MOVING ROBOT,申请号JP20050070259-传众专利搜索

MOVING ROBOT

申请公布号：JP2006247802(A)

申请号：JP20050070259

申请日期：2005.03.14

申请公布日期：2006.09.21

申请人：

HITACHI LTD

发明人：HOSODA YUJI

分类号：B25J5/00;B25J13/08;B62D61/12

主分类号：B25J5/00

摘要：PROBLEM TO BE SOLVED: To provide a moving robot, having a narrow foot print, quick traveling performance in the flat ground, and overturn preventing function, traveling to cope with a walking environment such as a step and suitable for human symbiosis work. SOLUTION: This moving robot includes support legs 4 and 5, the tips of which can be elevated are disposed in front of and at the back of main driving wheels 2, 3 controlled by an inverted pendulum, wherein at the time of inverted two-wheel traveling, the tips of the support legs 4 and 5 are positioned at a predetermined space on the traveling surface, and when overturning is detected, the positions of the support legs 4 and 5 are fixed, or the support leg in the overturning direction is let out to prevent overturning. Further, according to the detection information of the floor surface distance sensors 4e, 53 and the side surface distance sensors 4f, 4g, 5f, 5g provided on the tip of the support legs 4, 5, the presence of a step and an inclined surface is sensed to keep the support legs away from the step and inclined surface, and the position of center of gravity is stably held by the other grounded support leg and the main driving wheels 2, 3 to walk the step and the inclined surface. COPYRIGHT: (C)2006,JPO&NCIPI