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US 12,623,487 B2Granted
Mobile body
AssigneesSony Group Corporation, Sony Interactive Entertainment Inc.
InventorsRyuichi Suzuki, Fumihiko Iida, Koichi Obana
Life of this patent
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Abstract
A mobile body includes a base, three wheels attached to the base, and actuators each of which drives each wheel, and enables omnidirectional movement. Of the three wheels, one or two of the wheels are first configuration wheels, and the remaining wheel or wheels are second configuration wheels. The one wheel is oriented parallel or orthogonal to the orientation of the other two wheels.
Claims8
A mobile body that enables omnidirectional movement comprising:
- a base;
- three wheels attached to the base, wherein two of the wheels are first configuration wheels, and the remaining wheel is a second configuration wheel, the second configuration being different from the first configuration, wherein
- the first configuration wheels each comprise a wheel main body and a plurality of rollers into which support shafts orthogonal to an axle are inserted and that are rotatably attached to an outer circumference of the wheel main body, and
- the second configuration wheel comprises a wheel main body and a plurality of rollers into which support shafts diagonally inclined relative to the axle are inserted and that are rotatably attached to an outer circumference of the wheel main body;
- three actuators that each comprise a respective motor and are configured to drive a respective one of the three wheels;
- and
- a control section comprising a processor, the control section being configured to independently control the three actuators, wherein the motors and the control section are arranged within the base.
4 more elements
A mobile body that enables omnidirectional movement comprising:
- a base;
- three wheels attached to the base, wherein two of the wheels are first configuration wheels, and the remaining wheel is a second configuration wheel, the second configuration being different from the first configuration, wherein the first configuration wheels are omni wheels, and the second configuration wheel is a mecanum wheel;
- three actuators that each comprise a respective motor and are configured to drive a respective one of the three wheels;
- and
- a control section comprising a processor, the control section being configured to independently control the three actuators, wherein the motors and the control section are arranged within the base.
2 more elements
Dependencies are inferred from the claim text.