MOBILE BODY

A mobile body includes: left and right driving wheels provided on a main body; a drive unit for driving each of the driving wheels; left and right swivel casters; and a controller for controlling the drive unit. The controller includes: an estimation unit for estimating a front-rear distance between...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	OZAKI, Kazumasa, IWAKAMI, Hiroshi, KOBASHI, Shinichiro, IIMURA, Taiki
Format:	Patent
Sprache:	eng
Schlagworte:	ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES AUXILIARY DRIVES FOR VEHICLES AXLES FOR WHEELS OR CASTORS CASTORS ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL INCREASING WHEEL ADHESION INSTRUMENTATION OR DASHBOARDS FOR VEHICLES MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES PERFORMING OPERATIONS TRANSPORTING VEHICLE WHEELS VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	A mobile body includes: left and right driving wheels provided on a main body; a drive unit for driving each of the driving wheels; left and right swivel casters; and a controller for controlling the drive unit. The controller includes: an estimation unit for estimating a front-rear distance between a ground contact position of the swivel caster and a center of gravity; a limit velocity calculation unit for calculating a stability limit velocity based on the front-rear distance estimated by the estimation unit, a front-rear distance between a ground contact position of the driving wheel and the center of gravity, a cornering power of the driving wheel, and a cornering power of the swivel caster when a predetermined calculation condition is satisfied; and a driving control unit for controlling the drive unit such that a velocity of the mobile body is less than or equal to the stability limit velocity.