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1. WO2020196410 - MOVING BODY CONTROL DEVICE, MOVING BODY, MOVING BODY CONTROL METHOD, AND PROGRAM

Publication Number WO/2020/196410
Publication Date 01.10.2020
International Application No. PCT/JP2020/012732
International Filing Date 23.03.2020
IPC
A47L 9/28 2006.01
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
G05B 11/36 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
11Automatic controllers
01electric
36with provision for obtaining particular characteristics, e.g. proportional, integral, differential
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G05B 13/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
Applicants
  • パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP]/[JP]
Inventors
  • 澁沢 慎吾 SHIBUSAWA, Shingo
  • 井上 修司 INOUE, Shuji
  • 小松 真弓 KOMATSU, Mayumi
Agents
  • 特許業務法人北斗特許事務所 HOKUTO PATENT ATTORNEYS OFFICE
Priority Data
2019-06009127.03.2019JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) MOVING BODY CONTROL DEVICE, MOVING BODY, MOVING BODY CONTROL METHOD, AND PROGRAM
(FR) DISPOSITIF DE COMMANDE DE CORPS MOBILE, CORPS MOBILE, PROCÉDÉ DE COMMANDE DE CORPS MOBILE ET PROGRAMME
(JA) 移動体制御装置、移動体、移動体制御方法及びプログラム
Abstract
(EN)
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.
(FR)
Le but de la présente invention est de commander avec précision une direction de déplacement d'un corps mobile (robot de travail mobile). Un dispositif de commande de corps mobile (unité de commande 7) comporte des unités d'estimation de perturbation (73L, 73R) et des unités de commande de vitesse de rotation (72L, 72R). Les unités d'estimation de perturbation (73L, 73R) permettent d'obtenir des informations de perturbation sur la base d'une quantité d'entrée d'entraînement et de la vitesse de rotation de chacune d'une pluralité de roues motrices (roues 2L, 2R). Les unités de commande de vitesse de rotation 72L et 72R commandent la vitesse de rotation de chacune de la pluralité de roues motrices (roues 2L, 2R) de telle sorte que l'orientation d'un corps principal est commandée sur la base des informations de perturbation obtenues par les unités d'estimation de perturbation 73L et 73R.
(JA)
本開示は、移動体(移動作業ロボット)の移動方向の制御を精度良く行うことを目的とする。移動体制御装置(制御部7)は、外乱推定部73L、73Rと、回転速度制御部72L、72Rと、を有する。外乱推定部73L、73Rは、駆動入力量と、複数の駆動輪(車輪2L、2R)の各々の回転速度と、に基づいて、外乱情報を求める。回転速度制御部72L、72Rは、外乱推定部73L、73Rで求められた外乱情報に基づいて本体の向きが制御されるよう複数の駆動輪(車輪2L、2R)の各々の回転速度を制御する。
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