JP2007219986A - Inversion moving device and its control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inversion moving device capable of traveling over a higher step, while keeping the inversion state of a vehicle body. <P>SOLUTION: The inversion moving device 10 includes: a road surface sensor 29 for detecting the step on the road surface; a gyro sensor 28 for detecting the inclination angular speed θ' of the vehicle body 20; encoders 22a, 24a for detecting the rotation angular speed of wheels 12, 14; and a controller 70. The controller 70 outputs a control command value to motors 22, 24 in response to detection values detected by the respective sensors, so that the device 10 travels on the road surface, while keeping the inversion state of the vehicle body 20. When the step is detected in a traveling direction by the road surface sensor 29, the controller 70 allows the vehicle body 20 to be inclined backward relative to the traveling direction when traveling over the step. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an inverted moving device that includes one or a plurality of rotating bodies and a vehicle body supported by the rotating bodies, and travels on a road surface while maintaining the vehicle body in an inverted state. In the present specification, the “inverted moving device” refers to a moving device in which the center of gravity of the vehicle body is located above the rotation center of the rotating body and the vehicle body cannot maintain an inverted state unless the rotating body is driven. The “inverted state” refers to a state in which a straight line connecting the center of gravity of the vehicle body and the rotation center of the rotating body is not inclined more than a predetermined angle from the vertical direction. The “inclination angle of the vehicle body” refers to an angle formed by a straight line connecting the center of gravity of the vehicle body and the rotation center of the rotating body and the vertical direction.

As an inverted moving device that travels on a road surface while maintaining the vehicle body in an inverted state, for example, an inverted moving device of Patent Document 1 is known. The inverted moving device includes two wheels arranged on the same rotation axis, a vehicle body supported by the wheels, a driving device for driving the wheels, an inclination angle sensor for detecting an inclination angle of the vehicle body, and an inclination angle sensor. And a controller that outputs a control command value to the driving device in accordance with the inclination angle detected in (1).
In this inverted moving device, the tilt angle sensor detects the tilt angle of the vehicle body. The controller maintains the inverted state of the vehicle body based on the detected inclination angle of the vehicle body, and outputs a control command value to the drive device so that the vehicle body travels at the target speed. The drive device drives the wheel based on the control command value output from the controller. Accordingly, the inverted moving device can travel on the road surface at a target speed while maintaining the vehicle body in an inverted state.

JP 2004-295430 A

In this type of inverted moving device, when the inverted moving device gets over a step on the road surface, a disturbance force that disturbs the inverted state of the vehicle body acts on the inverted moving device. That is, as shown in FIG. 14, when the inverted moving device 60 tries to get over the step 102 on the road surface 104, first, the wheels of the inverted moving device 60 come into contact with the step 102 on the road surface. For this reason, the disturbance force F acts on the wheels of the inverted moving device 60 from the step to the rear side in the traveling direction. When a disturbance force F acts on the wheel, a moment of inertia M is generated around the contact point P between the wheel and the step due to the disturbance force F. When the inertia moment M is generated, the vehicle body tilts forward due to the inertia moment M (attempts to rotate counterclockwise in the figure). When the inertia moment M acting on the vehicle body is small, the drive wheels are driven so as to cancel the inertia moment M by the controller, so that the vehicle body can get over the step while maintaining the inverted state.
However, if the inertia moment M acting on the vehicle body increases, even if the drive wheels are driven by the controller, the inertia moment M cannot be canceled, and the vehicle body is largely inclined forward. If the vehicle body is tilted too much, the inverted state cannot be maintained. For example, when the level difference on the road surface becomes high, the level difference cannot be overcome unless the traveling speed when the inverted moving device gets over the level difference is increased to some extent. If the traveling speed at the time of overcoming the step increases, the inertia moment M increases, and the vehicle body cannot maintain the inverted state. For this reason, the conventional inverted moving device has a problem that there is a limit to the height of the step that can be overcome, and it is not possible to get over a sufficiently high step.

  The present invention has been made in view of the above-described circumstances, and provides an inverted moving device capable of getting over a higher step while maintaining the inverted state of the vehicle body.

An inverted moving device of the present invention includes one or more rotating bodies, a vehicle body supported by the rotating body, a driving device that rotates the rotating body, a road surface sensor that detects a step in the road surface in the traveling direction of the vehicle body, A tilt angle sensor that detects at least one of the tilt angle and the tilt angular velocity, a speed sensor that detects a physical quantity that can identify the traveling speed of the vehicle body, and a controller. The controller outputs a control command value to the driving device in accordance with the presence or absence of a road surface step detected by the road surface sensor, the detection value detected by the inclination angle sensor, and the detection value detected by the speed sensor. Further, the controller is characterized in that, when a step is detected in the traveling direction by the road surface sensor, the vehicle body is inclined rearward with respect to the traveling direction when the step is overcome.
In this inverted moving device, when a step is detected in the traveling direction by the road surface sensor, the controller enters the step as a state in which the vehicle body is inclined rearward with respect to the traveling direction. For this reason, even if an inertia moment is generated around the contact point between the rotating body and the step due to the rotating body coming into contact with the step, the vehicle body is inclined rearward. It is possible to prevent the vehicle body from being greatly inclined forward. Therefore, since the vehicle body can be prevented from being largely inclined to the front side, the vehicle body can get over a higher step while maintaining the inverted state.
Here, “inclining the vehicle body rearward with respect to the traveling direction” means moving the center of gravity of the vehicle body rearward with respect to the wheels. Therefore, the vehicle body is constituted by a main body and an inertial body placed on the main body, and the center of gravity of the vehicle body can be moved rearward by moving the inertial body to the rear side of the vehicle body. This is equivalent to “inclining backward”.

In the above-described inverted moving device, the controller has a target value determining unit that determines the target traveling speed and target inclination angle of the vehicle body when overcoming the step from the height of the step detected by the road surface sensor, and the determined target traveling speed and A target speed pattern determination unit that determines a target speed pattern of the vehicle body according to the target inclination angle and the speed of the vehicle body detected by the speed sensor, and maintains an inverted state of the vehicle body according to the inclination angle detected by the inclination angle sensor. It is preferable to have a control command value calculation unit that calculates a control command value so that the speed of the vehicle body becomes the determined target speed pattern.
According to such a configuration, when a step is detected in the advancing direction by the road surface sensor, the target value determination unit determines the target travel speed and target of the vehicle body over the step from the height of the step detected by the road surface sensor. Determine the tilt angle.
Specifically, the target value determination unit determines a target travel speed sufficient to overcome the detected level difference. That is, the target travel speed when overcoming a step is determined according to the height of the step. In addition, the moment of inertia generated when overcoming a step is determined by the height of the step and the traveling speed when overcoming the step. Therefore, the target determining unit determines the target inclination angle according to the height of the step, so that the target inclination angle corresponding to the moment of inertia generated when overcoming the step is determined.
When the target value determination unit determines the target travel speed and the target tilt angle, the target speed pattern determination unit determines the target speed pattern of the vehicle body according to the determined target travel speed and target tilt angle and the vehicle speed detected by the speed sensor. To decide. The control command value calculation unit calculates the control command value so that the vehicle body is maintained in an inverted state according to the tilt angle detected by the tilt angle sensor, and the speed of the vehicle body becomes the determined target speed pattern. The calculated control command value is output from the controller to the drive device, and the inverted moving device travels with the determined speed pattern while maintaining the inverted state. Accordingly, the inverted moving device enters the step at a traveling speed and an inclination angle corresponding to the height of the step.
When the inverted moving device enters the step, an inertia moment is generated around the contact point between the rotating body and the step. At this time, the vehicle body is inclined backward according to the height of the step (that is, according to the generated moment of inertia). Therefore, the vehicle body is raised by the generated moment of inertia, and the vehicle body has a suitable inclination angle. Moreover, since the traveling speed of the inverted moving device at the time of entering the step is set to a traveling speed sufficient to overcome the step, the inverted moving device can get over the step. Therefore, the inverted moving device can preferably get over the step while maintaining the inverted state.

In the above-described inverted moving device, the target speed pattern determining unit determines the target deceleration at the time of overcoming the step from the target inclination angle determined by the target value determining unit, and the target deceleration and the vehicle body detected by the speed sensor are detected. It is preferable to determine the target speed pattern from the speed and the target travel speed determined by the target value determination unit.
According to such a configuration, the inverted moving device is in a state of being decelerated at the target deceleration when entering the step, whereby the vehicle body can be inclined to the target inclination angle.

In the above-described inverted moving device, it is preferable that the controller causes the inverted moving device to get over the step only when the step detected by the road surface sensor is lower than a predetermined height.
According to such a configuration, when the level difference detected by the road surface sensor is higher than a predetermined height, the inverted moving device does not enter the level difference, thereby preventing the vehicle body from being maintained in an inverted state.

The present invention also provides a method for controlling an inverted moving apparatus that can suitably get over a step. This control method includes one or a plurality of rotating bodies, a vehicle body supported by the rotating body, a driving device that rotates the rotating body, a road surface sensor that detects a road surface step in the traveling direction of the inverted moving device, In accordance with detection results of an inclination angle sensor that detects at least one of an inclination angle and an inclination angle speed, a speed sensor that detects a physical quantity that can specify the traveling speed of the inverted moving device, a road surface sensor, an inclination angle sensor, and a speed sensor A controller that outputs a control command value to the drive device, and the drive device drives the rotating body based on the control command value to maintain the vehicle body in an inverted state and to control the inverted moving device that travels on the road surface. is there.
In this control method, when a step in the advancing direction of the inverted moving device is detected by the road surface sensor, the target travel speed and the target inclination angle of the vehicle body when overcoming the step are determined from the detected height of the step. A step, a second step of determining a target speed pattern according to the target travel speed and target inclination angle of the vehicle body calculated in the first step, and a detection value detected by the speed sensor, and an inclination detected by the inclination sensor A third step of maintaining the inverted state of the vehicle body according to the angle and calculating a control command value so that the vehicle body speed becomes a determined speed pattern, and the above steps are executed by the controller This makes the inverted moving device get over the step.
In this control method, the inverted moving device travels according to a target speed pattern determined according to the target travel speed and target inclination angle of the vehicle body and the detected value detected by the speed sensor. Accordingly, the inverted moving device enters the step at the target travel speed and the target inclination angle (inclined to the rear side), so that the step can be suitably overcome.

The main features of the embodiments described in detail below are listed first.
(Mode 1) The inverted moving device includes two wheels disposed on the same axle and a vehicle body supported by the wheels.
(Embodiment 2) The vehicle body is a motor that drives each wheel, a road surface sensor that detects a step on the road surface in the traveling direction of the inverted moving device, a gyro sensor that detects an inclination angular velocity of the vehicle body, and a rotational angular velocity of each motor. And a controller for driving the motor according to the detection results of these sensors.
(Mode 3) The controller sends a control command value to the motor in accordance with the presence or absence of a road surface step detected by the road surface sensor, the vehicle body inclination angular velocity detected by the gyro sensor, and the motor rotation angular velocity detected by the encoder. Output.
(Mode 4) When a step is detected in the traveling direction by the road surface sensor, the controller tilts the vehicle body rearward with respect to the traveling direction when overcoming the step.
(Mode 5) The controller includes a target value determining unit, a target speed pattern determining unit, and a control command value calculating unit.
(Mode 6) The target value determination unit determines a target travel speed and a target inclination angle of the vehicle body when overcoming the step from the height of the step detected by the road surface sensor.
(Mode 7) The target speed pattern determining unit determines a target deceleration at the time of overcoming the step from the target inclination angle, and based on the target deceleration, the target travel speed, and the speed of the vehicle body detected by the speed sensor, (Mode 8) The control command value calculation unit maintains the vehicle body in an inverted state in accordance with the inclination angle detected by the inclination angle sensor, and the vehicle body speed becomes the determined target speed pattern. Calculate the control command value.
(Mode 9) The controller causes the inverted moving device to get over the step only when the step detected by the road surface sensor is lower than a predetermined height.
(Mode 10) The vehicle body is provided with one or more movable parts and an actuator for driving the movable parts. The controller outputs the control command value to the motor that drives the wheels and outputs the control command value to the actuator to control the vehicle body posture.

  An inverted moving device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the inverted moving device 10 includes two wheels 12 and 14 disposed on an axle 16 and a vehicle body 20 supported by the wheels 12 and 14 so as to be tiltable around the axle 16. . The center of gravity 30 (see FIG. 9) of the vehicle body 20 is located above the axle 16. The inverted moving device 10 maintains the inverted state of the vehicle body 20 by driving the wheels 12 and 14, and travels on the floor surface by driving the wheels 12 and 14.

  The wheel 12 is connected to a motor 22 described later and is driven by the motor 22. The wheels 14 are connected to a motor 24 described later, and are driven by the motor 24. That is, the wheels 12 and 14 are driven independently. By driving the wheels 12 and 14, the inverted moving device 10 travels on the floor surface. Further, by controlling the rotational angular velocities of the wheels 12 and 14, the traveling direction (traveling direction angle φ) of the inverted moving device 10 can be changed. Further, by driving the wheels 12 and 14 according to the inclination angle θ of the vehicle body 20 (see FIG. 8B), the inverted state of the vehicle body 20 is maintained.

  The vehicle body 20 includes motors 22 and 24 that drive the wheels 12 and 14, a gyro sensor 28 that detects the inclination angular velocity θ ′ of the vehicle body 20, a road surface sensor 29 that detects a step on the traveling road surface, and motors 22 and 24. A controller 70 that outputs a control command value is provided.

Motors 22 and 24 arranged in the vehicle body 20 are connected to the wheels 12 and 14. The motors 22 and 24 are electrically connected to the controller 70. The motors 22 and 24 drive the wheels 12 and 14 according to a control command value input from the controller 70.
The motor 22 is provided with an encoder 22a that detects the rotational angular velocity i of the motor. The encoder 22a is electrically connected to the controller 70. The encoder 22a detects the rotational angular velocity i of the motor 22 (that is, the rotational angular velocity i of the wheel 12). The rotational angular velocity i of the wheel 12 detected by the encoder 22 a is input to the controller 70. The motor 24 is also provided with an encoder 24a, and the encoder 24a detects the rotational angular velocity j of the wheel 14. The rotational angular velocity j of the wheel 14 detected by the encoder 24 a is also input to the controller 70.

  The gyro sensor 28 is disposed inside the vehicle body 20. The gyro sensor 28 is electrically connected to the controller 70. The gyro sensor 28 detects the inclination angular velocity θ ′ of the vehicle body 20. The tilt angular velocity θ ′ detected by the gyro sensor 28 is output to the controller 70.

The road surface sensor 29 is disposed below the front surface of the vehicle body 20. The road surface sensor 29 is electrically connected to the controller 70. The road surface sensor 29 includes a laser range sensor and an arithmetic device.
The laser range sensor detects the distance to the object irradiated with the laser by irradiating the laser. The laser range sensor irradiates the laser while changing the irradiation angle of the laser within the measurement angle range, and detects the irradiation angle when the laser is irradiated. That is, the laser range sensor irradiates the laser intermittently while changing the laser irradiation angle within the measurement angle range, and detects the angle at which the laser is irradiated and the distance to the object irradiated with the laser. The laser irradiation angle detected by the laser range sensor and the distance to the object irradiated with the laser are calculated by the calculation device, and the shape of the object (obstacle) within the measurement angle range is specified. Therefore, the shape of the object within the measurement angle range is detected by the road surface sensor 29.
The road surface sensor 29 is attached below the front surface of the vehicle body 20 so that the laser irradiation angle changes in the vertical direction. The road surface sensor 29 is attached to the vehicle body 20 so that the laser irradiation direction is the road surface in front of the vehicle body. Accordingly, the road surface shape in front of the vehicle body can be detected by the road surface sensor 29. The road surface shape data detected by the road surface sensor 29 is input to the controller 70.

The controller 70 is constituted by a microprocessor having a CPU, a ROM, and a RAM. The controller 70 is disposed in the vehicle body 20. The controller 70 is electrically connected to the motors 22 and 24, the encoders 22 a and 24 a, the gyro sensor 28, and the road surface sensor 29.
FIG. 2 is a block diagram showing functions of the controller 70. As shown in FIG. 2, the controller 70 includes a control command unit 72, a target value output unit 74, a current speed calculation unit 90 that calculates a current speed vector V of the vehicle body, and a current position (x, y, φ of the vehicle body). ) For calculating the current position. In FIG. 2, only one motor and encoder are shown in consideration of easy viewing. Actually, the control command values are independently output to the two motors 22 and 24, respectively.

  The rotational speeds i and j of the wheels 12 and 14 detected by the encoders 22a and 24a are input to the current speed calculator 90. The current speed calculation unit 90 calculates the current speed vector V of the inverted moving device 10 from the rotational angular velocities i and j of the wheels 12 and 14. The current speed vector V is represented by two-dimensional coordinates on a plane on which the inverted moving device 10 travels. That is, the current speed vector V is represented by the speed in the x direction, the speed in the y direction, and the rotation speed of the inverted moving device 10. The calculated current velocity vector V is input to the current position calculation unit 92 and the target value output unit 74. Further, a deviation between the calculated current speed vector V and the target speed vector Vm output from the target value output unit 74 is input to the control command unit 72.

A current speed vector V is input to the current position calculation unit 92. The current position calculation unit 92 integrates the input current velocity vector V to calculate the current position (x, y, φ) of the inverted moving device 10. The calculated current position (x, y, φ) is input to the target value output unit 74. The deviation between the current position (x, y, φ) calculated by the current position calculation unit 92 and the target position (x _m , y _m , φ _m ) output from the target value output unit 74 is the control command unit 72. Is input.

The target value output unit 74 receives the road surface shape data in front of the vehicle body 20 detected by the road surface sensor 29 and the current speed vector V calculated by the current speed calculation unit 90. Further, the final target position (x ₁ , y ₁ , φ ₁ ) is input to the target value output unit 74 from the final target position input unit 76 (for example, a remote control device that controls the inverted moving device 10). The target value output unit 74 calculates a target position (x _m , y _m , φ _m ) and a target speed vector V _m based on each input data.

FIG. 3 is a block diagram showing the function of the target value output unit 74. As shown in FIG. 3, the target value output unit 74 includes a level difference detection unit 75, a target speed pattern calculation unit 79, a target position output unit 80, and a target speed output unit 81.
The road surface shape data detected by the road surface sensor 29 is input to the step detection unit 75. The level difference detection unit 75 determines whether or not there is a level difference in front of the inverted moving device 10 based on the input road surface shape data. When there is a step, the height h of the step and the distance l from the inverted moving device 10 to the step are calculated.

The target speed pattern calculation unit 79 includes the final target position (x ₁ , y ₁ , φ ₁ ) input from the final target position input unit 76, the step height h input from the step detection unit 75, and the distance to the step. 1, the target speed pattern of the inverted mobile device 10 is calculated based on the current speed vector V input from the current speed calculator 90 and the current position (x, y, φ) input from the current position calculator 92. To do. That is, when the final target position (x ₁ , y ₁ , φ ₁ ) is input from the final target position input unit 76, the target speed pattern calculation unit 79 _first starts with the current speed V and the current speed of the inverted moving device 10. Based on the position (x, y, φ) and the input final target position (x ₁ , y ₁ , φ ₁ ), the final target position (x ₁ , y ₁ ) from the current position (x, y, φ). , Φ ₁ ) to calculate the target speed pattern. When the target speed pattern is calculated, the motors 22 and 24 are driven based on the calculated target speed pattern. If no step is detected by the step detection unit 75 before the inverted moving device 10 moves to the final target position (x ₁ , y ₁ , φ ₁ ), the calculated target speed pattern is not corrected. On the other hand, when the step detection unit 75 detects a step until the inverted moving device 10 moves to the final target position (x ₁ , y ₁ , φ ₁ ), the target speed pattern calculation unit 79 inputs the final target position. Correct the target speed pattern calculated at times. Hereinafter, a procedure for calculating a target speed pattern at the time of inputting the final target position (x ₁ , y ₁ , φ ₁ ) and a procedure for correcting the target speed pattern when a step is detected by the step detection unit 75 will be described. .

(1) Calculation procedure of target speed pattern at the time of inputting the final target position The target speed pattern calculation unit 79 first has the current speed V, the current position (x, y, φ) of the inverted moving device 10 and the final target. Based on the position (x ₁ , y ₁ , φ ₁ ), the movement locus of the inverted moving device 10 is determined. For example, if the current position (x, y, phi) final target position from _{(x 1, y 1, φ} 1) to be moved linearly, the current position (x, y, phi) and the final target position _{(x 1} , Y ₁ , φ ₁ ) are determined as movement trajectories. Or when the map (what is called a road map) of the space where the inverted moving device 10 is installed is set, the route (road) on which the inverted moving device 10 travels is selected from the map. When the movement trajectory of the inverted moving device 10 is determined, a target speed pattern of the inverted moving device 10 is calculated so that the inverted moving device 10 travels on the determined moving trajectory.
The procedure for calculating the target speed pattern from the determined movement locus will be specifically described with reference to FIG. In the example shown in FIG. 4A, the inverted moving device 10 is stopped at the current position A, and the inverted moving device 10 is moved from the current position A (starting point) (x _A , y _A , φ _A ) to the final target position. It moves linearly to B (x ₁ , y ₁ , φ ₁ ). In the present embodiment, in order to stably maintain the inverted state of the inverted moving device 10, the absolute values of the maximum acceleration a _max and the maximum deceleration −a _max of the inverted moving device 10 are set to constant values in advance. In addition, the maximum speed v _max is limited. For this reason, the inverted moving device 10 accelerates from the current position A (x _A , y _A , φ _A ) to the maximum speed v _max by equal acceleration motion (acceleration a _max ), and after reaching the maximum speed v _max , etc. The _vehicle travels with velocity motion (v _max ), then decelerates with constant deceleration motion (acceleration −a _max ), and stops at the final target position B (x ₁ , y ₁ , φ ₁ ). Therefore, the target speed pattern calculation unit 79 first calculates the distance from the current position (x _A , y _A , φ _A ) to the final target position (x ₁ , y ₁ , φ ₁ ), and the calculated distance The time for exercising at constant acceleration, the time for exercising at constant speed, and the time for exercising at constant deceleration are determined.
FIGS. 5A and 5B show a target speed pattern and a target position pattern when the movement locus shown in FIG. 4A is determined. Figure 5 (a), the inverted moving device 10 is moving at a constant acceleration _{a max} at time 0 to t _1, moving at constant velocity _{v max} at time _t 1 ~t _2, time _t 2 ~t ₃ in the motion at a constant deceleration _{-a max.} By controlling the motors 22 and 24 based on this speed pattern, the inverted moving device 10 moves as shown in FIG. 5B and reaches the final target position B (x ₁ , y ₁ , φ ₁ ). To do.

(2) Target Speed Pattern Correction Procedure at Step Detection The target speed pattern calculation unit 79 first determines whether or not the detected step can be overcome. Specifically, it is determined whether or not the height h of the level difference detected by the level difference detector 75 is higher than a preset set value h _max . When the height h of the step is higher than the set value h _max , the inverted moving device 10 determines that the step cannot be overcome. If the height h of the step is less than the set value h _max is inverted mobile device 10 is determined to be over a bump.
If it is determined that the step can be overcome, then the target speed V ₀ and the target inclination angle θ ₀ of the inverted moving device 10 when the step is exceeded are determined from the step height h. The reason for determining the target speed V ₀ when overcoming the step according to the step height h is to allow the inverted moving device 10 to get over the step with certainty. Also, the target inclination angle θ ₀ of the vehicle body 20 when overcoming the step according to the step height h is determined by rotating the vehicle body 20 generated when the inverted moving device 10 gets over the step at the target speed V _0. This is to cancel the moment M to be attempted. The target speed V ₀ and the target inclination angle θ ₀ can be determined based on, for example, maps shown in FIGS. FIG. 6 is a map showing the relationship between the step height h and the target speed V ₀ , and FIG. 7 is a map showing the relationship between the step height h and the target inclination angle θ ₀ . The target speed V ₀ can be determined from the step height h input in FIG. 6, and the target inclination angle θ ₀ can be determined from the step height h input in FIG. 7.
When the target inclination angle θ ₀ when overcoming the step is determined, the target deceleration −a ₀ of the inverted moving device 10 when overcoming the step is determined from the determined target inclination angle θ ₀ . As will be described in detail later, the inverted vehicle 10 tilts the vehicle body 20 forward during acceleration and tilts the vehicle body 20 backward during deceleration. Thus, by controlling the inverted moving device 10 to the target deceleration -a ₀ corresponding to the target tilt angle theta _0, it can be an inclination angle of the vehicle body 20 and the target inclination angle theta _0.
When the target speed V ₀ and the target deceleration −a ₀ are determined, the inverted moving apparatus 10 is moved to the target speed V ₀ and the target based on the current speed V of the inverted moving apparatus 10 and the distance l from the inverted moving apparatus 10 to the step. It determines whether it is possible to control the deceleration -a _0. When the inverted moving device 10 can be controlled to the target speed V ₀ and the target deceleration −a ₀ , it is determined that the inverted moving device 10 can get over the step. On the other hand, when the inverted moving device 10 cannot be controlled to the target speed V ₀ and the target deceleration −a ₀ (for example, the current speed of the inverted moving device 10 is high and the distance to the step is short, When the target speed V ₀ cannot be set), the inverted moving device 10 determines that the step cannot be overcome.
When it is determined that the step can be overcome, the target speed pattern calculation unit 79 corrects the target speed pattern for stepping over the step. If it is determined that the step cannot be overcome, the target speed pattern calculation unit 79 corrects the target speed pattern so that the step cannot be overcome.

(I) Calculation of target speed pattern for overstepping When stepping over a step, the target speed pattern calculation unit 79 first decelerates from the current speed V input from the current speed calculation unit 90 at a target deceleration −a _0. calculating the time required to achieve the target speed V ₀ Te. For example, the rate currently 2m / s, the target deceleration is -1 m / ^{s 2,} when the target speed 1 m / s, deceleration time is calculated as one second.
When the deceleration time is determined, the distance that the inverted moving device 10 moves during the deceleration time is calculated. In the case of the above-described example, since the current speed is 2 m / s and the target deceleration is -1 m / s ² and the vehicle is decelerated for 1 second, the distance that the inverted moving device 10 moves is 2 × 1- (1/2) × 1 × 1 ² = 1.5 m.
When the distance traveled during the deceleration time is calculated, the time for constant speed movement at the current speed is determined from the calculated distance and the distance l to the step. For example, in the above-described example, when the distance to the step is 5 m, the distance that the inverted moving device 10 moves during the deceleration time is 1.5 m, so the distance that moves at a constant speed is 3.5 m. Since the current speed of the inverted moving device 10 is 2 m / s, the time for constant speed movement at the current speed is calculated as 1.75 seconds. Thereby, the target speed pattern until immediately before the inverted moving device 10 gets over the step can be calculated.
Next, a target speed pattern is calculated from just before the inverted moving device 10 gets over the step until it reaches the final target position. In this embodiment, after the inverted moving device 10 decelerates to just before getting over the step, the inverted moving device 10 gets over the step while accelerating at the acceleration a _max . After overcoming the step, the vehicle accelerates to a maximum speed v _max and shifts to a constant speed motion, and then decelerates with a constant deceleration motion (acceleration −a _max ) to final target position B (x ₁ , y ₁ , φ Stop at ₁ ). Here, the target speed V ₀ at the time of overcoming the step (specifically, immediately before overcoming the step) is determined. Further, the distance from the step to the final target position B (x ₁ , y ₁ , φ ₁ ) is the position (x, y, φ) of the inverted moving device 10 at the time of overcoming the step and the final target position B (x ₁ , y ₁ , φ ₁ ). For this reason, it is possible to determine the time to accelerate at the acceleration a _max , the time to move at the constant speed, and the time to decelerate at the deceleration −a _max . Thereby, the target speed pattern after overcoming the step can be determined.

A specific example of overcoming the step by correcting the target speed pattern will be described with reference to FIGS. As shown in FIG. 4B, the inverted moving device 10 moves linearly from the current position A (x _A , y _A , φ _A ) to the final target position B (x ₁ , y ₁ , φ ₁ ). A step 100 exists on the way from the current position A (x _A , y _A , φ _A ) to the final target position B (x ₁ , y ₁ , φ ₁ ). It is assumed that the inverted moving device 10 is stopped at the current position A.
As shown in FIG. 8, the inverted moving device 10, the period from time _t 0 ~t ₁ accelerates at an acceleration _{a max,} performs uniform motion from time _{t 1.} When the inverted moving device 10 detects the step 100 while moving at a constant speed (for example, when detecting the step 100 at the point C in FIG. 4B), the step detecting unit 75 detects the step from the inverted moving device 10. The distance CE up to 100 and the height h of the step 100 are calculated. Then, the target speed pattern is corrected by the procedure described above. That is, as shown in FIG. 8, it moves at a constant speed until time t ₂ (up to point D in FIG. 4B), and between time t _{2 and} t ₃ (point E in FIG. 4B). Until the target deceleration -a ₀ ). Thereby, the inverted moving device 10 enters the step 100 at the target speed V ₀ and the target inclination angle θ ₀ .
Next, an inverted mobile device 10 during the time _t 3 ~t ₄ is accelerated by an acceleration _{a max,} it is reached Time _{t 4} in velocity _{v max.} Therefore, the inverted moving device 10 is accelerated at the timing of getting over the step 100 (immediately before getting over), and sufficient torque is given to the wheels 12 and 14. Thus, the inverted moving device 10 can reliably get over the step 100. Time t _{4 to} t ₅ moves at a constant speed at a speed v _max , and time t _{5 to} t ₆ decelerates at a deceleration −a _max . Thus, the inverted moving device 10 reaches the final target position B (x ₁ , y ₁ , φ ₁ ).
Incidentally, the present position _{A (x A, y A,} φ A) final target position _B from _{(x 1, y 1, φ} 1) if there is a plurality of steps so far, the target speed pattern for each for detecting a level difference Corrections are made.

(Ii) Calculation of the target speed pattern when it is determined that the step cannot be overcome When the step is determined that the step cannot be overcome, the target speed pattern calculation unit 79 sets the target speed pattern so that the inverted moving device 10 stops. Correct it. That is, the target speed pattern calculation unit 79 corrects the target speed pattern so that the inverted moving device 10 is decelerated with the acceleration −a _max and the speed of the inverted moving device 10 becomes zero.
A specific case where the level difference is not overcome will be described with reference to FIGS. Also in the example shown in FIG. 4C, as in FIG. 4B, the inverted moving device 10 moves from the current position A (x _A , y _A , φ _A ) to the final target position B (x ₁ , y ₁ , φ There is a step 100 while moving to ₁ ). It is assumed that the inverted moving device 10 is stopped at the current position A.
As shown in FIG. 9, the inverted moving device 10, the period from time _t 0 ~t ₁ accelerates at an acceleration _{a max,} performs uniform motion from time _{t 1.} The inverted moving device 10 detects the step 100 when moving at a constant speed (for example, detects the step 100 at the point C in FIG. 4C), and the inverted moving device 10 cannot get over the step 100. Judge. For this reason, the target speed pattern calculation unit 79 corrects the target speed pattern to stop the inverted moving device 10. As a result, as shown in FIG. 9, the inverted moving device 10 decelerates at the constant acceleration −a _max during the time t ₂ ′ to t ₃ ′. Accordingly, the inverted moving device 10 stops before the step 100 without getting over the step 100.
Incidentally, when the inverted moving device 10 is stopped, target speed pattern calculating unit 79, the current position and the final target position _{B (x 1, y 1,} φ 1) of the inverted moving device 10 a movement trajectory of the inverted mobile device 10 from the re The target speed pattern is calculated again based on the determined movement locus. The re-determined movement trajectory reaches the final target position B (x ₁ , y ₁ , φ ₁ ) while avoiding the step 100.

As is apparent from the above description, the target speed target speed pattern calculation section 79 is the target speed V _0, calculates a target tilting angle theta _0, the target speed V ₀ that the _calculated, based on the target inclination angle theta ₀ The pattern is calculated. Therefore, the target speed pattern calculation unit 79 has the functions of a target value determination unit and a target speed pattern determination unit as defined in claim 2.

The target position output unit 80 is connected to the inverted moving device 10 based on the target speed pattern input from the target speed pattern calculation unit 79 every processing cycle of the controller 70 (output cycle of control command values to the motors 22 and 24). the target position _{(x m, y m, φ} m) to output a. That is, the target speed pattern input from the target speed pattern calculation unit 79 is a function of time t. Therefore, the target position pattern (function of time t) is calculated by integrating the input target speed pattern. Then, the target position corresponding to time t from the calculated target position pattern _{(x m, y m, φ} m) is calculated, the target position _{(x m, y m, φ} m) controls the instruction unit 72 and the calculated Output to.
Once the target speed pattern is input, the target position (x _m , y _m , φ _m ) is based on the first input target speed pattern until the corrected target speed pattern is input again. Calculated.

The target speed output unit 81 is based on the target speed pattern input from the target speed pattern calculation unit 79 every processing cycle of the controller 70 (output cycle of torque command values to the motors 22 and 24). The target speed _Vm vector is output. That is, the target speed pattern input from the target speed pattern calculation unit 79 is a function of time t. Therefore, the target speed vector V _m corresponding to the time t is calculated from the input target speed pattern, and the calculated target speed vector V _m is output to the control command unit 72.
As with the target position output unit 80, once the target speed pattern is input to the target speed output unit 81, the first target speed pattern is input until the corrected target speed pattern is input again. Based on this, a target speed vector V _m is calculated.

The control command unit 72 includes a deviation between the target position (x _m , y _m , φ _m ) output from the target value output unit 74 and the current position (x, y, φ) calculated by the current position calculation unit 92. The deviation between the target speed vector Vm input from the target value output unit and the current speed vector V calculated by the current speed calculation unit 90 is input. In addition, the vehicle body inclination angular velocity θ ′ detected by the gyro sensor 28 is input to the control command unit 72. The control command unit 72 calculates a control command value according to the input position deviation, speed deviation, and inclination angular velocity θ ′, and outputs the calculated control command value to the motors 22 and 24. Specifically, the control command unit 72 includes a travel control command value calculation unit 72a and an inverted control command value calculation unit 72b, and the control command value calculated by the travel control command value calculation unit 72a and the inverted control command value calculation unit 72b. Is output to the motors 22 and 24.

A position deviation and a speed deviation are input to the traveling control command value calculation unit 72a. The travel control command value calculation unit 72a calculates the control command value so that the input position deviation and speed deviation are reduced. For this reason, when the motors 22 and 24 are driven based on the control command value calculated by the travel control command value calculation unit 72 a, the position deviation and the speed deviation are reduced, and the inverted moving device 10 is moved from the target value output unit 74. It moves to the output target position (x _m , y _m , φ _m ), and the speed vector V of the inverted moving device 10 becomes the target speed vector V _m .

A position deviation, a speed deviation, and an inclination angular velocity θ ′ are input to the inverted control command value calculation unit 72b. The inverted control command value calculation unit 72b calculates the control command value so that the position deviation, the speed deviation, and the inclination angular velocity θ ′ are reduced. Here, when the inclination angular velocity θ ′ decreases, the inclination angular velocity θ ′ becomes “0”. Therefore, in this embodiment, the target inclination angular velocity θ ′ _m is set to “0”. Therefore, when the motors 22 and 24 are driven with the control command value calculated by the inverted control command value calculation unit 72b, the inclination angular velocity θ ′ is controlled to be “0”, and the vehicle body of the inverted moving device 10 is controlled. 20 will maintain an inverted state.

  In addition, about the specific structure of the control instruction | command part 72 mentioned above, the structure disclosed by patent document 1 can be taken.

  As described above, in this embodiment, the external moving force applied to the center of gravity of the vehicle body 20 (FIG. 12) is controlled to control the inverted moving device 10 so that the position deviation and the speed deviation are zero and the inclination angular velocity θ ′ is zero. The direction of the gravitational force G and the inertial force A) is directed toward the axle 16 of the wheels 12 and 14. Therefore, when the inertial force A acts in the forward direction as shown in FIG. 11B or FIG. 12 (that is, when the inverted moving device 10 decelerates), the vehicle body 20 tilts backward. Conversely, when the inertial force A acts in the backward direction (that is, when the inverted moving device 10 accelerates), the vehicle body 20 tilts forward. Thus, in the present embodiment, the inclination angle θ of the vehicle body 20 can be controlled by controlling the deceleration a (or acceleration a) of the inverted moving device 10. The inclination angle θ can be obtained by a calculation formula of θ = arctan (a / g).

Next, the operation of the controller 70 when the inverted moving device 10 gets over the step will be described with reference to FIG. In FIG. 10, the final target position (x ₁ , y ₁ , φ ₁ ) is input from the final target position input unit 76 with the inverted moving device 10 stopped at the initial position (x _A , y _A , φ _A ). The operation of the controller 70 when moving from the initial position (x _A , y _A , φ _A ) to the final target position (x ₁ , y ₁ , φ ₁ ) is shown.

When the final target position (x ₁ , y ₁ , φ ₁ ) is input from the final target position input unit 76, the controller 70 activates each part of the inverted moving device 10 and starts movement control of the inverted moving device 10. (Step S2). When the movement control is started, the controller 70 first determines a movement locus from the input final target position (x ₁ , y ₁ , φ ₁ ) and the current position (x _A , y _A , φ _A ) of the inverted moving device 10. The target speed pattern is calculated based on the determined movement locus (step S4). Then, output of control command values from the controller 70 to the motors 22 and 24 is started based on the calculated target speed pattern, and the motors 22 and 24 are driven based on the control command values (step S6). Thereby, the inverted moving device 10 starts moving toward the final target position (x ₁ , y ₁ , φ ₁ ) while maintaining the inverted state.

When the inverted moving device 10 starts traveling, road surface shape data is measured by the road surface sensor 29. The road surface shape measured by the road surface sensor 29 is input to the controller 70 at predetermined intervals. The controller 70 determines whether or not there is a step on the road surface from the input road surface shape data (step S8).
If it is determined that there is no step on the road surface (NO in step S8), the process proceeds to step S24, and it is determined whether the inverted moving device 10 has reached the final target position (x ₁ , y ₁ , φ ₁ ). . Final target position _{(x 1, y 1, φ} 1) when it reaches the (YES at step S24) ends the movement control of the controller 70. If the final target position (x ₁ , y ₁ , φ ₁ ) has not been reached (NO in step S20), the process returns to step S6 and the processes from step S6 are repeated. For this reason, the driving of the motors 22 and 24 is continued, and the inverted moving device 10 continues to move toward the final target position (x ₁ , y ₁ , φ ₁ ).

On the other hand, if it is determined that there is a step on the road surface (YES in step S8), the controller 70 determines whether or not the detected step height h exceeds a preset step height h _max ( Step S10).
When the detected step height h exceeds the set step height h _max (YES in step S10), the controller 70 corrects the target speed pattern for stopping the inverted moving device 10 (step S18). Next, the controller 70 drives the motor 22 based on the target speed pattern corrected in step S18 (step S20), and determines whether or not the speed of the inverted moving device 10 has become zero (step S22). If the speed of the inverted moving device 10 is not zero (NO in step S22), the process returns to step S20 and the processing from step S20 is repeated. Thus, the driving of the motors 22 and 24 is continued until the inverted moving device 10 stops. When the speed of the inverted moving device 10 is 0 (YES in step S22), the controller 70 ends the movement control of the inverted moving device 10.

If the detected level difference height h does not exceed the set height of the step h _max (NO at step S10), the controller 70 calculates the target speed V ₀ which upon overcoming step, the target from the target speed V ₀ The inclination angle θ ₀ is calculated (step S12). Next, the controller 70 calculates a target deceleration −a ₀ from the target inclination angle θ ₀ .
When the target speed V ₀ and the target deceleration −a ₀ are calculated, it is determined whether or not the inverted moving device 10 can get over the step from the distance l to the step and the current speed V of the inverted moving device 10 (step S14). ). If the inverted moving device 10 cannot get over the step (NO in step S14), the process proceeds to step S18. Thereby, the inverted moving device 10 stops its movement without getting over the step.

On the other hand, when the inverted moving device 10 can ride over the step (YES in step S14), the target speed _{V 0} and the target inclination angle theta ₀ calculated in step S12 (i.e., target deceleration -a ₀₎ and step The target speed pattern is corrected from the distance 1 to the current speed V and the current speed V of the inverted moving device 10 (step S16). When the target speed pattern is corrected, the process proceeds to step S24. Accordingly, the inverted moving device 10 is driven with the corrected target speed pattern, and the inverted moving device 10 moves to the final target position (x ₁ , y ₁ , φ ₁ ).

Here, the posture of the vehicle body when the inverted moving device 10 gets over the step will be described based on the example of FIG.
When the inverted moving device 10 detects the step 100 at the position C, the inverted moving device 10 travels according to the target speed pattern as shown in FIG. That is, after detecting the step 100, until it reaches the point D, and runs at a constant speed _{V max} (see FIG. 11 (a)). When reaching the point D, the inverted moving device 10 travels while decelerating at a constant deceleration −a ₀ . Then, since the inverted moving device 10 travels so that the inclination angular velocity θ ′ = 0, the inclination angle θ of the vehicle body 20 becomes the inclination angle θ ₀ corresponding to the deceleration −a ₀ . The inverted moving device 10 travels from the point D to the step 100 at a constant deceleration −a ₀ and an inclination angle θ ₀ (see FIG. 11B). While the inverted moving device 10 travels from the point D to the step, the speed of the inverted moving device 10 is decelerated, and the speed of the inverted moving device 10 becomes the speed V ₀ (target traveling speed V ₀ ). That is, the inverted moving device 10 enters the step 100 at the speed V ₀ and the inclination angle θ ₀ (see FIG. 11C).
When the inverted moving device 10 enters the step 100, the wheels 12 and 14 come into contact with the step 100. When the wheels 12 and 14 come into contact with the step 100, a disturbance force F acts on the wheels 12 and 14 from the step 100 to the rear side in the traveling direction (see FIG. 12). When the disturbance force F acts, an inertia moment M is generated around the contact point P between the wheels 12 and 14 and the step. When the generated moment of inertia M acts on the vehicle body 20, the vehicle body 20 inclined rearward is raised, and is inverted substantially vertically (that is, θ = 0).
In addition, the speed V _{0 at} which the inverted moving device 10 enters the step 100 is determined to be a speed sufficient to get over the step 100. Further, since the inverted moving device 10 is accelerated at the acceleration a _max immediately before entering the step 100, torque is applied to the wheels 12, 14. Therefore, the inverted moving device 10 preferably gets over the step 100 (see FIG. 11D).

As is clear from the above description, the inverted moving device 10 tilts the vehicle body 20 rearward with respect to the traveling direction when getting over the step. Therefore, when the inverted moving device 10 gets over the step, the vehicle body 20 is prevented from being greatly tilted to the front side, and it is possible to get over the higher step while maintaining the inverted state.
In the inverted moving device 10 described above, the target speed pattern calculation unit 79 determines the target travel speed V ₀ and the target inclination angle θ ₀ according to the height h of the step, and then according to the target inclination angle θ ₀ . After determining the target deceleration a _0, finally, to determine a target speed pattern of the vehicle body 20 according to the velocity V of the determined target deceleration a ₀ and a target travel speed V ₀ and the vehicle body 20 detected by the speed sensor . Since the inverted moving device 10 travels according to the target speed pattern determined according to the height h of the level difference, the level difference can be suitably overcome.
Further, in the above-described inverted moving device 10, the controller 70 causes the inverted moving device 10 to get over the step only when the step detected by the road surface sensor 29 is lower than the predetermined height hmax. Therefore, when the step is higher than the predetermined height hmax, the inverted moving device 10 does not enter the step, so that the inverted moving device 10 is prevented from falling and failing.

In the above-described embodiment, the two wheels 12 and 14 are used as the rotating body that the inverted moving device 10 drives. However, the present invention is not limited to such an embodiment, and one wheel, one ball, etc. Various rotating bodies can be arbitrarily selected.
In the above-described embodiment, a laser range sensor is used as a road surface sensor. However, a step may be detected by processing an image captured by an ultrasonic sensor, a camera, or the like.

In the above-described inverted moving device 10, the inverted moving device 10 is decelerated so that the vehicle body 20 is inclined rearward when entering the step. When the vehicle body 20 is tilted rearward, the measurement angle range of the road surface sensor 29 faces upward, and the range for measuring the road surface shape changes. Therefore, the inverted moving device can be configured as shown in FIG.
In the inverted moving device 40 of FIG. 13, the vehicle body 50 is composed of an upper vehicle body 62 and a lower vehicle body 64. The upper vehicle body 62 and the lower vehicle body 64 are connected by an actuator 66. Then, by driving the actuator 66, the upper vehicle body 62 can be slid back and forth with respect to the lower vehicle body 64. Moreover, the road surface sensor 29 is attached to the lower front part of the lower vehicle body 64, and the measurement angle range is directed to the road surface direction.
According to such a configuration, when the vehicle body 50 is tilted, a control command value can be output from the controller to the actuator 66 and the upper vehicle body 62 can be slid rearward. Then, even if the vehicle body (that is, the center of gravity of the vehicle body) is inclined rearward, the upper vehicle body 62 and the lower vehicle body 64 can be maintained vertically. Therefore, since the measurement angle range of the road surface sensor 29 does not turn upward and the measurement angle range does not change, the road surface shape can be suitably measured.
Further, when the inverted moving device 10 is accelerated, the vehicle body 50 is inclined forward unless the upper vehicle body 62 is slid with respect to the lower vehicle body 64. Even if the vehicle body 50 is tilted forward, the measurement angle range by the road surface sensor 29 is changed. Therefore, when the inverted moving device 10 accelerates, the upper vehicle body 62 can be moved forward with respect to the lower vehicle body 64 to suppress the inclination of the vehicle body 50. As a result, the change in the measurement angle range of the road surface sensor 29 is suppressed, and the road surface shape can be suitably measured even during acceleration of the inverted moving device 10.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

The perspective view of the inverted moving apparatus 10. FIG. The functional block diagram of the controller 70. FIG. The functional block diagram of the target value output part 74. FIG. Explanatory drawing of the operation which gets over a level | step difference. Normal target speed pattern and target position pattern. V ₀ -h correlation map when calculating V ₀ . θ ₀ calculated at the time of θ ₀ -h correlation map. Target speed pattern and target position pattern when stepping over a step. Target speed pattern and target position pattern for step avoidance. The flowchart which shows the process of the controller. Explanatory drawing at the time of the level | step difference approach of the inverted moving apparatus 10. FIG. Explanatory drawing at the time of the level | step difference approach of the inverted moving apparatus 10. FIG. Explanatory drawing at the time of the level | step difference approach of the inverted moving apparatus 40. FIG. Explanatory drawing at the time of the level | step difference approach of the inverted moving apparatus 60. FIG.

Explanation of symbols

10: Inverted moving device 12, 14: Wheel 16: Axle 20: Car body 22, 24: Motor 22a, 24a: Encoder 28: Gyro sensor 29: Road surface sensor 30: Center of gravity 40: Inverted moving device 50: Car body 60: Inverted moving device 62: Upper vehicle body 64: Lower vehicle body 66: Actuator 70: Controller 72: Control command unit 72a: Travel control command value calculation unit 72b: Inverted control command value calculation unit 74: Target value output unit 75: Step detection unit 79: Target speed Pattern calculation unit 80: target position output unit 81: target speed output unit 90: current speed calculation unit 92: current position calculation unit

Claims (5)

One or a plurality of rotating bodies, a vehicle body supported by the rotating body, and a drive device that rotates the rotating body are provided, and the vehicle is driven on the road surface while the vehicle body is maintained in an inverted state by being driven by the drive device. An inverted moving device that
A road surface sensor for detecting a step in the road surface in the traveling direction of the vehicle body;
A tilt angle sensor for detecting at least one of a tilt angle and a tilt angular velocity of the vehicle body;
A speed sensor that detects a physical quantity capable of specifying the traveling speed of the vehicle body;
A controller that outputs a control command value to the driving device in accordance with the presence or absence of a road surface step detected by the road surface sensor, a detection value detected by the inclination angle sensor, and a detection value detected by the speed sensor. And
An inverted moving device characterized in that, when a step is detected in the traveling direction by a road surface sensor, the controller tilts the vehicle body to the rear side with respect to the traveling direction when overcoming the step. The controller
A target value determining unit for determining a target traveling speed and a target inclination angle of the vehicle body when overcoming the step from the height of the step detected by the road surface sensor;
A target speed pattern determining unit that determines a target speed pattern of the vehicle body according to the determined target traveling speed and target inclination angle and the speed of the vehicle body detected by the speed sensor;
A control command value calculation unit for maintaining the vehicle body in an inverted state according to the tilt angle detected by the tilt angle sensor and calculating a control command value so that the speed of the vehicle body becomes the determined target speed pattern;
The inverted moving device according to claim 1, comprising:   The target speed pattern determination unit determines the target deceleration at the time of overcoming the step from the target inclination angle determined by the target value determination unit, and the target deceleration, the vehicle speed detected by the speed sensor, and the target value determination unit The inverted moving device according to claim 2, wherein a target speed pattern is determined from the determined target traveling speed.   The inverted moving device according to any one of claims 1 to 3, wherein the controller causes the inverted moving device to get over the step only when the step detected by the road surface sensor is lower than a predetermined height. One or a plurality of rotators, a vehicle body supported by the rotator, a drive device that rotates the rotator, a road surface sensor that detects a step on the road surface in the traveling direction of the inverted moving device, and an inclination angle and an inclination angular velocity of the vehicle body A tilt angle sensor that detects at least one of the above, a speed sensor that detects a physical quantity that can specify the traveling speed of the inverted moving device, and a control command value that is driven according to detection results of the road surface sensor, the tilt angle sensor, and the speed sensor A controller that outputs to the device, and a driving device that drives the rotating body based on a control command value to control the inverted moving device that travels on the road surface while maintaining the vehicle body in an inverted state.
A first step of determining a target travel speed and a target inclination angle of the vehicle body when overcoming the step from the height of the detected step when the road surface sensor detects a step in the traveling direction of the inverted moving device;
A second step of determining a target speed pattern according to the target travel speed and target inclination angle calculated in the first step and the detected value detected by the speed sensor;
A third step of maintaining the vehicle body in an inverted state according to the inclination angle detected by the inclination angle sensor and calculating a control command value so that the speed of the vehicle body becomes a determined speed pattern;
A method for controlling an inverted moving device, comprising: causing the inverted moving device to get over a step by executing the above steps with a controller.

Images