JP2005342818A - Monopod ball wheel mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an one-leg spherical wheel moving robot capable of self-standing and traveling by one spherical wheel even in a narrow passage. <P>SOLUTION: At a lower part of a vertical body portion 1, a spherical wheel driving mechanism 3 equipped with one spherical wheel 2 and rotating that to travel is supported. The body portion 1 comprises a posture detecting sensor 23 for detecting a posture of the body portion 1; a posture controlling actuator 20 for controlling the body portion 1 to be a required posture; and a controller 24 for controlling the spherical wheel driving mechanism 3 to rotate the spherical wheel 2 in a traveling direction thereof, controlling the posture controlling actuator 20 to tilt an upper side of the body portion 1 in the traveling direction, and controlling a tilting posture of the body portion 1 to be the required posture on the basis of information from the posture detecting sensor 23. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a monopod ball wheel mobile robot that has one leg and moves with one ball wheel.

  The conventional robot is a biped robot (for example, refer to Patent Document 1).

In addition, a traveling mechanism that travels by rotating a ball has been proposed (see, for example, Patent Document 2).
Japanese Patent Publication No. 5-62363 JP 2001-55156 A

  However, in the biped robot as described above, in order to run, the robot needs to have a minimum width from one outer side of the two legs to the other outer side. There was a problem that could not be done.

  In addition, the conventional traveling mechanism that rotates the ball is used for each of the four legs of the electric chair, for example, and does not travel independently by only one spherical ring.

  An object of the present invention is to provide a monopod spherical ring mobile robot that can be made to run independently with only one spherical ring even in a narrow passage.

  Another object of the present invention is a monopod ball wheel which can be made to run independently with only one spherical ring even in a narrow passage, and which can be made to run even where there is a step or where there is a recess or the like. To provide a mobile robot.

  The monopod ball wheel mobile robot of the present invention includes a vertical body part, and a spherical wheel drive mechanism that is supported by a single body wheel that is rotated at the bottom of the body part. The body part has an attitude detection sensor for detecting the attitude of the body part, an attitude control actuator for controlling the attitude of the body part, and controls the spherical wheel drive mechanism to rotate the spherical wheel in its traveling direction. In addition, a control device for controlling the attitude control actuator based on information from the attitude detection sensor is provided so that the tilting attitude of the body portion becomes a required attitude.

  Also, the monopod ball wheel mobile robot of the present invention has a vertical trunk, and a spherical ring drive mechanism is supported which is provided with a single spherical ring at the bottom of the trunk and is rotated to rotate. An attitude detection sensor that detects the attitude of the torso, an attitude control actuator that controls the attitude of the torso, and a jumping mechanism that applies a downward impact force to the spherical ring drive mechanism for jumping. And controlling the spherical wheel drive mechanism to rotate the spherical wheel in the traveling direction and controlling the posture based on information from the posture detection sensor so that the tilt posture of the trunk portion becomes a required posture. A control device is provided for controlling the actuator and performing control to activate the jump mechanism when it is necessary to jump.

  In this case, the spherical wheel drive mechanism has three or more universal rollers in contact with the outer circumference of the spherical ring above the great circle perpendicular to the gravity of the spherical ring, and each universal roller is a motor that individually rotates them. Are preferably provided.

  Each motor is supported by a lower part of the body part, and a lower part of the body part is provided with a spherical ring support body capable of supporting a part below a great circle perpendicular to the gravity of the spherical ring. Is preferred.

  The universal roller has a rotation axis on a central axis and is driven to rotate by rotation of the rotation axis, and a circumference of the roller frame on one surface orthogonal to the rotation axis. A plurality of barrel-shaped rollers rotatably supported at predetermined intervals in the direction and with the roller shaft facing the circumferential direction of the roller frame, and another adjacent one parallel to the one surface orthogonal to the rotation shaft A plurality of barrel-shaped rollers which are supported on the outer periphery of the roller frame on the surface so as to correspond to each other between the barrel-shaped rollers and whose roller shafts are rotatably supported in the circumferential direction of the roller frame. Preferably there is.

  Furthermore, it is preferable that an optional equipment storage space is provided in the body portion.

  The monopod ball wheel mobile robot according to the present invention includes a vertical trunk, and a spherical ring driving mechanism that supports a single spherical ring that is rotated at the lower portion of the trunk is supported. The body includes an attitude detection sensor that detects the attitude of the body, an attitude control actuator that controls the attitude of the body, and controls the spherical wheel drive mechanism to rotate the spherical ring in its traveling direction. Since a control device that controls the attitude control actuator based on information from the attitude detection sensor is provided so that the tilt attitude of the vehicle becomes the required attitude, it can run independently with only one spherical wheel even in a narrow path Can be made.

  Further, the monopod ball wheel mobile robot of the present invention has a vertical body part, and a spherical wheel drive mechanism that is supported by rotating one of the body parts at the bottom of the body part is supported, An attitude detection sensor that detects the attitude of the torso, an attitude control actuator that controls the attitude of the torso, a jumping mechanism that applies a downward impact force to the spherical ring drive mechanism for jumping, The ball wheel drive mechanism is controlled to rotate the ball wheel in its traveling direction, and the posture control actuator is controlled based on the information from the posture detection sensor so that the tilt posture of the trunk portion becomes the required posture, and jumps. A control device is provided to control the jumping mechanism when necessary, so it can be run independently with only one spherical ring even in a narrow passage, and it can be recessed even in steps. Etc. can be allowed to travel to leap even where there is.

  In this case, if the spherical wheel drive mechanism has a structure in which three or more universal rollers are in contact with the outer periphery of the spherical ring above the great circle perpendicular to the gravity of the spherical ring, Unlike those equipped with a plurality of drive rollers that are supported by a ring around and touching the great circle of this spherical ring, each universal roller does not touch the outer circumference of the spherical ring even if the spherical ring rises during travel. The spherical ring is held and can be rotated stably. In addition, since the universal roller performs rotational driving of the spherical wheel and transmits the load to the spherical wheel, the structure of the spherical wheel driving mechanism is simpler than the conventional one, and the cost can be reduced and the weight can be reduced. Weight reduction can be achieved. Furthermore, when each universal roller is provided with a motor that individually rotates them, the spherical ring can be rotated by rotating the required universal roller.

  Each motor is supported at the lower part of the body part, and a spherical ring support body that can support a part below a great circle perpendicular to the gravity of the spherical ring is provided at the lower part of the body part. It is possible to prevent the wheel from falling down.

  The universal roller has a rotation axis on the central axis and is rotated by the rotation of the rotation axis, and a roller frame on one surface orthogonal to the rotation axis has a predetermined circumferential direction. A plurality of barrel-shaped rollers supported at intervals and rotatably around the roller shaft in the circumferential direction of the roller frame, and a roller frame on another adjacent surface parallel to one surface orthogonal to the rotation axis The universal roller is omnidirectional in a structure including a plurality of barrel rollers that are supported on the outer periphery so as to correspond to each barrel roller and the roller shaft is rotated in the circumferential direction of the roller frame. Can be moved horizontally.

  Further, if an optional equipment storage space is provided in the trunk, the required optional motion can be performed by the monopod moving robot by storing the required optional equipment in this space.

  A best mode for carrying out a monopod mobile robot according to the present invention will be described in detail with reference to the drawings.

  FIGS. 1 to 6 (A) to 6 (C) show a first embodiment of the monopod mobile robot of this example. FIG. 1 is a perspective view of the monopod mobile robot of this example. 2 is a longitudinal sectional view of the monopod mobile robot of this example, FIG. 3 is a longitudinal sectional view of the spherical wheel drive mechanism used in this example, and FIG. 4 is a state in which the frame and lower body are omitted in FIG. FIG. 5 is a perspective view of a universal roller used in the spherical ring drive mechanism of this example, and FIG. 6A is a barrel roller incorporated in the universal roller used in the spherical ring drive mechanism of this example. 6B is a side view of the universal roller used in the spherical ring drive mechanism of this example, and FIG. 6C is a vertical cross section of the universal roller used in the spherical ring drive mechanism of this example. FIG.

  The monopod mobile robot of this example includes a trunk portion 1 that is vertically oriented and cylindrical. The body 1 is made of a metal such as aluminum or stainless steel, reinforced plastic, or the like. Such a trunk | drum 1 is divided into the upper trunk | drum 1a and the lower trunk | drum 1b which fits and slides on the lower part of this.

  A lower part of the lower body 1b in the body 1 is supported by a spherical wheel drive mechanism 3 that is provided with one spherical wheel 2 and that is driven to rotate.

  The spherical ring drive mechanism 3 of this example includes one spherical ring 2 as shown in FIGS. 3 and 4. The spherical ring 2 is composed of, for example, a metal sphere lined with rubber. Three or more great circles perpendicular to the gravity of the spherical ring 2 (the outer circumference of the plane perpendicular to the gravity passing through the center of the spherical ring 2) 4 on the outer circumference of the spherical ring 2 above (four in this example) The universal rollers 5a, 5b, 5c and 5d are in contact with each other so that the spherical ring 2 can be rotationally driven and the load of the robot can be transmitted to the spherical ring 2. The universal rollers 5a to 5d Geared motors 6a, 6b, 6c, and 6d that respectively rotate in the forward direction or in the opposite direction are provided. As shown in FIG. 4, the universal rollers 5 a to 5 d are arranged in alignment in the X-axis direction and the Y-axis direction when viewed from the upper surface. Each set of the universal rollers 5a to 5d and the geared motors 6a to 6d is suspended and supported by the frame 8 via brackets 7a, 7b, 7c, and 7d. The positions of the universal rollers 5a to 5d contacting the outer periphery of the spherical ring 2 are 45 ° from the center of the spherical ring 2 as shown in FIG. The frame 6 is provided with a plurality of spherical ring support bodies 9 that can support a portion below the great circle 4 perpendicular to the gravity of the spherical ring 3. On the inner surface of the lower end of each spherical ring support 9, a spacer 9a for preventing removal is supported.

  As shown in FIGS. 5 and 6A to 6C, each of the universal rollers 5a to 5d has a rotating shaft 10 on the central axis, and is a roller frame that is rotationally driven by the rotation of the rotating shaft 10. 11 and the outer periphery of the roller frame 11 on one surface orthogonal to the rotation shaft 10, with the roller shaft 12 being supported at a predetermined interval in the circumferential direction and the roller shaft 12 in the circumferential direction of the roller frame 11. A plurality of barrel rollers 13 (in this example, four) that are freely rotatable, and each barrel on the outer periphery of the roller frame 11 on another adjacent surface parallel to the one surface orthogonal to the rotation shaft 10 A plurality of (four in this example) barrel-shaped rollers 13 which are rotatably supported around the roller shafts 12 with the roller shafts 12 being supported in the circumferential direction of the roller frame 11 so as to correspond between the roller rollers 13. It has a structure with. The plurality of barrel rollers 13 assembled in the circumferential direction are arranged so as to form a circle as a whole, as shown in FIG. Each barrel-shaped roller 13 is covered with a rubber elastic body 13b on the outer periphery of a barrel-shaped core material 13a made of a highly rigid material such as a damping alloy, a reinforced resin, or an aluminum alloy that suppresses vibration. It has a structure. The roller shaft 12 is penetrated through the bearing 14 through the shaft center of the core material 13 a, and the core material 13 a rotates on the outer periphery of the roller shaft 12.

  An upper obstacle detection sensor 15 that detects an obstacle in the upper part of the robot and an antenna 16 that communicates with the outside are provided on the upper surface of the upper body 1a of the upper body 1a in the trunk 1. The upper obstacle detection sensor 15 is configured by, for example, an ultrasonic distance sensor or an optical distance sensor. Further, on the outer periphery of the ceiling of the upper body 1a, an impact absorbing material 17 made of rubber or the like is provided in the circumferential direction so as to alleviate the impact when the robot falls down.

  The lower body 1b in the body 1 is provided with a lower obstacle detection sensor 19 for detecting an obstacle near the road surface 18 in the lower part of the robot at a plurality of locations around the lower body 1b. The lower obstacle detection sensor 19 is composed of, for example, an optical distance sensor.

  An attitude control actuator 20 is provided under the ceiling in the upper body 1a and supported by the upper body 1a. In this example, the posture control actuator 20 is moved by a weight moving means in the radial direction of the ceiling portion in a direction parallel to the ceiling portion of the upper body 1a on the upper side of the robot. As a result, the center of gravity is moved, and posture control is performed such that the robot is tilted in a desired direction, for example, in a direction in which the robot is desired to move.

  In the upper body 1a, a visual sensor 21 is disposed under the attitude control actuator 20 and supported by the upper body 1a. The visual sensor 21 is composed of, for example, a CCD camera, a stereo camera, an omnidirectional camera, or the like. This visual sensor 21 detects obstacles in the traveling direction for the purpose of preventing collisions, collects information on landing points at the time of jumping, determines the strength of the jumping direction, detects the intruder, etc. It is used as

  An optional equipment storage space 22 is provided below the visual sensor 21 in the upper body 1a. When the user accommodates the required optional device in the optional device storage space 22, the required movement of the monopod moving robot can be performed.

  Below the optional equipment storage space 22 in the upper body 1a, there are an attitude detection sensor 23 for detecting the attitude of the trunk 1 and various sensors 15, 19, 21, 23, an antenna 16 and an attitude control actuator 20. A control device 24 that causes the robot to perform various control operations based on the above information is arranged.

  A battery 25 serving as a power source for moving the robot is disposed below the posture detection sensor 23 and the control device 24 in the upper body 1a.

  A jumping mechanism 26 that applies a downward impact force to the spherical wheel drive mechanism 3 is disposed below the battery 25 in the upper body 1a. The jumping mechanism 26 is supported between a fixed plate 27 fixed horizontally to the upper body 1 a, a movable plate 28 fixed horizontally to the lower body 1 b, and the fixed plate 27 and the movable plate 28. The plurality of springs 29 that accumulate jumping energy by being compressed and the springs 29 are compressed by attracting the movable plate 28 to the fixed plate 27, and the compression is instantaneously released to release the upper body 1a and The structure includes a jumping operation actuator 30 that pushes the spherical wheel drive mechanism 3 instantaneously to perform a jumping operation. The jump mechanism 26 is supported between the fixed plate 27 and the movable plate 28.

FIG. 7 is a longitudinal sectional view showing a second embodiment of the monopod mobile robot of this example. Note that portions corresponding to those in FIG. 2 described above are denoted by the same reference numerals.
In the monopod mobile robot of this example, the trunk portion 1 that is cylindrical in the vertical direction is not vertically divided as in the first embodiment, but has a structure that is integrally closed.

  An internal frame 31 that moves up and down in the axial direction of the body 1 is disposed inside the body 1. In the internal frame 31, a control device 24 and a battery 25 are incorporated, and an upper portion of a jumping mechanism 26 is incorporated. In the jumping mechanism 26, the fixed plate 27 and the movable plate 28 of the first embodiment are omitted, and each spring 29 is supported on the lower surface of the internal frame 31 and the bottom surface of the trunk portion 1. The jumping mechanism 26 is supported between the inner frame 31 and the bottom surface of the trunk portion 1. The inner frame 31 has a control device 24 and a battery 25 that are as heavy as possible inside, and an upper portion of the jumping mechanism 26 so as to function as a weight.

  Below the optional device storage space 22 in the body 1, an internal frame moving space 32 that allows the internal frame 31 to rise is provided.

  In this example, the posture detection sensor 23 is installed in the installation space of the visual sensor 21 together with the visual sensor 21.

  Note that the robots of the first and second embodiments described above are determined so that the center of gravity is below the center of the body portion 1 in the vertical direction.

  Next, the operation of these robots will be described with reference to FIGS. 1 to 7 and FIGS.

  In response to a command from the control device 24, the robot operates the upper posture control actuator 20, for example, moves the weight to the front side in the direction of travel, and tilts the body 1 in the direction of travel. At the same time, for example, the universal rollers 5b and 5d are rotated by the geared motors 6b and 6d, which are arranged in the direction in which the spherical wheel drive mechanism 3 is to travel, thereby rotating the spherical wheel 2 in the direction to travel. For this reason, the robot can be run without being knocked down.

  For this reason, the robot can stand up and run independently with only one spherical wheel 2 as shown in FIG. 8A even in a narrow path.

  Further, as shown in FIG. 8B, the robot can be caused to make a circular motion by tilting the head inside the circle to be swung on the road surface 18 and tilting the head also in the turning direction.

  Further, as shown in FIG. 8 (C), in a state where the robot is erected, the jumping mechanism 26 is operated without operating the spherical wheel drive mechanism 3, whereby the jumping motion can be performed on the spot.

  Further, as shown in FIG. 8 (D), in a state where the robot is erected, the jump mechanism 26 is operated by inclining the head in the direction to be moved without operating the spherical wheel drive mechanism 3. Jumping motion can be performed in the direction to be moved.

  Further, as shown in FIG. 8E, when the road surface 18 has a step surface 18a, the head is inclined in the direction in which the step surface 18a exists with the robot standing on the road surface 18. By operating the jump mechanism 26, the robot can be moved onto the step surface 18a.

  As shown in FIG. 8 (F), when there is a staircase having step surfaces 18a, 18b, 18c on the road surface 18, the step surfaces 18a to 18c are set up with the robot standing on the road surface 18. By tilting the head in the ascending direction and operating the jump mechanism 26 three times, the robot can be moved onto the step surface 18c. Further, the robot can be lowered onto the road surface 18 by tilting the head of the robot toward the step surface 18a on the step surface 18c and operating the jump mechanism 26 three times.

  In such an operation, various sensors 15, 19, 21, and 23 give external information to the control device 24, and give commands to the attitude control actuator 20, the spherical wheel drive mechanism 3, and the jump mechanism 26 from the control device 24. .

  When the robot moves, the upper obstacle detection sensor 15 detects an upper obstacle in the direction in which the robot is to be moved, measures the distance to the obstacle, and moves the robot to the obstacle when traveling on a plane. When the robot is likely to hit, the detouring operation is performed, and when the robot is likely to hit when jumping to the step surfaces 18a to 18c, the jumping operation is stopped or the detouring operation is performed.

  By accommodating the required optional equipment in the optional equipment storage space 22 in the trunk 1, it is possible to cause the robot to perform required optional actions such as a guard action, a reception action, a guidance action, and the like.

  In this case, as in the first embodiment shown in FIG. 2, the body 1 is divided into an upper body 1a and a lower body 1b that slides against the upper body 1a, and the drive unit of the jump mechanism 26 is supported by the upper body 1a. If the telescopic tip of the jump mechanism 26 is supported on the lower body 1b and the spherical wheel drive mechanism 3 is supported, the jumping propulsion force can be increased, and a high jump is possible.

  Further, as shown in FIG. 7, an internal frame 31 that moves up and down in the axial direction of the trunk portion 1 is disposed inside the trunk portion 1, and a driving portion of the jump mechanism 26 is supported on the inner frame 31, and the jump mechanism If the telescopic tip of 26 is fixed to the bottom of the body 1 and the spherical wheel drive mechanism 3 is supported on the bottom of the body 1, high jumping is difficult, but the body 1 is sealed, so Dust and dust can be prevented from entering the inside.

  FIGS. 9A and 9B show other examples of the spherical wheel drive mechanism. FIG. 9A is a longitudinal sectional view showing the main configuration of the spherical wheel drive mechanism, and FIG. FIG. 10A is a plan view of FIG.

  In this spherical wheel drive mechanism 3, four universal rollers 5 a, 5 b, 5 c and 5 d can rotationally drive the spherical wheel 2 on the outer periphery of the spherical wheel 2 above the great circle 4 perpendicular to the gravity of the spherical wheel 2. Thus, the point of contact with the spherical ring 2 so that the load of the robot can be transmitted is the same as in FIGS. 3 and 4 described above. In the spherical wheel drive mechanism 3 of this example, another universal roller 5e, 5f is in contact with the upper surface of the spherical ring 2 between the universal rollers 5a, 5d and between the universal rollers 5b, 5c. It is arranged in a direction that can rotate in the circumferential direction. Other configurations are the same as those in FIGS. 3 and 4. Although not shown in the figure, geared motors are connected to the universal rollers 5e and 5f, respectively, and are supported by being suspended from the frame 8 via brackets.

  When the universal rollers 5e and 5f are added in this way, a circular motion as shown in FIG. 8B can be easily performed. Further, when the universal rollers 5a, 5b, 5c, and 5d are lifted away from the spherical ring 2 by a lifting mechanism (not shown), and only the universal rollers 5e and 5f are brought into contact with the spherical ring 2, the robot shown in FIG. The orientation of the robot can be changed without causing a circular motion as shown in B).

  Note that a plurality of visual sensors 21 can be received around the body 1. In this way, the situation around the trunk 1 can be monitored without changing the direction of the robot, and the traveling direction can be changed without changing the direction of the robot.

  In the above example, the posture control actuator 20 controls the posture using the movement of the weight. However, the posture control actuator 20 is not limited to this, and for example, a control moment gyro (CMG) ) Etc., and the like using the force of a rotating disk.

  Further, in the above example, the visual sensor 21 is used. However, when the robot travels on a predetermined route, the robot travels without using the visual sensor 21 by programming and inputting the route in advance. It can also be made.

1 is a perspective view of a first embodiment of a monopod mobile robot according to the present invention. It is a longitudinal cross-sectional view of the monopod spherical ring mobile robot of 1st Example. It is a longitudinal cross-sectional view of the spherical-wheel drive mechanism used in 1st Example. FIG. 4 is a plan view of a state where a frame and a lower body are omitted in FIG. 3. It is a perspective view of the universal roller used with the spherical ring drive mechanism of the first embodiment. (A) is a longitudinal sectional view of a barrel roller incorporated in a universal roller used in the spherical wheel drive mechanism of the first embodiment, (B) is a side view of the universal roller of this example, and (C) is this example. It is a longitudinal cross-sectional view of the universal roller. It is the longitudinal cross-sectional view which showed 2nd Example of the monopod spherical ring mobile robot which concerns on this invention. (A)-(F) is operation | movement explanatory drawing of the monopod spherical ring mobile robot which concerns on this invention. (A) is a longitudinal cross-sectional view which shows the principal part structure of the other spherical ring drive mechanism used with the monopod spherical ring mobile robot which concerns on this invention, (B) is a top view of (A).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Upper body 1b Lower body 2 Spherical ring 3 Spherical ring drive mechanism 4 Great circle perpendicular to gravity 5a-5f Universal roller 6a-6d Geared motor 7a-7d Bracket 8 Frame 9 Spherical ring support 9a Spacer 10 Rotating shaft 11 Roller frame 12 Roller shaft 13 Barrel-shaped roller 13a Core material 13b Elastic body 14 Bearing 15 Upper obstacle detection sensor 16 Antenna 17 Shock absorber 18 Road surface 18a to 18c Step surface 19 Lower obstacle detection sensor 20 Actuator for attitude control 21 Visual Sensor 22 Optional Equipment Storage Space 23 Attitude Detection Sensor 24 Control Equipment 25 Battery 26 Jump Mechanism 27 Fixed Plate 28 Movable Plate 29 Spring 30 Jumping Actuator 31 Internal Frame 32 Internal Frame Movement Space

Claims (6)

  A vertical body part is provided, and a spherical wheel drive mechanism that is driven by rotating a single spherical wheel at the lower part of the body part is supported, and the body part detects the posture of the body part. A posture detecting sensor for controlling the posture of the body, a posture control actuator for controlling the posture of the body, and controlling the spherical wheel drive mechanism to rotate the spherical wheel in its traveling direction, while the tilted posture of the body is a required posture. And a control device for controlling the posture control actuator based on information from the posture detection sensor.   A vertical body part is provided, and a spherical wheel drive mechanism that is driven by rotating a single spherical wheel at the lower part of the body part is supported, and the body part detects the posture of the body part. A posture detecting sensor for controlling the posture of the body portion, a jumping mechanism for applying a downward impact force to the spherical wheel drive mechanism for jumping, and the spherical ring on the spherical wheel drive mechanism. When it is necessary to control the rotation in the traveling direction and control the posture control actuator based on information from the posture detection sensor so that the tilting posture of the trunk portion becomes a required posture, and the jumping is necessary A monopod mobile robot having a control device for controlling a jump mechanism to operate.   In the spherical wheel drive mechanism, three or more universal rollers are in contact with the outer circumference of the spherical ring above the great circle perpendicular to the gravity of the spherical ring, and each universal roller has a motor that individually rotates them. The monopod ball wheel mobile robot according to claim 1 or 2, wherein   Each of the motors is supported by a lower part of the body part, and a lower part of the body part is provided with a spherical ring support body capable of supporting a part below a great circle perpendicular to the gravity of the spherical ring. The monopod ball wheel mobile robot according to claim 3.   The universal roller has a rotation axis on a central axis and is driven to rotate by the rotation of the rotation axis, and the outer circumference of the roller frame on one surface orthogonal to the rotation axis in the circumferential direction. A plurality of barrel-shaped rollers that are rotatably supported at a predetermined interval and with a roller shaft facing the circumferential direction of the roller frame, and on another adjacent surface parallel to the one surface orthogonal to the rotation shaft A plurality of barrel-shaped rollers which are supported on the outer periphery of the roller frame so as to correspond to each other between the barrel-shaped rollers and whose roller shafts are rotatably supported in the circumferential direction of the roller frame. The monopod ball wheel mobile robot according to claim 3 or 4, characterized by the above-mentioned. The monopod mobile robot according to claim 1, wherein an optional equipment storage space is provided in the trunk.

Images