WHEEL DRIVE VEHICLE AND WHEEL CONTACT SENSING METHOD OF THE SAME

摘要

PURPOSE: A wheel driving vehicle and a wheel contact sensing method thereof are provided to confirm the position control error of a wheel by sensing the contact of the wheel in various directions. CONSTITUTION: A wheel driving vehicle comprises a wheel(130) and a sensing unit. The wheel is rotatably installed in an arm(120) of a main body(110). The sensing unit senses a non-contact state that the wheel is separated from the ground. The sensing unit comprises a spring(141), first and second sensors, and a controller. When the arm is relatively rotated to the output shaft of an arm drive unit(121), the spring is stretched or compressed. The first and second sensors detect arm drive information and main body posture information. The controller detects the non-contact state of the wheel based on the measured length and reference length of the spring.