power transmission matrix determined by the tangent vector at the contact point, the absolute values are arranged at the positions where the absolute values are equal for each column of the matrix elements of the rotation axis.
  • the first wheel is located at a position where the absolute value is equal for each column of the matrix elements of the rotating shaft that moves the rotating body in the straight traveling direction among the matrix elements of the power transmission matrix.
  • a second wheel is disposed. Therefore, when moving in the straight traveling direction, power is efficiently transmitted from each of the first wheel and the second wheel to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.
  • the power transmission matrix includes a transmission matrix representing an angular velocity.
  • the power transmission matrix includes a transmission matrix representing the angular velocity.
  • the first wheel and the second wheel are respectively arranged at positions where the absolute values are equal for each column of the matrix elements in the transmission matrix representing the angular velocity of the rotating shaft that moves the rotating body in the straight traveling direction. Therefore, when moving in the straight traveling direction, power is efficiently transmitted from each of the first wheel and the second wheel to the rotating body, and the rotating body can be rolled in the straight traveling direction with the maximum output.
  • An omnidirectional movement device is the omnidirectional movement device according to the second or third embodiment, in the circumferential direction in contact with or close to the surface of the lower hemisphere of the rotating body. And an auxiliary wheel that allows the rotating body to roll in a direction that intersects the circumferential direction.
  • the omnidirectional movement device includes auxiliary wheels in contact with or close to the surface of the lower hemisphere of the rotating body.
  • the auxiliary wheel rotates in the circumferential direction and enables the rotating body to roll in a direction crossing the circumferential direction. For this reason, since the upper hemisphere of the rotating body is in contact with the first wheel and the second wheel and the auxiliary hemisphere is provided on the lower hemisphere of the rotating body, the rotating body can be rolled in all directions while preventing the rotating body from coming off. be able to.
  • a vehicle body provided on the rotating body, attached to the vehicle body, and A first driving device that rotates one wheel, a second driving device that is attached to the vehicle body and that rotates the second wheel, and a posture stabilization system that is disposed on the vehicle body and maintains the posture of the vehicle body stably.
  • a first driving device that rotates one wheel
  • a second driving device that is attached to the vehicle body and that rotates the second wheel
  • a posture stabilization system that is disposed on the vehicle body and maintains the posture of the vehicle body stably.
  • the vehicle body is provided on the rotating body.
  • a first drive device is connected to the rotation shaft of the first wheel, and the first drive device is attached to the vehicle body.
  • a second drive device is connected to the rotation shaft of the second wheel, and the second drive device is attached to the vehicle body. Both the first wheel and the second wheel are in contact with the surface of the upper hemisphere of the rotating body. For this reason, in the state where the load of the vehicle body is supported by the second wheel via the first drive device and the second drive device via the first drive device, and the posture of the vehicle body is stably maintained by the posture stabilization system, the maximum output Thus, the rotating body can roll in the straight direction.
  • the posture stabilization system is mounted on the vehicle body, and the first vehicle is attached to the vehicle body posture angle and the posture angle change. Based on the detection result of the rotation speed by the rotation speed detection section, the rotation speed detection section that detects the rotation speed of the first wheel and the second wheel, the rotation body rolls.
  • the angular velocity detector that detects the two angular velocities, the posture angle information detected by the posture angle detector, the first angular velocity information, and the second angular velocity information detected by the angular velocity detector, the first that maintains the posture of the vehicle body
  • a calculation processing unit that calculates wheel operation torques of the wheel and the second wheel and operates the first drive device and the second drive device in accordance with the wheel operation torque information.
  • the posture stabilization system includes a posture angle detection unit, a rotation speed detection unit, an angular velocity detection unit, and an arithmetic processing unit.
  • the posture angle detection unit is attached to the vehicle body and detects a posture angle of the vehicle body and a first angular velocity associated with a change in the posture angle.
  • the rotation speed detection unit detects the rotation speeds of the first wheel and the second wheel.
  • the angular velocity detection unit detects a second angular velocity at which the rotating body rolls based on the detection result of the rotation number by the rotation number detection unit.
  • the arithmetic processing unit includes a first wheel for maintaining the posture of the vehicle body based on the posture angle information detected by the posture angle detector, the first angular velocity information, and the second angular velocity information detected by the angular velocity detector.
  • the wheel operation torque of the second wheel is calculated.
  • the arithmetic processing unit operates the first drive device and the second drive device according to the wheel operation torque information. For this reason, in the posture stabilization system, the power for stably maintaining the posture of the vehicle body is transmitted from the first wheel and the second wheel to the rotating body, so that the vehicle rotates with the maximum output in a state where the posture of the vehicle body is stably maintained.
  • the body can roll in the straight direction.
  • the arithmetic processing unit is configured to operate the vehicle body based on the attitude angle information, the first angular velocity information, and the second angular velocity information.
  • the target value of angular acceleration at which the rotating body rolls and the target value of angular acceleration at which the vehicle body turns are calculated, the third angular acceleration of the rotating body that matches the target value is calculated, and the third angle is maintained.
  • a rotating body operating torque for operating the rotating body is calculated based on the acceleration, and a wheel operating torque for operating the first wheel and the second wheel is calculated based on the rotating body operating torque information.
  • the arithmetic processing unit maintains the posture of the vehicle body based on the posture angle information, the first angular velocity information, and the second angular velocity information, and the angle at which the rotating body rolls.
  • a target value of acceleration and a target value of angular acceleration at which the vehicle body turns are calculated.
  • the arithmetic processing unit further calculates a third angular acceleration of the rotating body that matches the target value, and calculates a rotating body operating torque for operating the rotating body based on the third angular acceleration. Based on the rotating body operation torque information, the arithmetic processing unit calculates wheel operation torque for operating the first wheel and the second wheel.
  • the motive power for stably maintaining the posture of the vehicle body is calculated in the arithmetic processing unit. For this reason, since the power is transmitted from the first wheel and the second wheel to the rotating body, the rotating body can roll in the straight traveling direction with the maximum output in a state where the posture of the vehicle body is stably maintained.
  • the attitude stabilization system for the omnidirectional mobile device acquires the attitude angle information, the first angular velocity information, and the second angular velocity information. Then, based on the posture angle information, the first angular velocity information, and the second angular velocity information, the target value of the angular acceleration at which the rotating body rolls and the target value of the angular acceleration at which the vehicle body turns are calculated to maintain the posture of the vehicle body.
  • the attitude stabilization system first acquires attitude angle information, first angular velocity information, and second angular velocity information. Next, based on the posture angle information, the first angular velocity information, and the second angular velocity information, the target value of the angular acceleration at which the rotating body rolls and the target value of the angular acceleration at which the vehicle body turns are calculated to maintain the posture of the vehicle body. Is done. Next, a third angular acceleration of the rotating body that matches the target value is calculated, and further, a rotating body operating torque for operating the rotating body is calculated based on the third angular acceleration. Then, wheel operation torque for operating the first wheel and the second wheel is calculated based on the rotating body operation torque information. As a result, in the posture stabilization system, the power for stably maintaining the posture of the vehicle body is calculated.
  • the omnidirectional moving device can roll the rotating body in the straight traveling direction with the maximum output and stably maintain the posture of the vehicle body. can do.
  • position control method of the omnidirectional movement apparatus which can maintain the attitude
  • FIG. 1 It is an external appearance block diagram of the omnidirectional movement apparatus which concerns on 1st Embodiment of this invention, (A) is a left view, (B) is the front view seen from the advancing direction, (C) is a rear view, (D ) Is a bottom view. It is a principal part expansion perspective view of the drive unit of the omnidirectional movement apparatus shown by FIG. It is a figure which shows the positional relationship of the rotary body of the omnidirectional movement apparatus shown by FIG. 1, and the omni wheel of the drive unit shown by FIG.
  • (A) is the side view seen from the advancing direction right side of the omnidirectional movement apparatus
  • (B) is the side view seen from the left side of the advancing direction of an omnidirectional movement device.
  • It is a block diagram explaining the attitude
  • the omnidirectional moving device according to the first embodiment of the present invention will be described with reference to FIGS.
  • the arrow X direction shown as appropriate indicates the traveling direction on the vehicle body front side of the omnidirectional moving device
  • the arrow Y direction indicates the vehicle body width direction
  • the arrow Z direction indicates an upward direction orthogonal to the arrow X direction and the arrow Y direction.
  • an omnidirectional moving device 10 As shown in FIGS. 1 (A) to 1 (D) and FIG. 2, an omnidirectional moving device 10 according to this embodiment includes a single spherical rotating body 12 and a rotating body 12 disposed on the rotating body 12.
  • the vehicle body 14 is provided.
  • the rotating body 12 is formed, for example, by using a spherical shell formed of stainless steel having a diameter of 300 mm and a thickness of 1.5 mm as a rotating body main body, and covering the surface of the rotating body with a softer material than the rotating body main body.
  • a soft material for example, a natural rubber (NR: Natural Rubber) having a thickness of 5 mm can be used practically.
  • the vehicle body 14 includes a vehicle body main body 14A and a vehicle body main body 14B disposed in a pair in the vehicle body width direction (arrow Y direction).
  • Each of the vehicle body 14A and the vehicle body 14B extends with the longitudinal direction of the vehicle body (the direction of the arrow X) as a longitudinal direction and is spaced apart in the vehicle body width direction.
  • the vehicle body 14 ⁇ / b> A and the vehicle body 14 ⁇ / b> B are disposed at positions that overlap the rotating body 12 in plan view.
  • a saddle 18 is attached to the vehicle body 14A and the vehicle body 14B via a saddle support 16 that stands upward.
  • the saddle support 16 is formed of a pipe material.
  • the saddle 18 is configured such that a passenger of the omnidirectional mobile device 10 is seated.
  • a vehicle body front portion 14C constituting the vehicle body 14 is disposed on the vehicle body front side of the vehicle body 14A and the vehicle body 14B.
  • the vehicle body front portion 14C is disposed below the upper surfaces of the vehicle body main body 14A and the vehicle body main body 14B in the vertical direction and near the center point of the rotating body 12, and is integrated with the vehicle body main body 14A and the front wall 14D of the vehicle body main body 14B. Is attached.
  • the vehicle body front portion 14C is formed by bending a pipe, and the contour of the vehicle body front portion 14C is formed in a C shape in plan view.
  • a pair of footrests 20 are disposed in the vehicle body width direction on the vehicle body front portion 14C.
  • the footrest unit 20 is used as a place for a passenger's foot.
  • a handle support 22 is disposed on the vehicle body front portion 14C so as to be inclined slightly upward toward the rear of the vehicle body, and a handle 24 is attached to an upper end portion of the handle support 22.
  • the handle 24 is formed in a bar shape protruding left and right toward the outside in the vehicle body width direction, and the occupant grips the handle 24 and causes the omnidirectional movement device 10 to travel.
  • the handle 24 is formed by a fixed type that does not turn around the vertical axis (Z axis).
  • a start switch for starting and stopping traveling of the omnidirectional moving device 10 a brake for braking the traveling speed of the omnidirectional moving device 10, and the like are mounted around the handle 24.
  • a safety part a light, a front blinker or the like can be attached to the handle 24 or the handle support 22.
  • a rear turn signal, a brake lamp, or the like as a safety part can be mounted at an appropriate location at the rear end of the vehicle body 14.
  • a ring-shaped frame portion 26 is disposed along the periphery of the rotating body 12 below the vehicle body 14A and the vehicle body 14B.
  • the frame portion 26 is attached to each of the vehicle body 14A and the vehicle body 14B via frame supports 28 provided at both ends in the vehicle width direction.
  • auxiliary wheels 32 are disposed through auxiliary wheel supports 30 at the front end portions of the vehicle body 14A and the vehicle body 14B.
  • the auxiliary wheel support 30 extends from the vehicle body 14 ⁇ / b> A and the vehicle body 14 ⁇ / b> B to a lower side than the center point of the rotating body 12, and an auxiliary wheel 32 is rotatably attached to the lower end portion of the auxiliary wheel support 30.
  • auxiliary wheels 36 are disposed via auxiliary wheel supports 34 at the rear end portions of the vehicle body 14A and the vehicle body 14B.
  • the auxiliary wheel support 34 extends from the vehicle body 14 ⁇ / b> A and the vehicle body 14 ⁇ / b> B to a lower side than the center point of the rotating body 12, and an auxiliary wheel 36 is rotatably attached to the lower end portion of the auxiliary wheel support 34.
  • Each of the auxiliary wheel 32 and the auxiliary wheel 36 is disposed at a position that wraps around the lower hemisphere 12A side of the rotating body 12, and is in contact with the surface of the lower hemisphere 12A or spaced apart (adjacent) with a certain clearance.
  • a later-described wheel here an omni wheel, is used for each of the auxiliary wheel 32 and the auxiliary wheel 36.
  • a sign is given to the vehicle body front side below the vehicle body 14A on the right side in the vehicle width direction when viewed from the passenger seated on the saddle 18.
  • the first drive unit 40 covered with the omitted exterior cover is attached.
  • a second drive unit 42 is attached to the vehicle body rear side under the vehicle body 14A.
  • the third drive unit 44 is attached to the front side of the vehicle body below the vehicle body 14B, and the fourth drive unit 46 is attached to the vehicle body rear side of the vehicle body 14B.
  • a total of four drive units of the first drive unit 40 to the fourth drive unit 46 are arranged, but a total of three of the first drive unit 40 to the third drive unit 44 is arranged.
  • the case where the drive unit is provided is included.
  • the third drive unit 44 is disposed at an intermediate portion in the vehicle body front-rear direction of the vehicle body 14B.
  • the first drive unit 40 includes an omni wheel 401 as a first omni wheel, a speed reducer 441, and an alternating current (AC) servo motor 442 (1) as a first drive device, for example. It is configured to include.
  • the omni wheel 401 is connected to a speed reducer 441 via a shaft (rotating shaft) 430.
  • the omni wheel 401 includes a first wheel 410 and a second wheel 420 that rotate around the rotation axis of the shaft 430 according to the rotation of the shaft 430 and that form two stations in the rotation axis direction.
  • a plurality of barrel-shaped rollers (barrels) 412 to 414 arranged at equal intervals are attached so as to be rotatable around a rotation shaft 415.
  • the equal interval is an interval of 120 degrees, and three rollers 412 to 414 are attached.
  • the second wheel 420 is disposed on the opposite side of the first wheel 410 from the speed reducer 441 side.
  • a plurality of barrel-shaped rollers 422 to 424 arranged at equal intervals are mounted on the circumference of the second wheel 420 so as to be rotatable about the rotation shaft 425.
  • the arrangement interval of the rollers 422 to 424 of the second wheel 420 is shifted by a half pitch, specifically 60 degrees, with respect to the arrangement interval of the rollers 412 to 414 of the first wheel 410.
  • the omni wheel 401 rotates in the circumferential direction A to transmit power to the rotating body 12, and the rotating body 12 in a direction B (in this case, a direction orthogonal) intersecting the circumferential direction A. Can be rolled.
  • a direction B in this case, a direction orthogonal
  • the configurations of the second drive unit 42, the third drive unit 44, and the fourth drive unit 46 are the same as the configuration of the first drive unit 40. That is, as shown in FIG. 2, the second drive unit 42 includes an omni wheel 402 as a first omni wheel, a speed reducer 441, and an AC servo motor 442 (2) as a first drive device. It is configured.
  • the third drive unit 44 includes an omni wheel 403 as a second omni wheel, a speed reducer 441, and an AC servo motor 442 (3) as a second drive device.
  • the fourth drive unit 46 includes an omni wheel 404 as a second omni wheel, a speed reducer 441, and an AC servo motor 442 (4) as a second drive device.
  • the omnidirectional movement device 10 it is possible to move in the front-rear direction and the left-right direction, and to turn. Of course, it is possible to move in an oblique direction, move in the front-rear direction, turn left and right, or obliquely while turning.
  • the omnidirectional mobile device 10 is configured to obtain a maximum output in the forward direction.
  • the plurality of omni wheels are arranged at equal intervals around a vertical axis (Z axis) (see FIGS. 9 and 10).
  • the omni wheels 401 and 402 are arranged on one end side of the rotating shaft 120 that causes the rotating body 12 to roll and move in the straight direction.
  • the rotating body 12 is disposed in contact with the surface of the upper hemisphere 12 ⁇ / b> B.
  • the rotating body 12 does not have a fixed rotating shaft, but the rotating shaft 120 is an effective center of rotation of the rotating body 12 when the rotating body 12 rolls in the straight direction.
  • the axial direction of the rotating shaft 120 coincides with the vehicle body width direction (arrow Y direction) because the rotating body 12 rolls in the straight direction (arrow X direction).
  • An axis 121 on one end side of the rotating shaft 120 corresponds to a latitude line when the rotating body 12 is regarded as a celestial body on the right side in the vehicle width direction when viewed from the passenger.
  • the omni wheels 403 and 404 are disposed in contact with the surface of the upper hemisphere 12B of the rotating body 12 around the axis 122 on the other end side of the rotating shaft 120, as shown in FIG.
  • the axis 122 on the other end side of the rotating shaft 120 corresponds to a latitude line when the rotating body 12 is regarded as a celestial body on the left side in the vehicle body width direction when viewed from the passenger.
  • the arrangement positions of the omni wheels 403 and 404 are the centers of the rotating body 12 with respect to the specific positions 403P and 404P on the surface of the lower hemisphere 12A of the rotating body 12 around the axis 121 on one end side of the rotating shaft 120 shown in FIG. Symmetric position.
  • the omni wheel 403 is arranged in the lower hemisphere 12A around the axis 121
  • the omni wheel 404 is arranged in the lower hemisphere 12A around the axis 121.
  • the specific position 403P is a position suitable for the arrangement of the omni wheel 403 in the lower hemisphere 12A around the axis 121 when obtaining the maximum output in the traveling direction.
  • the specific position 404P is a position suitable for the arrangement of the omni wheel 404 in the lower hemisphere 12A around the axis 121.
  • omni wheels 403 and 404 are disposed on the upper hemisphere 12B side of the rotating body 12 around the axis 122. ing.
  • the omni wheels 401 and 402 are disposed in contact with the upper hemisphere 12B of the rotating body 12 around the axis 121 on one end side of the rotating shaft 120. (See FIG. 3A).
  • the omni wheel 403 is disposed in contact with the upper hemisphere 12B of the rotating body 12 around the axis 122 on the other end side of the rotating shaft 120 (see FIG. 3B).
  • the omni wheel 403 when viewed from the axial direction of the rotating shaft 120, the omni wheel 403 is disposed at an intermediate portion between the omni wheel 403 and the omni wheel 404 shown in FIG.
  • a sensor unit 50 is disposed on the vehicle body 14 and below the saddle 18 of the omnidirectional mobile device 10.
  • a control unit 60 is disposed on the rear side of the vehicle body 14.
  • the sensor unit 50 and the control unit 60 construct an attitude stabilization system 600 shown in FIG. 4, and the attitude stabilization system 600 maintains the attitude of the vehicle body 14 stably and also maintains the attitude of the vehicle body 14 stably.
  • the vehicle body 14 is caused to travel.
  • the posture stabilization system 600 of the omnidirectional movement apparatus 10 includes a sensor unit 50 and a control unit 60.
  • the sensor unit 50 includes a posture angle detection unit 501.
  • an inertial measurement unit (IMU) is used for the posture angle detection unit 501.
  • the posture angle detection unit 501 detects an angular velocity as a first angular velocity associated with a change in the posture angle of the vehicle body 14 and the posture angle around each axis of the vehicle body 14.
  • the posture angle detection unit 501 outputs the posture angle as posture angle information and the angular velocity as first angular velocity information.
  • the control unit 60 includes an operation display unit 601, an arithmetic processing unit (controller) 602, a digital-analog converter (D / A converter) 603, an angular velocity detection unit 604, and servo amplifiers 605 (1) to 605. (4) and a power source 606 are provided.
  • the AC servo motor 422 (1) of the first drive unit 40 to the AC servo motor 422 (4) of the fourth drive unit 46 are incorporated as the rotation speed detection unit 607.
  • an encoder (not shown) is attached to each of the AC servo motors 422 (1) to AC servo motors 422 (4), and the rotation speeds of the omni wheels 401 to omni wheels 404 are detected using the encoders.
  • the rotation speed detection unit 607 includes AC servo motors 422 (1) to AC servo motors 422 (4) and servo amplifiers 605 (1) to servo amplifiers 605 (4).
  • the operation display unit 601 performs operations for starting and ending the posture stabilization system 600, displaying an operation state of the posture stabilization system 600, and the like.
  • the arithmetic processing unit 602 executes at least the following processing (A) to processing (D).
  • A) Posture angle information obtained by detecting the posture angle of the vehicle body 14 and first angular velocity information obtained by detecting an angular velocity associated with a change in the posture angle are acquired from the posture angle detection unit 501.
  • B) The rotation speed detector 607 detects the rotation speeds of the omni wheels 401 to 404. The rotation speed detection result is acquired from the rotation speed detection unit 607, and the angular velocity as the second angular velocity at which the rotating body 12 rolls is calculated based on the detection result.
  • This second angular velocity is acquired as second angular velocity information.
  • C Based on the posture angle information, the first angular velocity information, and the second angular velocity information, the wheel operation torques of the omni wheel 401 to the omni wheel 404 that stably maintain the posture of the vehicle body 14 are calculated.
  • D The first drive unit 40 to the fourth drive unit 46 are operated according to the wheel operation torque information.
  • processing unit 602 the following processing (a) to processing (d) are executed in processing (D).
  • A) Based on the posture angle information, the first angular velocity information, and the second angular velocity information, the target value of the angular acceleration at which the rotating body 12 rolls and the angular acceleration at which the vehicle body 14 turns to maintain the posture of the vehicle body 14 stably. The target value is calculated.
  • B) The angular acceleration as the third angular acceleration of the rotating body 12 to be matched with the target value is calculated.
  • a rotating body operating torque for operating the rotating body 12 is calculated based on the third angular acceleration information.
  • a wheel operation torque for operating the omni wheel 401 to the omni wheel 404 is calculated based on the rotating body operation torque information.
  • the wheel operation torque information (digital information) output from the arithmetic processing unit 602 is output to the digital / analog converter 603 as a torque command.
  • the digital / analog converter 603 converts the torque command into analog information, and the torque command converted into analog information is output from the digital / analog converter 603 to each of the servo amplifiers 605 (1) to 605 (4).
  • a sequence command is output from the arithmetic processing unit 602 to the servo amplifiers 605 (1) to 605 (4).
  • Servo amplifier 605 (1) to servo amplifier 605 (4) control each of AC servo motor 422 (1) to AC servo motor 422 (4) in accordance with a torque command.
  • the rotation speed detection unit 607 detects the rotation speed of each of the AC servomotors 422 (1) to AC servomotor 422 (4)
  • the detection result is the servo amplifier 605 (1) to servo amplifier 605 (4).
  • the angular velocity detection unit 604 is configured by a pulse counter, and counts the number of rotations per unit time to generate angular velocity information.
  • the angular velocity information is output to the arithmetic processing unit 602.
  • the posture stabilization system 600 is equipped with a power source 606 that is detachable.
  • a secondary battery specifically a battery, is used for the power source 606.
  • the power source 606 includes a secondary battery that supplies power to the control system and a secondary battery that supplies power to the power system.
  • the control system includes a posture angle detection unit 501, an operation display unit 601, a calculation processing unit 602, a digital / analog converter 603, and an angular velocity detection unit 604.
  • the power system includes servo amplifiers 605 (1) to 605 (4) and AC servo motors 422 (1) to AC servo motors 422 (4).
  • FIG. 5 is a flowchart for explaining the attitude control method.
  • FIG. 6 shows an algorithm for realizing the attitude control method. In the description of the attitude control method, FIGS. 1 to 4 are taken into consideration as appropriate.
  • Attitude control method of omnidirectional mobile device having three omni wheels (1) Acquisition of attitude angle and first angular velocity of vehicle body First, an attitude angle detector 501 shown in FIGS. 4 and 6 is used. Then, the attitude angle ⁇ b of the vehicle body 14 and the first angular velocity of the vehicle body 14 (a first derivative of ⁇ b ) associated with the change in the attitude angle are detected. As shown in FIGS. 4 to 6, the arithmetic processing unit 602 acquires posture angle information and first angular velocity information from the posture angle detection unit 501 (S10).
  • rotation of the omni wheels 401 to 403 is performed using the AC servo motors 422 (1) to AC servo motor 422 (3) of the rotation speed detection unit 607 shown in FIG. A number is detected.
  • the detected number of rotations is output to the angular velocity detection unit 604 via the servo amplifier 605 (1) to the servo amplifier 605 (3).
  • the angular velocity detection unit 604 acquires the number of rotations of the omni wheels 401 to 403 as the angular velocity information ⁇ 0 .
  • the arithmetic processing unit 602 acquires angular velocity information ⁇ 0 from the angular velocity detecting unit 604 (S11).
  • FIG. 7 shows an X 0 axis in which the arrangement positions of the three omni wheels 401 to 403 with respect to the rotating body 12 of the omnidirectional moving device 10 are the origin O 0 ,
  • a schematic diagram represented by a three-dimensional coordinate system including the Y 0 axis and the Z 0 axis is shown.
  • the arrangement position and driving force of each of the omni wheels 401 to 403 with respect to the rotating body 12 are represented by the position vector p k of the contact point between the rotating body 12 and each of the omni wheels 401 to 403 and the tangent vector t k at the contact point. .
  • the position vector p 1 is a position vector from the center Ob of the rotating body 12 to the contact point between the rotating body 12 and the omni wheel 401.
  • the position vector of the position vector of the position vector p 2 from the center O b to the contact point of the rotating body 12 and the omni-wheel 402, the position vector p 3 from the center O b to the contact point of the rotating body 12 and the omni-wheel 403 It is.
  • the tangent vector t 1 is a unit tangent vector at the contact point between the rotating body 12 and the omni wheel 401.
  • the tangent vector t 2 is a unit tangent vector at the contact point between the rotating body 12 and the omni wheel 402
  • the tangent vector t 3 is a unit tangent vector at the contact point between the rotator 12 and the omni wheel 403.
  • the angular velocity vector ⁇ s of the rotator 12 is set such that the angular velocity around the axis of the rotator 12 in the longitudinal direction of the vehicle body is ⁇ x , the angular velocity around the axis of the rotator 12 in the vehicle body width direction is ⁇ y ,
  • the angular velocity around the direction axis is ⁇ z , it is expressed by the following formula (1) (see FIG. 6).
  • the power transmission matrix T is expressed by the following equation (3) from the position vectors p 1, p 2, p 3 , the tangent vectors t 1, t 2, t 3 and the radius r 0 of the omni wheels 401 to 403.
  • Formula (4) is represented by the following Formula (5) using a generalized inverse matrix of the power transmission matrix T (see FIG. 6).
  • the second angular velocity of the rotating body 12 is calculated from the angular velocities of the omni wheel 401 to the omni wheel 403.
  • the second angular velocity is calculated using the arithmetic processing unit 602, and as shown in FIG. 5, the arithmetic processing unit 602 acquires the second angular velocity as second angular velocity information (S12).
  • the rotating body corrects the posture of the vehicle body 14 based on the posture angle of the vehicle body 14 and the first angular velocity of the vehicle body 14.
  • the target value of the angular acceleration at the time of rolling 12 and the target value of the angular acceleration at the time of turning of the vehicle body 14 are required. If the target value is u, the target value u is calculated by the following equation (6) (see FIG. 6).
  • the target value u is a target angular acceleration u 1 for turning the vehicle body 14, a target angular acceleration u 2 about the axis of the rotating body 12 in the longitudinal direction of the vehicle body, and This is a vector that summarizes the target angular acceleration u 3 around the vehicle width direction axis.
  • K d is a feedback gain matrix, and is determined based on the masses of the vehicle body 14 and the rotating body 12, the position of the center of gravity, the moment of inertia, and the like.
  • the target value u that is, the target value of the angular acceleration at which the rotating body 12 rolls and the target value of the angular acceleration at which the vehicle body 14 turns are calculated using the arithmetic processing unit 602. (S13).
  • PID control Proportional Integral Differential Controller
  • ⁇ xd is a target angular velocity around the axis of the rotating body 12 in the longitudinal direction of the vehicle body, and the target angular velocity ⁇ xd is expressed by the following equation (10).
  • ⁇ xd is a target angle around the axis of the rotator 12 in the longitudinal direction of the vehicle body, and this target angle ⁇ xd is expressed by the following equation (11).
  • ⁇ x is an angle around the axis of the rotating body 12 in the longitudinal direction of the vehicle body, and the angle ⁇ x is expressed by the following formula (12) from an angular velocity ⁇ x around the axis of the rotating body 12 in the longitudinal direction of the vehicle body.
  • ⁇ yd is a target angular velocity around the axis of the rotating body 12 in the vehicle body width direction, and the target angular velocity ⁇ yd is expressed by the following equation (13).
  • ⁇ yd is a target angle around the axis of the rotator 12 in the vehicle body width direction, and the target angle ⁇ yd is expressed by the following equation (14).
  • ⁇ y is an angle around the axis of the rotator 12 in the vehicle width direction
  • the angle ⁇ y is expressed by the following equation (15) from an angular velocity ⁇ y around the axis of the rotator 12 in the vehicle width direction.
  • the operation angular acceleration of the rotating body 12 is calculated as the third angular acceleration using the arithmetic processing unit 602 as shown in FIGS. 5 and 6 (S14).
  • the partial matrix of the inertia matrix is expressed by the following formulas (17), (18), and (19).
  • the gravity term is expressed by the following formula (20).
  • the following equation (21) is a matrix representing the replacement of the input axis.
  • I s is the moment of inertia of the rotating body 12 about the contact with the ground and the rotor 12.
  • Moment of inertia I s is represented by the following formula (22).
  • I bxx , I bxy , I bxz , I byy , I byz , and I bzz are the inertia moment and inertia product of the vehicle body 14.
  • m b is the mass of the vehicle body 14.
  • s z is the distance from the center O b of the rotor 12 to the center of gravity of the vehicle body 14.
  • r s is the radius of the rotating body 12.
  • g is the gravitational acceleration constant.
  • m s is the mass of the rotating body 12.
  • the operating torque of the rotating body 12 is calculated using the arithmetic processing unit 602 as shown in FIGS. 5 and 6 (S15).
  • the operation torque ⁇ o of the omni wheels 401 to 403 is calculated using the arithmetic processing unit 602 as shown in FIGS. 5 and 6 (S16). This operation torque ⁇ o is transmitted as wheel operation torque to the omni wheels 401 to 403 via the AC servo motor 422 (1) to AC servo motor 422 (3).
  • the omnidirectional mobile device 10 can stably maintain the attitude of the vehicle body 14 on the rotating body 12. And the omnidirectional movement apparatus 10 can be drive
  • Attitude control method of omnidirectional mobile device having four omni wheels Basically, the attitude control method of omnidirectional mobile device 10 having four omni wheels 401 to 404 is basically three omni wheels 401 to 403. This is almost the same as the attitude control method of the omnidirectional mobile device 10 having In the explanation of the attitude control method here, only different procedures will be briefly explained using FIGS. 4 to 6 while omitting overlapping explanations as much as possible.
  • (1) Acquisition of posture angle and first angular velocity of the vehicle body The posture angle of the vehicle body 14 and the first angular velocity of the vehicle body 14 are detected using the posture angle detection unit 501 shown in FIGS. As shown in FIGS. 4 to 6, the arithmetic processing unit 602 acquires posture angle information and first angular velocity information from the posture angle detection unit 501 (S10).
  • FIG. 8 is a schematic diagram showing the arrangement positions of the four omni wheels 401 to 404 with respect to the rotating body 12 of the omnidirectional moving device 10 in a three-dimensional coordinate system. It is shown.
  • the arrangement position and driving force of each of the omni wheels 401 to 404 with respect to the rotating body 12 are represented by a position vector p k of a contact point between the rotating body 12 and each of the omni wheels 401 to 404 and a tangent vector t k at the contact point.
  • the position vector p 1 is a position vector from the center Ob of the rotating body 12 to the contact point between the rotating body 12 and the omni wheel 401.
  • the position vector p 4 is the position vector from the center O b to the contact point of the rotating body 12 and the omni-wheel 404.
  • the tangent vector t 1 is a unit tangent vector at the contact point between the rotating body 12 and the omni wheel 401.
  • the tangent vector t 2 is a unit tangent vector at the contact point between the rotating body 12 and the omni wheel 402
  • the tangent vector t 3 is a unit tangent vector at the contact point between the rotator 12 and the omni wheel 403.
  • the tangent vector t 4 is a unit tangent vector at the contact point between the rotating body 12 and the omni wheel 404.
  • the angular velocity vector ⁇ s of the rotator 12 is the angular velocity around the axis of the rotator 12 in the longitudinal direction of the vehicle body is ⁇ x, and the angular velocity around the axis of the rotator 12 in the longitudinal direction of the vehicle body is ⁇ y.
  • the angular velocity around the direction axis is ⁇ z , it is expressed by the above-described formula (1).
  • the power transmission matrix T is expressed by the following equation (25) from the position vectors p 1, p 2, p 3, p 4 , the tangent vectors t 1, t 2, t 3, t 4 and the radius r 0 of the omni wheels 401 to 404. It is represented by Using the generalized inverse matrix of the power transmission matrix T 1 expressed by the equation (25) based on the above equation (4), the above equation (5) is obtained, and the angular velocities of the omni wheel 401 to the omni wheel 404 are obtained. From this, the second angular velocity of the rotating body 12 is calculated. As shown in FIG. 6, the second angular velocity is calculated using the arithmetic processing unit 602, and as shown in FIG. 5, the arithmetic processing unit 602 acquires the second angular velocity information (S12).
  • an omnidirectional moving device 10 shown in FIGS. 1A to 1D includes a spherical rotating body 12 and a rotating body.
  • the omni wheels 401 and 402 or the omni wheels 403 and 404 are provided as wheels disposed in contact with the surface of the twelve.
  • the omni wheels 401 to 404 rotate in the circumferential direction A to transmit power to the rotating body 12 and allow the rotating body 12 to roll in a direction B intersecting the circumferential direction A.
  • a plurality of omni wheels 401 and 402 are disposed on the surface of the rotating body 12 around the axis 121 of the rotating shaft 120 that causes the rotating body 12 to roll and move in the straight direction.
  • a plurality of omni wheels 403 and 404 are disposed on the surface of the rotating body 12 around the axis 122 of the rotating shaft 120 that causes the rotating body 12 to roll and move in the straight direction. For this reason, during the movement in the straight traveling direction, power is efficiently transmitted from the omni wheels 401 and 402 or the omni wheels 403 and 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction with the maximum output.
  • the omnidirectional moving device 10 shown in FIGS. 1 (A) to 1 (D) includes, as shown in FIGS. 2, 3 (A) and 3 (B), a spherical rotating body 12, Omni wheels 401 and 402 serving as first omni wheels and omni wheels 403 and 404 serving as second omni wheels are provided in contact with the surface of the rotating body 12. All of the omni wheels 401 to 404 rotate in the circumferential direction A to transmit power to the rotating body 12 and can roll the rotating body 12 in a direction B intersecting the circumferential direction A.
  • the omni wheels 401 and 402 are arranged on the rotating body 12 around the axis 121 on one end side of the rotating shaft 120 that causes the rotating body 12 to roll and move in the straight direction.
  • a plurality of hemispheres 12B are arranged on the surface.
  • the omni wheels 403 and 404 are disposed on the surface of the center of symmetry of the rotating body 12 with respect to the specific positions 403P and 404P of the surface of the lower hemisphere 12A of the rotating body 12 around the axis 121 on one end side of the rotating shaft 120.
  • the omni wheels 403 and 404 are disposed on the surface of the upper hemisphere 12 ⁇ / b> B of the rotating body 12 around the axis 122 on the other end side of the rotating shaft 120.
  • FIG. 9 shows the positional relationship between the rotating body Rb and the three omni wheels Oh 1 to Oh 3 according to the comparative example.
  • Parameters relating to the arrangement of the omni wheels Oh 1 to Oh 3 for driving the rotator R b are the position vector p k and the unit tangent vector t k .
  • the position vector p k is starting from the center O b of the rotating body R b, is the position vector of the point of contact with the rotating body R b of the k-th omniwheel Oh k.
  • k is an integer of 1 or more.
  • the unit tangent vector t k is the unit tangent vector of the k-th omni wheel Oh k at the contact point.
  • r s is the radius of the rotator R b .
  • the unit tangent vector t k is expressed by the following equation (27).
  • T is a power transmission matrix
  • FIG. 7 shows the positional relationship between the rotating body 12 according to the present embodiment and the three omni wheels 401 to 403 with respect to the comparative example.
  • Two omni wheels 401 and 402 are arranged on the upper hemisphere 12B around the axis 121 on one end side of the rotating shaft 120 (see FIG. 3A), and the upper hemisphere 12B around the axis on the other end side of the rotating shaft 120.
  • One omni wheel 403 is disposed in the middle (see FIG. 3B).
  • the unit tangent vector t k is expressed by the following equation (30).
  • FIG. 10 shows the positional relationship between the rotating body Rb according to the comparative example and the four omni wheels Oh 1 to Oh 4 .
  • the unit tangent vector t k is expressed by the following equation (33).
  • FIG. 8 shows the positional relationship between the rotating body 12 according to the present embodiment and the four omni wheels 401 to 404 with respect to the comparative example.
  • Two omni wheels 401 and 402 are arranged on the upper hemisphere 12B around the axis 121 on one end side of the rotating shaft 120 (see FIG. 3A), and the upper hemisphere 12B around the axis on the other end side of the rotating shaft 120.
  • Two omni wheels 403 and 404 are arranged on the front (see FIG. 3B).
  • the unit tangent vector t k is expressed by the following equation (36).
  • the wheels are omni wheels 401 to 404.
  • the rotating body 12 can be rolled in the straight traveling direction by the maximum output, and also in directions other than the straight traveling direction.
  • the rotating body 12 can be rolled.
  • the two omni wheels 401 and 402 are arrange
  • An omni wheel 403 or two omni wheels 403 and 404 are arranged. For this reason, with the minimum number of wheels, the number of parts and the weight can be minimized, and the rotating body 12 can be rolled in all directions.
  • the absolute value is equal for each column of the matrix elements of the rotating shaft 120 that moves the rotating body 12 in the straight traveling direction among the matrix elements of the power transmission matrix T.
  • Omni wheels 401 to 404 (or 401 to 403) are arranged at the positions. Therefore, when moving in the straight traveling direction, power is efficiently transmitted from each of the omni wheels 401 to 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction by the maximum output.
  • the power transmission matrix T includes a transmission matrix representing an angular velocity.
  • Omni wheels 401 to 404 (or 401 to 403) are arranged at positions where the absolute values are equal for each column of the matrix elements in the transfer matrix representing the angular velocity of the rotating shaft 120 that moves the rotating body 12 in the straight traveling direction. . For this reason, during the movement in the straight traveling direction, power is efficiently transmitted from the omni wheels 401 to 404 to the rotating body 12, and the rotating body 12 can be rolled in the straight traveling direction by the maximum output.
  • the omnidirectional moving device 10 includes auxiliary wheels 32 and 36 in contact with or close to the surface of the lower hemisphere 12A of the rotating body 12. .
  • the auxiliary wheels 32 and 36 rotate in the circumferential direction A and allow the rotating body 12 to roll in a direction crossing the circumferential direction A.
  • the rotating body 12 can roll in all directions. It is possible to prevent the rotating body 12 from coming off.
  • a vehicle body 14 is provided on the rotating body 12.
  • AC servomotors 422 (1) and 422 (2) are connected to the shaft 430 of the omni wheels 401 and 402, and the AC servomotors 422 (1) and 422 (2) are attached to the vehicle body 14.
  • AC servomotors 422 (3) and 422 (4) are connected to the shaft 430 of the omni wheels 403 and 404, and the AC servomotors 422 (3) and 422 (4) are attached to the vehicle body 14.
  • the omni wheels 401 to 404 are all in contact with the surface of the upper hemisphere 12B of the rotating body 12.
  • the load of the vehicle body 14 is supported by the omni wheels 401 to 404 via the AC servo motors 422 (1) to 422 (4), and the posture of the vehicle body 14 is adjusted by the posture stabilization system 600 shown in FIGS.
  • the rotary body 12 can be rolled in the straight traveling direction by the maximum output.
  • the posture stabilization system 600 includes a posture angle detection unit 501, a rotation number detection unit 607, an angular velocity detection unit 604, and an arithmetic processing unit 602. Is provided.
  • the posture angle detection unit 501 is attached to the vehicle body 14 shown in FIG. 1 and detects the posture angle of the vehicle body 14 and the first angular velocity associated with the change in the posture angle.
  • the rotation speed detection unit 607 detects the rotation speeds of the omni wheel 401 to the omni wheel 404.
  • the angular velocity detection unit 604 detects the second angular velocity at which the rotating body 12 rolls based on the detection result of the rotation number by the rotation number detection unit 607.
  • the arithmetic processing unit 602 calculates the wheel operation torque of the omni wheels 401 to 404 for maintaining the posture of the vehicle body 14 (S16).
  • the wheel operation torque is calculated based on the posture angle information detected by the posture angle detector 501, the first angular velocity information (S 10), and the second angular velocity information (S 12) detected by the angular velocity detector 604.
  • the arithmetic processing unit 602 operates the AC servo motors 422 (1) to AC servo motor 422 (4) shown in FIGS. 2 and 4 according to the wheel operation torque information.
  • the power for stably maintaining the posture of the vehicle body 14 is transmitted from the omni wheels 401 to 404 to the rotating body 12, so that the maximum output can be obtained in the state where the posture of the vehicle body 14 is stably maintained.
  • the rotating body 12 can be rolled in the straight direction.
  • the arithmetic processing unit 602 maintains the posture of the vehicle body 14, the target value of the angular acceleration at which the rotating body 12 rolls, and the vehicle body A target value of angular acceleration at which the 14 turns is calculated (S13).
  • the target value is calculated based on the posture angle information, the first angular velocity information (S10), and the second angular velocity information (S12).
  • the arithmetic processing unit 602 further calculates the third angular acceleration of the rotating body 12 to be matched with the target value (S14), and calculates the rotating body operating torque for operating the rotating body 12 based on the third angular acceleration (S15). ).
  • the arithmetic processing unit 602 calculates wheel operating torque for operating the omni wheels 401 to 404 (S16). As a result, in the arithmetic processing unit 602, power for stably maintaining the posture of the vehicle body 14 is calculated. Therefore, power is transmitted from the omni wheels 401 to 404 to the rotator 12, so that the rotator 12 can roll in the straight traveling direction with the maximum output in a state where the posture of the vehicle body 14 is stably maintained.
  • the attitude stabilization system 600 first acquires attitude angle information, first angular acceleration information, and second angular velocity information. (S10, S12). Next, based on the attitude angle information, the first angular velocity information, and the second angular velocity information, the target value of the angular acceleration at which the rotating body 12 rolls and the target of the angular acceleration at which the vehicle body 14 turns are maintained to maintain the attitude of the vehicle body 14. A value is calculated (S13). Next, the third angular acceleration of the rotating body 12 to be matched with the target value is calculated (S14), and further, the rotating body operating torque for operating the rotating body 12 is calculated based on the third angular acceleration information (S15). Then, wheel operation torque for operating the omni wheels 401 to 404 is calculated based on the rotating body operation torque information.
  • the power for maintaining the posture of the vehicle body 14 stably in the posture stabilization system 600 is calculated. Therefore, power is transmitted from the omni wheels 401 to 404 to the rotator 12, so that the omnidirectional movement device 10 can roll the rotator 12 in the straight direction with the maximum output, and the posture of the vehicle body 14 can be changed. It can be kept stable.
  • the attitude of the vehicle body 14 is controlled based on the power transmission matrix T 1. More specifically, at the input stage of the arithmetic processing of the arithmetic processing unit 602, the angular velocity vector ⁇ s of the rotating body 12 is calculated from the generalized inverse matrix of the power transmission matrix T based on the above-described equation (5) (FIG. 5 S12). On the other hand, at the output stage of the arithmetic processing of the arithmetic processing unit 602, the wheel operation torque of the omni wheels 401 to 404 transmitted from the generalized inverse matrix of the power transmission matrix T 1 to the rotating body 12 based on the above-described equation (23).
  • the attitude control method according to the present embodiment is a method suitable for attitude control of the omnidirectional mobile device 10 according to the present embodiment, and can also be applied to attitude control of other devices. .
  • the omnidirectional moving device 10 has basically the same configuration as that of the omnidirectional moving device 10 according to the first embodiment, but the wheels include Mecanum wheels 405 to 408 (see FIG. 11). Is used. Here, an example in which four mecanum wheels 405 to 408 are disposed will be described. However, as with the omnidirectional moving device 10 according to the first embodiment, the number of mecanum wheels may be three. . Although the detailed structure is omitted, like the omni wheels 401 to 404 shown in FIG. 2, the mecanum wheels 405 to 408 rotate in the circumferential direction A to transmit the driving force to the rotating body 12, and The rotating body 12 can roll in a direction B intersecting the circumferential direction A.
  • FIG. 11 shows the positional relationship between the rotating body 12 and the four Mecanum wheels 405 to 408 according to the present embodiment.
  • Two mecanum wheels 405 and 406 are arranged on the upper hemisphere 12B around the axis on one end side of the rotating shaft 120, and two mecanum wheels are arranged on the upper hemisphere 12B around the axis on the other end side of the rotating shaft 120.
  • 407 and 408 are arranged.
  • the unit tangent vector t k at the contacts p 1 to p 4 with the rotating body 12 is 45 degrees with respect to the tangent on the circumference.
  • the position vector p k is represented by Expression (38)
  • the unit tangent vector t k is represented by Expression (39).
  • the power transmission matrix T is expressed by the following equation (40).
  • the absolute values are all equal for each column of the first to third matrix elements of the power transmission matrix T 1 of the above equation (40).
  • the torque transmission matrix T (T T T) ⁇ 1 is expressed by the following equation (41). The absolute values are all equal for each column of the first to third matrix elements of the torque transmission matrix T (T T T) ⁇ 1 .
  • the output of the rotating shaft 120 (horizontal axis Y b ) is maximized even when the Mecanum wheels 405 to 408 are employed as wheels.
  • the outputs of the left and right rotation axes (horizontal axis X b ) and the turning axis (vertical axis Z b ) are also maximized. In this way, when moving in the straight direction, power is efficiently transmitted from each of the mecanum wheels 405 to 408 to the rotating body 12, and the rotating body 12 can be rolled in the straight direction with the maximum output.
  • the same operational effects as those obtained by the omnidirectional movement apparatus 10 and its attitude control method according to the first embodiment are obtained. Obtainable.
  • the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention.
  • the present invention in the case of the three omni wheels 401 to 403, one end side and the other end side of the rotating shaft 120 of the rotating body 12 may be interchanged.
  • the present invention may include five or more omni wheels. In order to reduce the size and weight of the omnidirectional moving device, it is preferable to use three or four omni wheels.
  • three omni wheels 401 to 403 or four omni wheels 401 to 404 are arranged at equal intervals.
  • the distance between the omni wheels 401 to 404 is the position where the absolute values are equal for each column of the matrix elements of the rotating shaft 120 that rolls the rotating body 12 in the straight direction.
  • the omni wheels 401 to 404 are constituted by two wheels 410 and 420, but in the present invention, the omni wheels 401 to 404 are constituted by one or three or more wheels. Also good.
  • four or more rollers may be disposed on the wheel 410, and four or more rollers may be disposed on the wheel 420.
  • the omni wheels 401 to 404 are arranged on one end side and the other end side of the rotating shaft 120 that rolls the rotating body 12 in the straight traveling direction.
  • omni wheels 401 to 404 for transmitting power around one axis on the other end side may be provided. It is preferable to arrange an auxiliary wheel around the shaft on the other end side. Further, the above modification is the same for the Mecanum wheels 405 to 408.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif de déplacement omnidirectionnel doté d'un solide rotatif sphérique (12) et de roues omnidirectionnelles (401)-(404) servant de roues. Une pluralité de roues est disposée en contact avec une surface du solide rotatif (12) autour d'un axe (121) d'un arbre rotatif (120) qui amène le solide rotatif (12) à rouler et à se déplacer le long d'une ligne droite, les roues tournent dans une direction circonférentielle pour transférer une puissance motrice au solide rotatif (12), et les roues sont capables de faire rouler le solide rotatif (12) dans une direction coupant la direction circonférentielle.
PCT/JP2017/023822 2016-07-01 2017-06-28 Dispositif de déplacement omnidirectionnel et procédé de commande d'orientation WO2018003886A1 (fr)

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TW201801953A (zh) 2018-01-16
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