JP2006082202A - Abnormality detector for robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an abnormality detector for a robot capable of accurately detecting abnormality of a CPU despite its simple constitution in the robot provided with the CPU for calculating an energization command value of a driving circuit of an electric motor on the basis of information obtained from an internal sensor. <P>SOLUTION: The mobile robot is provided with at least a first CPU for calculating the energization command value of the driving circuit of the electric motor on the basis of the information obtained from the internal sensor. The robot is also provided with a second CPU, which calculates the energization command value together with the first CPU, and at least one I/O connected to the first/second CPUs and having first/second counters to be respectively updated by the first/second CPUs for each prescribed time 1. The I/O monitors whether the first/second CPUs update the first/second counters respectively or not (S100, S106). When the first/second counters are not updated within a prescribed period of time 2, the I/O determines that the CPU corresponding to a non-updated counter is abnormal (S102, S108). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot, and more specifically to an abnormality detection device for a legged mobile robot.

  In a robot, particularly a mobile robot such as a legged mobile robot, it is desirable to self-diagnose the abnormality because the microcomputer CPU controls the operation based on the state quantity obtained from the internal sensor. .

From that intention, conventionally, as proposed in, for example, Patent Document 1 below, the state quantity obtained from the output of the inner world sensor is an abnormal value, or the mounted device including the inner world sensor and the electric motor is abnormal. A technique is known in which when a self-diagnosis is performed and an abnormality is self-diagnosed, the degree of abnormality of the abnormality is determined, and a stable state is shifted according to the determined degree of abnormality.
Japanese Patent Laid-Open No. 2003-211379

  However, the above-described prior art is based on the premise that the CPU that performs self-diagnosis operates normally, and does not self-diagnose abnormality of the CPU itself.

  Accordingly, an object of the present invention is to solve the above-described problems, and in a robot having a CPU that calculates an energization command value of a drive circuit of an electric motor based on information obtained from an internal sensor, while having a simple configuration. An object of the present invention is to provide a robot abnormality detection device that detects a CPU abnormality with high accuracy.

  In order to solve the above-described problem, in claim 1, the electric motor, the voltage source, and a power supply circuit that connects the electric motor and the voltage source are arranged, and the electric motor is provided in accordance with an energization command value. A drive circuit that is energized and driven; at least one internal sensor that measures an internal state quantity; and a first CPU that calculates the energization command value based on at least information obtained from the internal sensor A robot that moves by driving the electric motor, and is connected to a second CPU that calculates the energization command value in parallel with the first CPU, and the first and second CPUs. And at least one I / O having first and second counters to be updated every first predetermined time, and the I / O includes the first and second I / Os. 2 CPU is the first Update monitoring means for monitoring whether each of the second counters has been updated, and when at least one of the first and second counters is not updated within a second predetermined time, the first and second counters are updated. The CPU corresponding to the counter that has not been updated is configured to include an abnormality determination unit that determines that the CPU is abnormal.

  In claim 1, there may be a plurality of “second CPUs” and “second counters”. That is, claim 1 monitors whether the CPU group including the first CPU has updated each of the plurality of counter groups including the first counter to be updated every first predetermined time, and the second predetermined group is monitored. When not updated within the time, the CPU corresponding to the counter that has not been updated is determined to be abnormal.

  In the robot abnormality detection device according to a second aspect, the second predetermined time is set longer than the first predetermined time.

  In the robot abnormality detection device according to claim 3, the I / O is determined to be the CPU that is not determined to be abnormal among the first and second CPUs, and the other CPU is determined to be abnormal. The CPU that receives the notification is configured to calculate the energization command value according to a predetermined saving procedure.

  In the robot abnormality detection device according to claim 4, the I / O outputs an abnormality alarm when the abnormality determination unit determines that the CPU corresponding to the counter not updated is abnormal. Configured.

  In the robot abnormality detection device according to claim 5, each of the robot includes a base, a plurality of legs connected to the base via a first joint, and the plurality of legs. And a leg portion connected to the tip of the first and second joints via the second joint, and the electric motor is disposed on the first and second joints. The energization command value is calculated according to the predetermined saving procedure so as to walk and sit down to the base base.

  In the robot abnormality detection device according to a sixth aspect of the present invention, the CPU that has received the notification is configured to shut off the power supply circuit after performing the seating.

  In claim 1, an electric motor, a voltage source, a drive circuit that is arranged in a power supply circuit that connects the electric motor and the voltage source, and that is driven by energizing the electric motor according to an energization command value, An electric motor comprising: at least one inner world sensor that measures an internal state quantity; and a first CPU that calculates an energization command value of a drive circuit of the electric motor based on at least information obtained from the inner world sensor. Is connected to the first CPU and the second CPU, and the first and second CPUs are connected to the first CPU in parallel with the first CPU. At least one I / O having first and second counters to be updated at predetermined time intervals, respectively, and the first and second CPUs have the first and second counters Monitor each update, When at least one of the first and second counters is not updated within a predetermined time of 2, the CPU corresponding to the counter that has not been updated among the first and second CPUs is determined to be abnormal. Therefore, it is possible to accurately detect (self-diagnosis) a CPU abnormality while having a simple configuration.

  In the robot abnormality detection device according to claim 2, since the second predetermined time is set to be longer than the first predetermined time, the second predetermined time is asynchronous with the first predetermined time. Thus, the abnormality can be detected with high accuracy without erroneous detection.

  In the robot abnormality detection device according to claim 3, the CPU that has not been determined to be abnormal among the first and second CPUs is notified that the other CPU has been determined to be abnormal, and the notification is made. Since the received CPU is configured to calculate the energization command value in accordance with a predetermined saving procedure, in addition to the above-described effects, it is possible to appropriately cope with an abnormality detected.

  The robot abnormality detection device according to claim 4 is configured to output an abnormality alarm when the CPU corresponding to the counter that has not been updated is determined to be abnormal. In addition to the effects described above, the user ( The operator) can recognize the occurrence of an abnormality and take necessary actions.

  In the robot abnormality detection device according to claim 5, the robot is connected to the base body, a plurality of legs connected to the base via the first joint, and the tip thereof to the tip via the second joint. And a legged mobile robot having an electric motor disposed at the first and second joints, and the CPU that has received the notification walks to the base base and sits down in a predetermined evacuation procedure. Therefore, in addition to the above-described effects, even when an abnormality is detected, it is possible to cope more appropriately.

  In the robot abnormality detection device according to the sixth aspect of the present invention, the CPU that has received the notification is configured to shut off the power supply circuit after seating, so in addition to the effects described above, the power supply circuit is optimally shut off. Can be done at any time.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS The best mode for carrying out a robot abnormality detection apparatus according to the present invention will be described below with reference to the accompanying drawings.

  A robot abnormality detection apparatus according to a first embodiment of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a front view of a robot targeted by the abnormality detection apparatus according to the first embodiment, and FIG. 2 is a side view thereof. As a robot, a legged mobile robot, more specifically, a humanoid (human) legged mobile robot having two legs and two arms is taken as an example.

  As shown in FIG. 1, a robot (more specifically, a legged mobile robot) 1 includes a plurality of (two), more specifically two (book) legs 2, and above that, A substrate (upper body) 3 is provided. A head 4 is formed further above the base 3, and two (book) arms 5 are connected to both sides of the base 3. Further, as shown in FIG. 2, a storage unit 6 is provided on the back of the base 3, and an electronic control unit (described later), a battery, and the like are accommodated therein. The robot 1 shown in FIGS. 1 and 2 is covered with a cover for protecting the internal structure.

  FIG. 3 is an explanatory diagram showing the robot 1 in a skeleton. The internal structure of the robot 1 will be described with reference to the figure. As shown in the figure, the robot 1 has six legs powered by eleven electric motors on the left and right legs 2 and arms 5, respectively. Provide joints.

  That is, the robot 1 has electric motors 10R and 10L (R on the right side and L on the left side) that drive joints that rotate the leg 2 about the vertical axis (Z axis or vertical axis) to the hip joint of the waist (crotch). And the electric motor 12 that drives the joint that swings the leg 2 in the pitch (advance) direction (around the Y axis), and the leg. An electric motor 14 that drives a joint that rotates 2 in the roll (left and right) direction (around the X axis) and a knee joint that rotates the lower part of the leg 2 in the pitch direction (around the Y axis) are driven at the knee. An electric motor 16 is provided, and an electric motor 18 that drives a foot (ankle) joint that rotates the tip side of the leg 2 in the ankle in the pitch direction (around the Y axis) and a foot that rotates in the roll direction (around the X axis) Electric ankle driving the joint Equipped with a 20.

  As described above, in FIG. 3, the joint is indicated by the rotation axis of the electric motor that drives the joint (or a transmission element such as a pulley that is connected to the electric motor and transmits its power). A foot (foot) 22 is attached to the tip of the leg 2.

  As described above, the electric motors 10, 12, and 14 are arranged at the hip joints of the leg 2 so that the rotation axes thereof are orthogonal to each other, and the electric motors 18 and 20 are rotated at the ankle joint (ankle joint). It arrange | positions so that an axis line may orthogonally cross. The hip joint and knee joint are connected by a thigh link 24, and the knee joint and ankle joint are connected by a crus link 26.

  The leg 2 is connected to the base 3 via a hip joint, but the base 3 is simply shown as a base link 28 in FIG. As described above, the arm portion 5 is connected to the base 3.

  The arm part 5 is also configured similarly to the leg part 2. That is, the robot 1 includes an electric motor 30 that drives a joint that rotates the arm portion 5 in the pitch direction and an electric motor 32 that drives a joint that rotates the roll portion in the roll direction at the shoulder joint of the shoulder portion. An electric motor 34 for driving a joint for rotating the arm and an electric motor 36 for driving a joint for rotating the subsequent portion on the elbow, and an electric motor 38 for driving a wrist joint for rotating the joint on the tip side. Prepare. A hand (end effector) 40 is attached to the tip of the wrist.

  That is, the electric motors 30, 32, and 34 are arranged at the shoulder joints of the arm portion 5 so that their rotation axes are orthogonal to each other. The shoulder joint and the elbow joint are connected by an upper arm link 42, and the elbow joint and the wrist joint are connected by a lower arm link 44.

  Although illustration is omitted, the hand 40 includes a driving mechanism for five fingers (finger) 40a, and is configured to be able to perform operations such as gripping an object with the finger 40a.

  The head 4 is connected to the base body 3 via an electric motor (which constitutes a neck joint) 46 around a vertical axis and a head swing mechanism 48 that rotates the head 4 around an axis orthogonal thereto. As shown in FIG. 3, two CCD cameras (external sensor) 50 are arranged in the head 4 so as to be freely viewed in stereo, and an audio input / output device 52 is arranged.

  With the above configuration, the leg 2 has six joints for the left and right legs and is given a total of 12 degrees of freedom. By driving the six joints at appropriate angles (joint displacement), the leg 2 A desired movement can be given to the robot 1 and the robot 1 can be arbitrarily walked in a three-dimensional space. Also, the arm portion 5 has five joints for the left and right arms and is given a total of 10 degrees of freedom, and can drive the five joints at appropriate angles (joint displacement) to perform a desired work. Can do. Further, the head 4 is provided with a joint or swing mechanism having two degrees of freedom, and the head 4 can be directed in a desired direction by driving these at an appropriate angle.

  Each of the electric motors 10 and the like is provided with a rotary encoder (internal sensor; not shown), and receives a signal indicating at least one of the angle, angular velocity, and angular acceleration of the corresponding joint through rotation of the rotating shaft of the electric motor. Output. Note that the electric motor 10 and the like are specifically DC servo motors.

  A known six-axis force sensor (external field sensor; hereinafter referred to as “force sensor”) 56 is attached to the foot portion 22, and among the external forces acting on the robot, three directions of the floor reaction force acting on the robot 1 from the ground contact surface Signals indicating the components Fx, Fy, Fz and the three-direction components Mx, My, Mz of the moment are output.

  A force sensor (six-axis force sensor) 58 of the same kind is attached between the wrist joint and the hand 40, and an external force other than the floor reaction force acting on the robot 1, specifically, an external force acting on the hand 40 from the object. Signals indicating the three-direction components Fx, Fy, Fz of (object reaction force) and the three-direction components Mx, My, Mz of moment are output.

  A tilt sensor (internal sensor) 60 is installed on the base 3, and at least one of the tilt (tilt angle) of the base 3 with respect to the vertical axis and its angular velocity, that is, the tilt (posture) of the base 3 of the robot 1, etc. A signal indicating the quantity is output.

  The output group of these force sensors 56 and the like is sent to an electronic control unit (Electric Control Unit; hereinafter referred to as “ECU”) 70 composed of a microcomputer housed in the storage unit 6 (on the right side of the robot 1 for convenience of illustration). Only the input and output are illustrated). The ECU 70 includes a microcomputer including a CPU, a memory, an input / output interface, and the like, and controls the driving of the electric motor 10 and the like constituting each joint by calculating a joint angle displacement command so that the robot 1 can move in a stable posture. To do. The storage unit 6 accommodates a drive circuit (motor driver) 72 such as the electric motor 10 as a circuit unit, and also accommodates a wireless system 74 and a battery (voltage source) 76.

  The ECU 70 is connected to an operation ECU 78 including a microcomputer via a wireless system 74 so as to be communicable. The operation ECU 78 includes an operation user I / F 78 a, and a command such as an emergency stop input by the user (operator) from the operation user I / F 78 a is sent to the ECU 70 through the wireless system 74.

  FIG. 4 is a block diagram showing the configuration of the ECU 70 with a focus on the electrical system.

  As shown in the figure, the ECU 70 is connected in parallel to the first CPU 70a (shown as “CPU1” in the figure), the second CPU 70b (shown as “CPU2” in the figure), and the first and second CPUs 70a, 70b. Main I / O 70c. The main I / O 70c includes a first counter 70c1 (shown as “Counter 1” in the drawing) and a second counter 70c2 (shown as “Counter 2” in the drawing). The main I / O 70c includes a drive circuit such as an electric motor 10 to be described later, a sensor group, and a communication unit with the first and second CPUs 70a and 70b, and the first and second CPUs 70a and 70b and the others. Mediates communication with the site.

  As will be described later, the main I / O 70c operates as a robot abnormality detection device. The main I / O 70c includes a switch (SW) 70c3 and a buzzer 70c4. The switch 70c3 is a switch that resets the operations of the first and second CPUs 70a and 70b.

  In the electric motor 10 or the like, one drive circuit 72 per two motors is connected to the drive circuit 1 and the drive circuit 2 (partially shown on the right side of the leg 2 or the like, but the base 3 or the head 4 The same applies to the arm 5).

  The drive circuit 72 is disposed in a power supply circuit 56a that connects a battery (voltage source; indicated by “Vb”) 76 and the electric motor (only shown for the electric motor 10R). The force sensor 56 is connected to the A / D conversion circuit 56a. Each of the drive circuit 72 and the A / D conversion circuit 76a are connected to the CPU 70a via the I / O 70b.

  FIG. 5 is a block diagram functionally showing the operations of the first and second CPUs 70a and 70b shown in FIG.

  As illustrated, the first and second CPUs 70a include a leg control unit 70a1, an arm control unit 70a2, and a head control unit 70a3. The leg control unit 70a1 is based on a gait parameter generated in advance and stored in a memory (not shown), from the force sensor (external sensor) 56 and the inclination sensor (internal sensor) 60 via the main I / O 70c. A gait is generated according to the sensor output sent, a joint angle command value (energization command value) is determined based on the generated gait, and detected from an output (not shown) of a rotary encoder (inner world sensor) The electric motor 10 and the like are driven via the drive circuit 72 so that the deviation from the joint angle is eliminated. Each of the drive circuits 72 is driven by energizing a corresponding electric motor in accordance with an energization command.

  As described above, the first CPU 70a calculates the energization command value based on at least the information obtained from the internal sensor, and the second CPU 70b similarly outputs the energization command value in parallel with the first CPU 70a. Calculate.

  The arm control unit 70a2 and the head control unit 70a3 also calculate a joint angle command value based on the generated gait and the output of the force sensor 56 and the like, and drive the corresponding electric motor 30 and the like via the drive circuit 72. To do. Further, the arm control unit 70a2 controls the drive of the arm unit 5 according to the work content, and the head control unit 70a3 controls the drive of the electric motor 46 or the head swing mechanism 48 according to an instruction of the image recognition system.

  The gait parameter is composed of a motion parameter composed of the position and posture (orientation) of the upper body 3 and the foot 22 and a floor reaction force parameter defined by ZMP (Zero Moment Point). “Position” is indicated by an X, Y, Z coordinate system, and “posture” is indicated by an angle with respect to the X, Y, Z axes. Therefore, “tilt” is also a part of the attitude parameter.

  ZMP means an action point on the floor where the sum of the horizontal components of the moment of inertia and the resultant force of gravity due to the motion of the robot 1 becomes zero. The gait consists of a motion trajectory (trajectory) and a floor reaction force trajectory (trajectory) between one step (the beginning of the both-leg support period and the end of the one-leg support period). It is assumed that several are connected.

  The details of the gait parameters and the generated gaits are described in Japanese Patent Application Laid-Open No. 5-337849 by the applicant of the present application, and thus further explanation is omitted.

  Next, the operation of the robot abnormality detection apparatus according to this embodiment will be described.

  6 and 7 are flowcharts showing the operation. The processing shown in FIG. 6 is performed in parallel by the first CPU 70a (CPU1) and the second CPU 70b (CPU2), and the processing shown in FIG. 7 is performed by the main I / O 70c.

  Explaining below, the processing of the first CPU 70a is started from S10. In S10, it is determined whether or not the second CPU 70b (CPU 2) is determined to be abnormal. If the result is negative, the process returns to S10. If the result is positive, the process proceeds to S14, and the first counter 70c1 (counter 1) of the main I / O 70c is updated. (Increment the value by one) and return to S10.

  On the other hand, the processing of the second CPU 70b is started from S16. In S16, it is determined whether or not the first CPU 70a (CPU1) is determined to be abnormal. If the result is negative, the process returns to S16. If the result is positive, the process proceeds to S20, and the second counter 70c2 (counter 2) of the main I / O 70c is updated. (Increment the value by one) and return to S16.

  As described above, the main I / O 70c is connected to the first and second CPUs 70a and 70b, and the first and second CPUs 70a and 70b are to be updated every predetermined time 1 (first predetermined time), respectively. , Having a second counter. The predetermined time 1 (first predetermined time) is, for example, 5 msec. That is, the first and second CPUs 70a and 70b are activated every 5 msec to calculate the energization command value and access the main I / O 70c to update the corresponding counter.

  Here, the explanation of the flow chart of FIG. 6 is interrupted and the processing of the flow chart of FIG. 7 is explained. In the main I / O 70c, the first I / O 70c within the predetermined time 2 (second predetermined time) in S100. It is determined whether or not the first counter 70c1 (counter 1) has been updated by the CPU 70a. If the determination is negative, the process proceeds to S102, and the first counter 70c1 that has not been updated among the first and second CPUs 70a and 70b. The first CPU 70a corresponding to the first CPU 70a is determined to be abnormal, and the second CPU 70a that is not determined to be abnormal among the first and second CPUs 70a and 70b is determined to be abnormal, that is, the first CPU 70a is abnormal. Notify that Next, in S104, the buzzer 70c4 is turned on (an abnormal alarm is output).

  On the other hand, when the result in S100 is affirmative, the process proceeds to S106, where it is determined whether or not the second counter 70c2 (counter 2) has been updated within the predetermined time 2 (second predetermined time), and when the result is negative, In S108, the second CPU 70b corresponding to the second counter 70c2 that has not been updated among the first and second CPUs 70a and 70b is determined to be abnormal, and the first CPU 70b that has not been determined to be abnormal is determined. The second CPU 70b is notified that it has been determined to be abnormal. Next, in S104, the buzzer 70c4 is similarly turned on to output an abnormality alarm.

  By turning on the buzzer 70c4 and outputting an abnormality alarm in S104, it is determined that at least one of the first and second CPUs 70a and 70b is abnormal for the user (operator) and those nearby. As will be described later, it is possible to take necessary actions such as operating the switch 70c3 and performing a return operation.

  The predetermined time 2 (second predetermined time) is set to, for example, 10 msec, and is longer than the predetermined time 1 (first predetermined time, for example, 5 msec). This is to prevent erroneous detection in synchronization with the predetermined time 1.

  Returning to the explanation of the flow chart of FIG. 6, when the result in S10 or S16 is affirmative, the process proceeds to S22, and it is determined to shift to an abnormal mode (processing for calculating an energization command value according to a predetermined saving procedure). The processing after S22 is processing performed by the CPU that has not been determined to be abnormal.

  The abnormal mode refers to an energization command value calculation process that stops driving other than the leg 2 and ensures only a minimum function for walking by controlling only the leg 2. As described above, when one of the first and second CPUs 70a and 70b is determined to be abnormal, the other CPU shifts to the abnormal mode, giving top priority to returning to the base base, and other actions are restricted. The

  Then, the process proceeds to S24 to wait for a return operation for the CPU determined to be abnormal. The return work means, for example, that the user (operator) operates the switch 70c3 or inputs a predetermined command via the operation user I / F 78a. When the CPU determined to be abnormal is restored by the restoration work, the abnormality detection described above is executed again.

  Next, the process proceeds to S26, where control is performed to walk to the base (that is, the energization command value is calculated), control proceeds to S28, control is performed so as to be seated (that is, the energization command value is calculated), and the process proceeds to S30. (OFF) After turning off, that is, sitting, the power supply circuit 76a is shut off to prepare for the recovery of the CPU determined to be abnormal.

  FIG. 8 is a time chart for explaining the processing of the abnormal mode in the flowchart of FIG.

  As shown in the figure, when the mode is changed to the abnormal mode, a time T1 (for example, 30 sec) is scheduled as a return operation. This is because it is considered that a certain amount of time is required for the return work by operating the switch 70c3.

  Next, movement toward the base station is started. As the time T2 required for this movement, a time that can be reliably returned with the remaining capacity of the battery 76, for example, 10 min is scheduled. Then sit down. This time T3 is scheduled to be about 5 minutes. Next, the drive power supply is turned off and the process ends. When it is difficult to return to the base base from the remaining capacity of the battery 76, a similar end operation is executed at an appropriate location in the vicinity.

  In this embodiment, as described above, the electric motors such as 10, the battery (voltage source) 76, and the power supply circuit 76 a that connects the electric motor and the voltage source are arranged, and the electric motor is in accordance with the energization command value. A drive circuit 72 for energizing and driving the electric motor, at least one internal sensor (such as the tilt sensor 60) for measuring an internal state quantity, and the energization based on at least information obtained from the internal sensor. A first CPU 70a that calculates a command value, and a second CPU 70b that calculates the energization command value in parallel with the first CPU 70a in the robot 1 that moves by driving the electric motor; The first and second counters 70c1 and 70c2 are connected to the second CPU and should be updated every predetermined time 1 (first predetermined time) by the first and second CPUs, respectively. At least one I / O (main I / O) 70c, and whether or not the first and second CPUs update the first and second counters, respectively. When at least one of the first and second counters is not updated within a predetermined time 2 (second predetermined time) and the update monitoring means (S100, S106) to be monitored, the first and second Since the CPU corresponding to the counter that has not been updated among the CPUs is configured to include abnormality determination means (S102, S108) that determine that the CPU is abnormal, the first and second CPUs 70a, The abnormality 70b can be detected (self-diagnosis) with high accuracy.

  In the above, the second CPU 70b and the second counter 70c2 may be plural. That is, this embodiment monitors whether or not the CPU group including the first CPU 70a has updated each of the plurality of counter groups including the first counter to be updated every first predetermined time. When not updated within the time, the CPU corresponding to the counter that has not been updated is determined to be abnormal.

  Further, since the predetermined time 2 (second predetermined time) is set longer than the predetermined time 1 (first predetermined time), the predetermined time 2 (second predetermined time) is set to the predetermined time 1. Asynchronous with (the first predetermined time), it is possible to detect the abnormality accurately without erroneously detecting the abnormality.

  In addition, the I / O 70c includes notifying means (S102, S108) for notifying the CPU that is not determined to be abnormal among the first and second CPUs that the other CPU is determined to be abnormal. Since the CPU that has received the notification is configured to calculate the energization command value according to a predetermined saving procedure (abnormal mode) (S22 to S30), in addition to the above-described effects, it is also appropriate when an abnormality is detected. Can deal with.

  Further, the I / O 70c is configured to output an abnormality alarm (S102, S104) when the CPU corresponding to the counter that has not been updated is determined to be abnormal by the abnormality determination means (S102, S104). In addition, a user (operator) or the like can recognize the occurrence of an abnormality and take necessary actions.

  The robot is connected to the base body 3, the plurality of leg portions 2 connected to the base body via a first joint, and the distal ends of the plurality of leg portions via a second joint. And the legged mobile robot 1 in which the electric motor 10 and the like are arranged at the first and second joints, and the CPU that has received the notification walks to the base base Since the energization command value is calculated according to the predetermined evacuation procedure so as to be seated (S26 to S28), in addition to the above-described effects, even when an abnormality is detected, it is possible to cope more appropriately.

  Further, since the CPU that has received the notification is configured to shut off the power supply circuit after performing the seating (S30), in addition to the effects described above, the power supply circuit 76a can be shut off at an optimal time. it can.

  In the above description, the biped robot is exemplified as the legged mobile robot. However, the robot is not limited to this, and may be a robot with three or more legs.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a robot, specifically a legged mobile robot, targeted by a robot abnormality detection device according to a first embodiment of the present invention. It is a side view of the robot shown in FIG. It is explanatory drawing which shows the robot shown in FIG. 1 with a skeleton. It is a block diagram which shows the structure of the control unit shown in FIG. 3 centering on an electrical equipment system. FIG. 5 is a block diagram functionally showing operations of the first and second CPUs shown in FIG. 4. FIG. 6 is a flowchart showing processing performed in parallel by the first CPU and the second CPU shown in FIG. 4, showing the operation of the robot abnormality detection device according to the embodiment. Similarly, it is a flowchart which shows the process performed by main I / O shown in FIG. 4 which shows operation | movement of the abnormality detection apparatus of the robot which concerns on this Example. 6 is a time chart for explaining the abnormal mode processing of the flow chart.

Explanation of symbols

1 Legged mobile robot (robot)
2 Leg 3 Base 10 Electric motor 70 Electronic control unit (ECU)
70a first CPU
70b Second CPU
70c Main I / O
70c1 first counter 70c2 second counter

Claims (6)

  An electric motor, a voltage source, a power supply circuit connected to the electric motor and the voltage source, and a drive circuit for energizing and driving the electric motor according to an energization command value; and at least measuring an internal state quantity In the robot that includes one inner world sensor and a first CPU that calculates the energization command value based on at least information obtained from the inner world sensor, the robot moves by driving the electric motor. A second CPU that calculates the energization command value in parallel with the CPU, and the first and second CPUs are connected to each other, and the first and second CPUs are updated at each first predetermined time. At least one I / O having a first counter and a second counter, and whether the I / O has updated the first and second counters by the first and second CPUs, respectively. Monitoring whether or not When at least one of the monitoring means and the first and second counters is not updated within a second predetermined time, it corresponds to the counter that has not been updated among the first and second CPUs. An abnormality detection device for a robot, comprising: an abnormality determination means for determining that the CPU is abnormal.   The robot abnormality detection device according to claim 1, wherein the second predetermined time is set longer than the first predetermined time.   The I / O includes notifying means for notifying the CPU of the first and second CPUs that has not been determined to be abnormal that the other CPU has been determined to be abnormal, and the CPU that has received the notification The robot abnormality detection device according to claim 1, wherein the energization command value is calculated according to a predetermined saving procedure.   The I / O outputs an abnormality alarm when the CPU corresponding to the counter that has not been updated by the abnormality determination unit is determined to be abnormal. Robot abnormality detection device.   The robot includes a base, a plurality of legs connected to the base via a first joint, and a foot connected to the respective tips of the plurality of legs via a second joint. And the first and second joints are provided with the electric motors, and the CPU that has received the notification walks to the base base and sits down to sit down. 5. The robot abnormality detection device according to claim 3, wherein the energization command value is calculated according to a procedure. 6. The robot abnormality detection device according to claim 5, wherein the CPU that has received the notification shuts off the power supply circuit after performing the seating.

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