| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot capable of enhancing the reliability against failures of a main control device and power loss of a main battery. SOLUTION: The mobile robot 1 comprises a traveling drive unit having a pair of traveling wheels and a drive motor thereof, a body part, a traveling control unit 27 to control the traveling drive unit, a power supply unit to supply the power required for the traveling control unit 27, an inclinometer 11 to measure the angle of inclination of the body part, a main control device 20 which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from a main battery 24, and an exclusive control device 21 for abnormality which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from an auxiliary battery 26. When abnormality factors such as failures of the main control device 20 or power loss of the main battery 24 occur, the control of the traveling control unit 27 by the main control device 20 is changed to the control of the traveling control unit by the exclusive control device 21 for abnormality based on the angle of inclination measured by the inclinometer 11. COPYRIGHT: (C)2006,JPO&NCIPI
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