US 12,459,565 B2
Mobile vehicle, method of controlling mobile vehicle, and program
Takafumi Sonoura, Yokohama (JP); Daisuke Yamamoto, Kawasaki (JP); and Hideki Ogawa, Shinagawa (JP)
Assigned to Kabushiki Kaisha Toshiba, Tokyo (JP)
Filed by Kabushiki Kaisha Toshiba, Tokyo (JP)
Filed on Aug. 25, 2023, as Appl. No. 18/455,740.
Claims priority of application No. 2023-044858 (JP), filed on Mar. 22, 2023.
Prior Publication US 2024/0317307 A1, Sep. 26, 2024
Int. Cl. B62D 7/15 (2006.01); B60B 15/00 (2006.01)
CPC B62D 7/159 (2013.01) 23 Claims
OG exemplary drawing
 
1. A mobile vehicle comprising:
a vehicle body unit;
a plurality of vehicle wheel parts;
a first driving part configured to be connected to at least one vehicle wheel part included in the plurality of vehicle wheel parts, have a first rotation axis, and be able to rotate the vehicle wheel part around the first rotation axis as its rotation center in a first rotation direction;
a second driving part configured to connect the vehicle body unit and the first driving part, have a second rotation axis extending in a different direction from the first rotation axis, and be able to rotate the vehicle wheel part and the first driving part around the second rotation axis as its rotation center in a second rotation direction; and
a control unit configured to be disposed in the vehicle body unit and be able to control the first driving part and the second driving part,
wherein the vehicle wheel part includes a plurality of sub-vehicle wheel parts that are able to rotate in a third rotation direction different from the first rotation direction, and
the second driving part is configured so that the second rotation axis is configured to change a direction of the first rotation axis.