IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
UP-0349920
(2006-04-17)
|
등록번호 |
US-7677345
(2010-04-21)
|
우선권정보 |
JP-2005-070259(2005-03-14) |
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
Antonelli, Terry, Stout & Kraus, LLP.
|
인용정보 |
피인용 횟수 :
21 인용 특허 :
3 |
초록
▼
Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in
Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.
대표청구항
▼
What is claimed is: 1. A moving robot, comprising: an upper body; and a coaxial two-wheel moving mechanism arranged to support the upper body to move in an advance direction in accordance with an inverted pendulum control, the coaxial two-wheel moving mechanism having a pair of main driving wheels
What is claimed is: 1. A moving robot, comprising: an upper body; and a coaxial two-wheel moving mechanism arranged to support the upper body to move in an advance direction in accordance with an inverted pendulum control, the coaxial two-wheel moving mechanism having a pair of main driving wheels each of which is controlled in accordance with the inverted pendulum control, and one or more supporting legs disposed front and rear of the main driving wheels with each supporting leg provided with an auxiliary wheel disposed at a tip and controlled in accordance with the inverted pendulum control; a posture sensor arranged in the upper body, to detect a posture of the moving robot with respect to the direction of gravity; and a controller arranged in the upper body, to control movement of the coaxial two-wheel moving mechanism, including the main driving wheels and the one or more supporting legs, based on information from the posture sensor; wherein a relative position of said auxiliary wheel is changeable with respect to the main driving wheels of said coaxial two-wheel moving mechanism. 2. The moving robot as claimed in claim 1, wherein the one or more supporting legs are arranged to support the auxiliary wheels to elevate up and down with respect to a traveling surface. 3. The moving robot, as described in the claim 2, wherein said auxiliary wheel is a follower wheel. 4. The moving robot, as described in the claim 3, wherein said auxiliary wheel has a steering circling drive mechanism. 5. The moving robot claimed in claim 2, wherein the tip of the supporting leg is provided with a force sensor arranged to detect a contact counterforce applying onto the auxiliary wheels, a floor distance sensor arranged to measure a gap between the tip of the supporting leg and the traveling surface, and side-surface distance sensors arranged to measure a relative distance between the supporting leg and the traveling surface. 6. The moving robot, as described in the claim 1, wherein said supporting leg comprises a rotating mechanism of being able to move said auxiliary wheel, pivotally, into the driving direction with respect to said moving mechanism, and a thrusting mechanism of being able to control a distance from a rotation center of said rotating mechanism to said auxiliary wheel. 7. The moving robot, as described in the claim 6, wherein said auxiliary wheel is made of a follower wheel, and further has a means for controlling a driving force into a forward moving direction through the inverted pendulum control, in a similar manner to that of said main driving wheels. 8. The moving robot, as described in the claim 7, wherein said auxiliary wheel has a steering circling drive mechanism. 9. The moving robot, as described in the claim 1, further comprising a means for measuring a relative distance between a tip of said supporting leg and a traveling surface, and a means for controlling positioning of said supporting leg so as to maintain it to be a predetermined relative distance. 10. The moving robot, as described in the claim 9, wherein said supporting leg is fixed in position thereof, when an abnormality occurs within a control system, or when an electric power source is cut off, or when said moving robot is inclined in posture thereof, to be equal or greater than an allowable value thereof, under a condition of driving said main driving wheels upon basis of said inverted pendulum control. 11. The moving robot, as described in the claim 9, further comprising a control means for thrusting out said supporting leg in a fall-down direction of said moving robot, so as to recover said moving robot from the fall-down posture thereof, when an abnormality occurs within a control system, or when an electric power source is cut off, or when said moving robot is inclined in posture thereof, to be equal or greater than an allowable value thereof, under a condition of driving said main driving wheels upon basis of said inverted pendulum control. 12. The moving robot, as described in the claim 11, further comprising an emergency electric power source other than said electric power source, wherein driving control of said supporting leg is conducted for anti-tumbling thereof through said emergency electric power source. 13. The moving robot, as described in the claim 1, further comprising a means, brining said at least one supporting leg to be in contact on a driving surface on a ground, and for controlling a thrusting position of said supporting leg being in contact on the ground, so as to maintain a projection position of gravity within an area, which is defined through connecting a point of said supporting leg contacting on the ground and points of said main driving wheels contacting on the ground. 14. The moving robot, as described in the claim 13, wherein assumption is made on an inclination angle of the traveling surface from an amount of thrusting said supporting leg to be in contact on the ground and a posture angle of said moving robot inclined, and determination is made that the traveling surface is a plane surface in case when the inclination angle of the traveling surface is less than a predetermined value, so as to initiate said inverted pendulum control on said main driving wheels.
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