公开(公告)号：US20180162431A1

公开(公告)日：2018-06-14

申请号：US15832829

申请日：2017-12-06

申请人： Toyota Jidosha Kabushiki Kaisha

发明人： Koji Terada ,  Noriaki Hirose

IPC分类号： B62B5/00 ,  B62B3/12

CPC分类号： B62B5/0069 ,  B62B3/12 ,  B62B5/0093 ,  B62B2301/04 ,  G05D1/0223

摘要： An omnidirectional cart including a cart part including a plurality of driving wheels, a body part attached to the cart part rotatably around a pivot axis, a command generation unit generates a speed command indicating a translational speed and a rotational speed of the body part at predetermined cycles, and a control unit searches for a predetermined number of the speed commands for maintaining a translational speed direction indicated by the speed command of a current step and calculates a speed command whose excess rate is a threshold or less or a speed command whose excess rate is minimum among the predetermined number of the speed commands, the excess rate indicating how much values of torque and angular speeds of wheel axes of the plurality of driving wheels and the pivot axis exceed limitation values when the omnidirectional cart operates in accordance with the speed command of the current step.