JP2009298208A - Wheel type traveling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheel type traveling device having a constitution suitable for climbing steps. <P>SOLUTION: A front movable leg and a rear movable leg are turnably mounted on a body part of the wheel type traveling device. A leg wheel is mounted on a fore end part of each movable leg, and the front movable leg and the rear movable leg travels on the body part. Further, a front intermediate wheel and a rear intermediate wheel mounted on the body part travel on the body part. A drive control unit includes a wheel driving unit for performing the drive control of the leg wheels and the intermediate wheels, a leg driving unit for performing the drive control of the movable legs, and a step detection unit for obtaining the data to detect the ascending step in the advancing direction. The drive control unit changes its posture into the posture of supporting the body part by the front and rear leg wheels by synchronously and gradually performing the descending operation of the front and rear movable legs by the leg driving unit when the step detected by the movable legs based on the data of the step detection unit, and accelerates the travel of the rear leg wheel by the wheel driving unit according to the descending operation of the rear movable leg or the front movable leg. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a wheel type traveling device capable of climbing a step.

  A traveling device using wheels has an advantage that the traveling on a flat road is smooth and the moving speed can be increased. Among them, a traveling device having four wheels at four corners of the main body is widely used because of its simple structure. However, in the traveling device using four wheels, it often happens that the wheel collides with the step when climbing the step and cannot climb the step. If the wheel diameter of the traveling device is increased, the height of the step that can be climbed can be increased, but the outer dimensions of the main body are increased in proportion to the wheel diameter. In addition, since a collision with the step of the wheel is inevitable when climbing the step, a large impact is applied to the luggage and the person mounted on the traveling device. Further, in a state where the front wheels ride on the steps, the vehicle body of the traveling device is inclined, and luggage or people are likely to move or drop.

A traveling device provided with an arm for facilitating climbing a step is known. For example, Reference 1 describes a traveling device in which auxiliary wheels are provided on four raising and lowering arms. In the specification of Reference 1, page 6, line 14 to page 7, line 4, and FIGS. 5 (a) to (c), a method for climbing a step using a raising / lowering arm is described. . When the moving carriage approaches the obstacle G, the obstacle-side raising arm 18 is first brought down to the right (forward) to bring the auxiliary wheel 19 into contact with the obstacle (FIG. 5 (A)), While the arm 18 continues to fall, the left (rear) raising arm 18 is tilted rearward as shown in FIG. 5 (b) to ground the auxiliary wheel 19. The frame 1 is raised by further continuing the rotation of the front and rear raising / lowering arms 18 to raise the movable carriage on the obstacle.
Japanese Utility Model Publication No. 60-117284 (Microfilm of Japanese Utility Model Application No. 58-224297)

In general, in a traveling device provided with an arm, the wheel is lifted by the arm when climbing the step, so that climbing the step becomes easy. However, special care is required to make the preceding wheels climb stably on the steps. In particular, when the vehicle body is lifted by the arm operation, the vehicle body may move rearward due to the arm operation, and there is a risk that the tip wheel slides down from the step. Further, when the preceding wheel climbs a step by the arm, the vehicle body is inclined, and there is a risk that a load or a person mounted on the traveling device may move or drop. Further, since the traveling device is stopped before the step and the step is climbed after the body posture is adjusted, the step climbing operation takes time.

  The present invention solves the above problems. The present invention provides a wheel type traveling device having a configuration suitable for climbing a step.

In the wheel type traveling device according to claim 1 of the present invention,
A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
The drive control unit gradually lowers the front movable leg and the rear movable leg synchronously by the leg driving unit when climbing the step detected based on the output of the step detection unit by the front movable leg. The main body portion is changed to a posture supported by the front leg wheels and the rear leg wheels, and at the same time, the rear leg wheels are driven by the wheel drive unit according to the lowering operation of the rear movable legs or the front movable legs. The structure is characterized by accelerating.

  With such a configuration, the rearward movement of the main body due to the lowering movement of the rear movable leg can be prevented by the acceleration operation of the rear leg wheel, so that the front leg wheel of the front movable leg can be prevented from falling from the upper end of the step. As a result, the climbing of the step can be performed stably and reliably.

  The drive control unit of the wheel type traveling device according to claim 2 of the present invention multiplies the rotational gain of the rear movable leg by a nonlinear gain corresponding to the rotational angle of the rear movable leg to obtain an acceleration correction value. Thus, the travel of the rear leg wheel is accelerated according to the acceleration correction value.

  The drive control unit of the wheel type traveling device according to claim 3 of the present invention changes the nonlinear gain in accordance with a sine wave of the rotation angle of the rear movable leg.

  With such a configuration, it is possible to cause the rear leg wheels to perform appropriate acceleration corresponding to the movement of the rear movable leg, and to reliably prevent the rear movement of the main body.

  The drive control unit of the wheel-type travel device according to claim 4 of the present invention is located at the upper end of the step when climbing the step detected based on the output of the step detection unit by the front movable leg. The front movable leg having a front leg wheel is controlled to rotate by the leg drive unit and the rear movable leg is controlled to rotate by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body. By gradually lifting the rear side of the main body part, the main body part gradually rises by an amount corresponding to the height of the step while maintaining the reference surface of the main body part horizontal, and the front leg wheel and the rear leg wheel To change the posture to drive the main body.

  With such a configuration, the climbing operation to the step can be performed while maintaining the main body portion horizontal, and the balance of luggage and people mounted on the main body portion is not lost.

When the drive control unit of the wheel type traveling device described in claim 5 of the present invention detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. Is approximately equal to or higher than the height position of the rear intermediate wheel.

  With such a configuration, it is possible to smoothly change the posture while continuing the traveling of the wheel type traveling device, and it is possible to smoothly climb the step in a short time while maintaining the main body portion horizontal.

The step detecting unit of the wheel type traveling device described in claim 6 of the present invention includes a rotational distance sensor, and represents two-dimensional cross-section data representing the height of the front road surface of the main body from the output of the rotational distance sensor. Measure and output
The drive control unit obtains the distance to the climbing step and the height of the step based on the two-dimensional cross-sectional data.

  With such a configuration, it is possible to reliably detect a distant step and to measure the step height. Thereby, it is possible to change to a preparation posture for climbing the step while the main body travels before reaching the step.

The step detecting portion of the wheel type traveling device according to claim 7 of the present invention includes a front leg road surface sensor attached to a tip portion of the front movable leg, and a road surface from the front leg wheel according to an output of the front leg road surface sensor. Measure and output the value corresponding to the distance to
The drive control unit determines whether or not the front movable leg has reached a level difference based on the rotation angle of the front movable leg and the output of the front leg road surface sensor.

  With such a configuration, it is possible to reliably detect reaching the step by determining the measurement value from the front leg road surface sensor based on the posture of the front movable leg.

The step detecting portion of the wheel type traveling device according to claim 8 of the present invention includes a rear intermediate road surface sensor attached to the main body, and from the rear intermediate wheel to the road surface by an output of the rear intermediate road surface sensor. Measure and output the value corresponding to the distance of
The drive control unit determines whether or not the rear intermediate wheel has reached a level difference based on the rotation angle of the rear movable leg and the output of the rear intermediate road surface sensor.

  In such a configuration, it is possible to reliably detect the arrival on the step by determining the measurement value from the rear intermediate road surface sensor based on the posture of the rear movable leg.

In the wheel type traveling device according to claim 9 of the present invention,
A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
The drive control unit rotates the front movable leg having the front leg wheel positioned at the upper end of the step by the leg drive unit when climbing the step detected based on the output of the step detection unit by the front movable leg. Synchronously with the operation of gradually lifting the front side of the main body part by controlling the movement of the rear movable leg by the leg driving part and gradually lifting the rear side of the main body part, The main body is gradually raised by an amount corresponding to the height of the step while maintaining the reference plane of the part horizontally, and the posture is changed to drive the main body by the front leg wheel and the rear leg wheel. It has a characteristic configuration.

  With such a configuration, the climbing operation to the step can be performed while maintaining the main body portion horizontal, and the balance of luggage and people mounted on the main body portion is not lost.

  The drive control unit of the wheel type traveling device according to claim 10 of the present invention is synchronized with an operation of gradually lifting the front side of the main body by controlling the rotation of the front movable leg by the leg drive unit. The rear movable leg is controlled to rotate, and the rear side of the main body is gradually lifted, and at the same time, the rear leg wheel is moved by the wheel drive unit according to the rotational movement of the rear movable leg or the front movable leg. Accelerate travel.

  With such a configuration, the rear movement of the main body due to the lifting operation of the main body by the rear movable leg can be prevented by the acceleration operation of the rear leg wheel, so that the front leg wheel of the front movable leg is prevented from falling from the upper end of the step. it can. As a result, the climbing of the step can be performed stably and reliably.

  The drive control unit of the wheel type traveling device according to claim 11 of the present invention multiplies the rotational gain of the rear movable leg by a nonlinear gain corresponding to the rotational angle of the rear movable leg to obtain an acceleration correction value. Thus, the travel of the rear leg wheel is accelerated according to the acceleration correction value.

  The drive control unit of the wheel type traveling device according to claim 12 of the present invention changes the nonlinear gain according to a sine wave of the rotation angle of the rear movable leg.

  With such a configuration, it is possible to cause the rear leg wheels to perform appropriate acceleration corresponding to the movement of the rear movable leg, and to reliably prevent the rear movement of the main body.

When the drive control unit of the wheel type traveling device described in claim 13 of the present invention detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. Is approximately equal to or higher than the height position of the rear intermediate wheel.

  With such a configuration, it is possible to smoothly change the posture while continuing the traveling of the wheel type traveling device, and it is possible to smoothly climb the step in a short time while maintaining the main body portion horizontal.

In the wheel type traveling device of claim 14 of the present invention,
A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
When the drive control unit detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. Is approximately equal to or higher than the height position of the rear intermediate wheel.

  With such a configuration, it is possible to smoothly change the posture while continuing the traveling of the wheel type traveling device, and it is possible to smoothly climb the step in a short time while maintaining the main body portion horizontal.

  The drive control unit of the wheel type traveling device according to claim 15 of the present invention is synchronized with an operation of gradually lifting the front side of the main body by controlling the rotation of the front movable leg by the leg drive unit. The rear movable leg is controlled to rotate, and the rear side of the main body is gradually lifted, and at the same time, the rear leg wheel is moved by the wheel drive unit according to the rotational movement of the rear movable leg or the front movable leg. Accelerate travel.

  With such a configuration, the rear movement of the main body due to the lifting operation of the main body by the rear movable leg can be prevented by the acceleration operation of the rear leg wheel, so that the front leg wheel of the front movable leg is prevented from falling from the upper end of the step. it can. As a result, the climbing of the step can be performed stably and reliably.

  The drive control unit of the wheel type traveling device according to claim 16 of the present invention multiplies the rotational gain of the rear movable leg by a nonlinear gain corresponding to the rotational angle of the rear movable leg to obtain an acceleration correction value. Thus, the travel of the rear leg wheel is accelerated according to the acceleration correction value.

  The drive control unit of the wheel type traveling device according to claim 17 of the present invention changes the nonlinear gain according to a sine wave of the rotation angle of the rear movable leg.

With such a configuration, it is possible to cause the rear leg wheels to perform appropriate acceleration corresponding to the movement of the rear movable leg, and to reliably prevent the rear movement of the main body.

  By using the technique of the present invention, the main body of the wheel-type traveling device can be stably climbed in steps. In particular, the traveling of the rear leg wheels is accelerated in accordance with the turning motion of the rear movable leg, and the rear movement of the main body portion is prevented. As a result, the front leg wheel that contacts the upper end of the step does not move backward, and the front leg wheel does not slide down from the upper end of the step.

  In addition, the wheel type traveling device gradually lifts the rear side of the main body part by the rear movable leg in synchronization with the operation of gradually lifting the front side of the main body part by the front movable leg, and keeps the reference plane of the main body part horizontal. While rotating the front leg wheel and the rear leg wheel, the main body was gradually raised by an amount corresponding to the height of the step. And it changed to the attitude | position which drive-drives a main-body part with a front leg wheel and a leg wheel. As a result, the load or person loaded on the loading platform of the main body of the wheel type traveling device is prevented from moving or dropping.

  Further, the wheel-type traveling device detects a step from a distant position, and assumes a preparation posture for climbing the step in advance while traveling. After detecting the level difference of the front leg wheel, the vehicle changes to a posture in which the front leg wheel and the rear leg wheel are driven to drive while maintaining the level of the reference plane of the main body while traveling. Next, after detecting the difference in level of the rear intermediate wheel, the position of the rear leg wheel is raised while traveling. As a result, it is possible to smoothly climb the steps while changing the posture of the wheel-type traveling device, and the main body can be continuously driven by the intermediate wheels and the leg wheels. As a result, the wheel-type traveling device can climb the step while maintaining the level of the reference plane in a short time while continuing traveling.

The main features of the embodiments described below are listed.
(Form 1)
The drive control unit causes the front movable leg and the rear movable leg to be synchronously lowered by the leg drive unit when the level difference detected based on the output of the level difference detection unit is climbed by the front movable leg. At the same time as changing the posture to be supported by one front leg wheel and two rear leg wheels, the driving of the rear leg wheel is accelerated by the wheel drive unit according to the lowering movement of the rear movable leg or the front movable leg.
(Mode 2) When the drive control unit climbs the step detected based on the output of the step detection unit by the front movable leg, the leg drive unit controls the rotation of the front movable leg having the front leg wheel located at the upper end of the step. In synchronization with the operation of gradually lifting the front side of the main body, the rear movable leg is controlled to rotate by the leg drive unit, and the rear side of the main body is gradually lifted, so that the reference surface of the main body is leveled. While maintaining the main body, the main body is gradually raised by an amount corresponding to the height of the step, and the main body is driven and driven by two front leg wheels and two rear leg wheels.
(Mode 3) When the drive control unit detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg drive unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to the horizontal position or the almost horizontal position to move the rear leg wheel. Make it almost the same height as the rear middle wheel,
(3) Next, based on the output of the step detection unit, it detects when the front leg wheel has moved over the step, and the leg drive unit controls the rotation of the front movable leg having the front leg wheel located at the upper end of the step. In synchronization with the operation of gradually lifting the front side of the main body, the rear movable leg is controlled to rotate by the leg drive unit, and the rear side of the main body is gradually lifted so that the reference surface of the main body is leveled. The main body is gradually raised by an amount corresponding to the height of the step while maintaining the position to change the posture to drive the main body by two front leg wheels and two rear leg wheels,
(4) Next, based on the output of the step detection unit, it detects the time when the rear intermediate wheel has moved on the step, and the rear drive leg is controlled by the leg drive unit to control the rear leg wheel of the rear intermediate wheel. Raise to approximately the same or higher than the height position.
(Embodiment 1)
A wheel-type traveling device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 to FIG. 14 show a configuration of an embodiment of the wheel type traveling apparatus of the present invention. FIG. 1 is a diagram showing an external view of the wheel-type travel device of the present embodiment as viewed from above, and FIG. 2 is a diagram showing an external view of the wheel-type travel device of the present embodiment as viewed from the side. The traveling direction of the wheel type traveling device is the left side in the figure. The two front movable legs 21 and 22 are rotatably attached to the left and right corners on the front side of the main body 11, and the two rear movable legs 23 and 24 are arranged on the left and right corners on the rear side of the main body 11. It is pivotally attached. The left front leg wheel 31 is rotatably attached to the distal end portion of the left front movable leg 21, and the right front leg wheel 32 is rotatably attached to the distal end portion of the right front movable leg 22. The left rear leg wheel 33 is rotatably attached to the front end portion of the left rear movable leg 23, and the right rear leg wheel 34 is rotatably attached to the front end portion of the right rear movable leg 24. A left front intermediate wheel 41 and a left rear intermediate wheel 43 are rotatably attached to the main body 11 between the left front leg wheel 31 and the left rear leg wheel 33. A right front intermediate wheel 42 and a right rear intermediate wheel 44 are rotatably attached to the main body 11 between the right front leg wheel 32 and the right rear leg wheel 34. The two front intermediate wheels 41, 42, the two rear intermediate wheels 43, 44, the two front leg wheels 31, 32, and the two rear leg wheels 33, 34 can drive the main body 11 respectively. Has been. The rotation transmitters 51, 52, 53, and 54 transmit the rotational force that rotationally drives the leg wheels 31, 32, 33, and 34, respectively. Further, the upper surface of the main body 11 is a flat cargo bed surface so that a load or a person can be loaded. Moreover, let the loading platform surface of the main-body part 11 be a reference plane.

  FIG. 3 shows a mechanism for rotationally driving the right front movable leg 22, the right front leg wheel 32, and the right front intermediate wheel 42. The drive motor 61 rotationally drives the gear 65 via the speed reducer 62. The gear 66 rotates in conjunction with the gear 65 to rotate the rotation shaft 67 of the right front intermediate wheel 42. The rotation detector 63 detects the rotation of the gear 65. That is, the drive motor 61 rotates the intermediate wheel 42 and the rotation detector 63 detects the rotation of the intermediate wheel 42. The drive motor 71 rotationally drives the gear 75 via the speed reducer 72. The gear 76 is connected to the gear 75 and rotates to rotate the rotating shaft 77. The rotation transmitter 52 transmits the rotation of the rotation shaft 77 using a belt or a chain, and rotates the rotation shaft 78 of the right front leg wheel 32. The rotation detector 73 detects the rotation of the gear 75. That is, the drive motor 71 rotationally drives the leg wheel 32, and the rotation detector 73 detects the rotation of the leg wheel 32. The drive motor 81 rotationally drives the drive shaft 84 via the speed reducer 82. The rotation shaft 84 is fixed to the right front movable leg 22, and the right front movable leg 22 rotates together with the drive shaft 84. The rotation detector 83 detects the rotation of the drive shaft 84. That is, the drive motor 81 rotationally drives the right front movable leg 22, and the rotation detector 83 detects the rotation of the right front movable leg 22. Here, the drive transmission mechanism for operating the movable leg 22, the leg wheel 32, and the intermediate wheel 42 of the right front block is shown. However, the movable leg 21, the leg wheel 31, the intermediate wheel 41, and the movable leg 24 of the right rear block are shown. The leg wheel 34 and the intermediate wheel 44 and the movable leg 23, the leg wheel 33 and the intermediate wheel 43 of the left rear block have the same structure.

FIG. 4 shows the arrangement of sensors for detecting a step. The laser-type rotational distance sensor 101 is attached to a support rod on the front surface of the main body 11 and measures the road surface condition in the forward direction of the main body 11. The left front leg road surface sensor 131 is fixedly installed so as not to rotate in the vicinity of the center of rotation of the left front leg wheel 31 and measures the distance to the road surface in the downward direction. The left front intermediate road surface sensor 141 is fixedly installed so as not to rotate in the vicinity of the rotation center of the left front intermediate wheel 41, and measures the distance to the road surface in the downward direction. The left rear intermediate road surface sensor 143 is fixedly installed so as not to rotate in the vicinity of the rotation center of the left rear intermediate wheel 43, and measures the distance to the road surface in the downward direction. The left rear leg road surface sensor 133 is fixed so as not to rotate in the vicinity of the rotation center of the left rear leg wheel 33, and measures the distance to the road surface in the downward direction. Similarly, the right front leg road surface sensor 132 is connected to the right front leg wheel 32.
The right front intermediate road surface sensor 142 is fixed so as not to rotate near the rotation center of the right front intermediate wheel 42, and the right rear intermediate road surface sensor 144 is fixed to the right rear middle. The right rear leg road surface sensor 134 is fixedly installed so as not to rotate in the vicinity of the center of rotation of the right rear leg wheel 34. The road surface sensors 132, 134, 142, and 144 each measure a downward distance to the road surface.

  FIG. 5 shows the configuration of the drive control unit 200 of the wheel-type travel device. The drive control unit 200 includes a step detection unit 201, a determination command unit 202, a leg drive unit 203, and a wheel drive unit 204. The level difference detection unit 201 includes a distance detection block 220 including the rotational distance sensor 101 and road surface detection blocks 231, 232, 233, 234, and 241 including road surface sensors 131, 132, 133, 134, 141, 132, 143, and 144, respectively. , 242, 243, 244.

  The leg drive unit 203 is a left front leg drive block 251 that drives and controls the left front movable leg 21 according to an angle command from the determination command unit 202, and a right that drives and controls the right front movable leg 22 according to an angle command from the determination command unit 202. Front leg drive block 252, left rear leg drive block 253 that drives and controls the left rear movable leg 23 according to the angle command from the judgment command unit 202, and right rear movable leg 24 that drives according to the angle command from the judgment command unit 202 The right rear leg drive block 254 is controlled. The wheel drive unit 204 drives and controls the left front leg wheel drive block 261 that drives and controls the left front leg wheel 31 according to the speed command of the determination command unit 202 and the right front leg wheel 32 according to the speed command of the determination command unit 202. A right front leg wheel drive block 262, a left rear leg wheel drive block 263 that drives and controls the left rear leg wheel 33 according to the speed command of the judgment command unit 202, and a right rear leg wheel according to the speed command of the judgment command unit 202 34, a right rear leg wheel drive block 264 that controls the driving of the vehicle 34, a left front intermediate wheel drive block 271 that controls the driving of the front left intermediate wheel 41 according to the speed command of the determination command unit 202, and a speed command of the determination command unit 202. A right front intermediate wheel drive block 272 for driving and controlling the right front intermediate wheel 42 and a left rear intermediate vehicle for driving and controlling the left rear intermediate wheel 43 in accordance with the speed command of the determination command unit 202 A drive block 273 is constituted by a right rear intermediate wheel driving block 274 for driving and controlling the right rear intermediate wheel 44 in accordance with the speed command of the determination command section 202.

  The level difference detection unit 201 measures road surface information and outputs measurement data to the determination command unit 202. The determination command unit 202 outputs a rotation angle command for each movable leg to the leg drive unit 203 based on the road surface information of the step detection unit 201. The leg drive unit 203 drives and controls the rotation angle of each movable leg in accordance with the angle command from the determination command unit 202. The leg drive unit 203 detects the rotation angle of each movable leg and outputs the detected angle to the determination command unit 202. The determination command unit 202 outputs a rotation speed command for each leg wheel and a rotation speed command for each intermediate wheel to the wheel drive unit 204. The wheel drive unit 204 drives and controls the rotation speed of each leg wheel according to the speed command of the determination command unit 202, and drives and controls the rotation speed of each intermediate wheel according to the speed command of the determination command unit 202. The wheel drive unit 204 detects the rotation speed of each leg wheel and the rotation speed of each intermediate wheel, and outputs the detected rotation speed to the determination command unit 202.

  The right front leg drive block 252 of the leg drive unit 203 includes the drive motor 81, the speed reducer 82, and the rotation detector 83 shown in FIG. The right front leg drive block 252 detects the rotation angle of the right front movable leg 22 by the rotation detector 83 and compares the rotation angle command of the right front movable leg 22 of the determination command unit 202 with the detected rotation angle of the rotation detector 83. Then, the drive motor 81 is driven and controlled according to the comparison result. Accordingly, the right front leg drive block 252 controls the rotation of the right front movable leg 22 so that the rotation angle of the right front movable leg 22 becomes the same value as the rotation angle command. The configurations of the left front leg drive block 251, the left rear leg drive block 253, and the right rear leg drive block 254 are the same.

The right front leg wheel drive block 262 of the wheel drive unit 204 includes the drive motor 71, the speed reducer 72, and the rotation detector 73 shown in FIG. The right front leg wheel drive block 262 detects the rotation speed of the right front leg wheel 32 by the rotation detector 73, compares the rotation speed command of the right front leg wheel 32 of the determination command unit 202 with the rotation speed of the rotation detector 73, and compares them. The drive motor 71 is driven and controlled according to the result. Thereby, the right front leg wheel drive block 262 controls the rotation of the right front leg wheel 32 so that the rotation speed of the right front leg wheel 32 becomes the same value as the rotation speed command. The configurations of the left front leg wheel drive block 261, the left rear leg wheel drive block 263, and the right rear leg wheel drive block 264 are also the same.

  The right front intermediate wheel drive block 272 of the wheel drive unit 204 is configured to include the drive motor 61, the speed reducer 62, and the rotation detector 63 of FIG. The right front intermediate wheel drive block 272 detects the rotation speed of the right front leg wheel 42 by the rotation detector 63, compares the rotation speed command of the right front intermediate wheel 42 of the determination command unit 202 with the rotation speed of the rotation detector 63, and compares them. The drive motor 61 is driven and controlled according to the result. Accordingly, the right front intermediate wheel drive block 272 controls the rotation of the right front intermediate wheel 42 so that the rotation speed of the right front intermediate wheel 42 becomes the same value as the rotation speed command. The configurations of the left front intermediate wheel drive block 271, the left rear intermediate wheel drive block 273 and the right rear intermediate wheel drive block 274 are also the same.

  The distance detection block 220 of the level difference detection unit 201 measures a two-dimensional cross section representing the level of the road surface from the output of the rotational distance sensor 101. FIG. 15 is an explanatory diagram of road surface measurement by the rotation distance sensor 101. The rotational distance sensor 101 irradiates a laser beam 171 and measures the distance from the reflection time to the reflecting object. Since the rotation distance sensor 101 rotates the emission angle of the laser light 171, the distance from the sensor according to the rotation angle can be obtained. The distance detection block 220 is a two-dimensional cross-sectional data representing the height of the road surface (forward road surface) 180 in the forward direction of the main body 11 based on the emission angle of the laser light 171 obtained by the rotational distance sensor 101 and distance information from the sensor. Is output. The determination command unit 202 detects the presence of the step 181 based on the two-dimensional cross-sectional data of the front road surface output from the distance detection block 220 of the step detection unit 201, and determines the distance to the step 181 and the step 181 from the main body unit 11. Measure the height.

  The road surface detection blocks 231, 232, 233, 234, 241, 242, 243, 244 of the level difference detection unit 201 output the measurement results of the road surface sensors 131, 132, 133, 134, 141, 132, 143, 144, respectively. . For example, the road surface detection block 231 outputs distance measurement information indicating the distance to the road surface in the downward direction of the road surface sensor 131 that is fixedly installed near the rotation center of the left front leg wheel 31. FIG. 16 is an explanatory diagram of road surface measurement by the road surface sensor. When the road surface sensor is at the position 191 before the step, the distance measurement value of the road surface detection block becomes large. When the road surface sensor moves in parallel and reaches the position 192 on the step, the distance measurement value of the road surface detection block decreases.

  FIG. 6 to FIG. 13 are flowcharts for explaining the processing flow of the judgment command unit 202 related to the step climbing operation. The determination command unit 202 outputs a required speed command to each wheel drive block by multitask processing, and each wheel is controlled to rotate at a required rotation speed. Thereby, the main body 11 of the wheel-type traveling device is driven to travel by the intermediate wheels 41, 42, 43, 44 and the leg wheels 31, 32, 33, 34, and travels at a required speed.

FIG. 6 is a flowchart showing an outline of the processing of the judgment command unit 202 during the step climbing operation.
[311]
It detects the step in front of the direction of travel and measures the distance to the step and the height of the step. FIG. 7 shows a flowchart for explanation.
(331) The two-dimensional cross section data of the front road surface is input from the distance detection block 220 of the step detection unit 201.
(332) Based on the two-dimensional cross-sectional data, the presence or absence of a step portion where the road surface height is a predetermined value or more is checked. If there is no step, the process returns to the process 331, and if there is a step, the process proceeds to the process 333.
(333) The distance Ds to the step and the height Hb of the step are measured based on the two-dimensional cross section data of the front road surface.
[312]
Based on the detection result of the step, the posture of the wheeled traveling device is changed to a preparation posture for climbing the step. That is, the front movable leg is lifted by an amount corresponding to the height of the step, the rear movable leg is leveled, and the main body is driven and driven by the front intermediate wheel, the rear intermediate wheel, and the rear leg wheel. Further, the traveling speed of the wheel-type traveling device is set to a value corresponding to the distance to the step. FIG. 8 shows a flowchart for explanation. (341) The angle command Al of the front movable legs 21 and 22 is set to a rotation angle value corresponding to the step height Hb, and is output to the front leg drive blocks 251 and 252 of the leg drive unit 202. Accordingly, the front leg wheels 31 and 32 are raised above the front intermediate wheels 41 and 42 by an amount corresponding to the step height.
(342) The angle command Bl of the rear movable legs 23 and 24 is set to a rotation angle value that makes a horizontal state, and is output to the rear leg drive blocks 253 and 254 of the leg drive unit 202. As a result, the rear leg wheels 33 and 34 are set to substantially the same height as the rear intermediate wheels 43 and 44.
(243) The speed command Vl of the leg wheels 31, 32, 33, 34 is set to a value corresponding to the distance Ds to the step, and is output to the leg wheel drive blocks 261, 262, 263, 264 of the wheel drive unit 204. The speed command Vm of the intermediate wheels 41, 42, 43, 44 is set to a value corresponding to the distance Ds to the step, and is output to the intermediate wheel drive blocks 271, 272, 273, 274 of the wheel drive unit 204. Thereby, the main body 11 is driven to travel at a traveling speed corresponding to the distance to the step.
[313]
The arrival of the front leg wheel on the step is detected. FIG. 9 shows a flowchart for explanation.
(351) Road surface distance measurement information Js representing the distance to the road surface in the downward direction of the front leg road surface sensors 131 and 132 installed fixedly in the vicinity of the rotation center portion of the front leg wheels 31 and 32 is detected by the road surface detection unit 201. Input from blocks 231 and 232.
(352) The rotation angle Ald of the front movable legs 21 and 22 is input from the front leg drive blocks 251 and 252 of the leg drive unit 203.
(253) The road surface distance Js is compared with a predetermined value corresponding to the rotation angle Ald. If Js is larger than the predetermined value, the process returns to the process 351, and if Js is smaller than the predetermined value, the process proceeds to the next process. Thereby, the arrival time on the level | step difference of the front leg wheels 21 and 22 is detected reliably.
[314]
Synchronously with the operation of gradually lifting the front part of the main body by the front movable leg, the rear part of the main body is gradually lifted by the rear movable leg, and while maintaining the reference plane of the main body level, The reference plane is gradually raised by an amount corresponding to the height of the step, and is changed to a posture in which the main body is driven by the front and rear leg wheels. That is, the main body is gradually lifted while maintaining the level of the main body by the synchronized lowering operation of the front movable leg and the rear movable leg. At the same time, the traveling of the rear leg wheels is accelerated according to the lowering movement of the rear movable leg or the front movable leg. Here, the reference surface of the main body is a load surface that is desired to be kept horizontal in order to place a load or a person. FIG. 10 shows a flowchart for explanation.
(361) The rotation angle Ald of the front movable legs 21 and 22 is input from the front leg drive blocks 251 and 252 of the leg drive unit 203. The rotation angle Bld of the rear movable legs 23 and 24 is input from the rear leg drive blocks 253 and 254 of the leg drive unit 203. That is, the rotation angle of the movable leg before the posture change is detected. Further, as the initial value setting of the angle command, Al = Ald and Bl = Bld are set. (362) An angle command Alr for the front movable legs 21 and 22 and an angle command Blr for the rear movable legs 23 and 24 corresponding to the target posture corresponding to the step height Hb are set.
(363) Calculate step change amounts dla and dlb of the angle command. Here, it is assumed that the posture is changed in 100 divisions, dla = (Alr−Ald) / 100, dlb = (Blr−Bld) / 100.
(364) A new angle command Al for the front movable legs 21 and 22 and a new angle command Bl for the rear movable legs 23 and 24 are calculated. That is, Al = Al + dla, Bl = Bl + dlb.
(365) The angle command Al of the front movable legs 21 and 22 is output to the front leg drive blocks 251 and 252 of the leg drive unit 202, and the angle command Bl of the rear movable legs 23 and 24 is output to the rear leg drive block 253 of the leg drive unit 202. , 254. As a result, the front movable leg and the rear movable leg are synchronously rotated by a step, and the main body 11 is lifted upward by the step while maintaining the reference surface of the main body 11 horizontal.
(366) The traveling speeds of the rear leg wheels 33, 34 are accelerated according to the angle command Bl of the rear movable legs 23, 24 or the angle command Al of the front movable legs 21, 22. Alternatively, the traveling speeds of the rear leg wheels 33 and 34 are accelerated according to the angle Bld of the rear movable legs 23 and 24 or the angle Ald of the front movable legs 21 and 22. That is, the traveling speed of the rear leg wheels is accelerated according to the lowering movement of the rear movable leg or the front movable leg. This stabilizes the step climbing operation. FIG. 11 shows a flowchart for explanation. Here, the traveling of the rear leg wheels is accelerated according to the angle command of the rear movable leg.
-411: Differentiate the angle command Bl of the rear movable legs 23 and 24 to obtain the angular velocity Dl.
-412: The nonlinear gain Gl corresponding to the angle command Bl of the rear movable legs 23 and 24 is calculated. The nonlinear gain Gl is changed in a sine wave shape with respect to the angle command Bl. That is, Gl = L * sin (Bl). Here, L is a proportional constant corresponding to the rotation length of the rear movable leg.
-413: Multiply the angular velocity Dl by the nonlinear gain Gl to obtain the acceleration correction value Fl. That is, Fl = Gl * Dl.
-414: The basic speed command Vrl of the rear leg wheels 33 and 34 is input.
-415: The acceleration correction value Fl is added to the basic speed command Vrl to obtain a corrected speed command Vrlm. That is, Vrlm = Vrl + Fl.
-416: The corrected speed command Vrlm is output to the rear leg wheel drive blocks 263, 264 of the wheel drive unit 204, and the traveling speed of the rear leg wheels 33, 34 is accelerated by the acceleration correction value Fl.
FIG. 14 shows a signal flow corresponding to the flowchart processing of FIG. The angle command signal Bl for the rear movable leg is input to the differentiation block 501 to obtain the angular velocity signal Dl. The non-linear gain block 502 calculates a non-linear gain Gl = L · sin (Bl) that changes in a sine wave shape according to the angle command signal B1, and multiplies the angular velocity signal Dl by the non-linear gain Gl to obtain an acceleration correction signal Fl. That is, Fl = Gl * Dl. The addition block 503 adds and synthesizes the basic speed command signal Vrl for the leg wheels and the acceleration correction signal Fl to obtain a corrected speed command signal Vrlm. The corrected speed signal Vrlm is output to the rear leg wheel drive block of the wheel drive unit 204 as a speed command for the rear leg wheels 33 and 34, and the travel of the rear leg wheels 33 and 34 is accelerated by an acceleration correction amount Fl.
In FIG. 11, the traveling of the rear leg wheel is accelerated according to the angle command of the rear movable leg, but the traveling of the rear leg wheel can be accelerated according to the detection angle Bld of the rear movable leg. Further, the traveling of the rear leg wheel can be accelerated according to the angle command or detection angle of the front movable leg that operates in synchronism with the rear movable leg for each step.
(367) Wait for a predetermined time and proceed to the next processing.
(368) The angle commands Al and Bl are compared with the angle commands Alr and Blr corresponding to the target posture. If the target posture is not reached, the process returns to process 364, and if the target attitude is reached, the process proceeds to the next process.
[315]
The arrival of the rear intermediate wheel on the level difference is detected. FIG. 12 shows a flowchart for explanation.
(381) The road surface distance measurement information Js representing the distance to the lower road surface of the rear intermediate road surface sensors 143 and 144 installed fixedly in the vicinity of the rotation center portion of the rear intermediate wheels 43 and 44 is obtained from the step detection unit 201. Input from road surface detection blocks 243 and 244.
(382) The rotation angle Bld of the rear movable legs 23 and 24 is input from the rear leg drive blocks 253 and 254 of the leg drive unit 203.
(283) The road surface distance Js is compared with a predetermined value corresponding to the rotation angle Bld. If Js is larger than the predetermined value, the process returns to the process 381, and if Js is smaller than the predetermined value, the process proceeds to the next process. As a result, the time when the rear intermediate wheels 43 and 44 reach the step is reliably detected.
[316]
Raise the rear movable leg, and make the rear leg wheel almost the same height as the rear intermediate wheel or higher than that. FIG. 13 shows a flowchart for explanation.
(391) The angle command Bl of the rear movable legs 23, 24 is set to a value corresponding to the horizontal position, and is output to the rear leg drive blocks 253, 254 of the leg drive unit 203. Thus, the rear leg wheels 33 and 34 are lifted to substantially the same height as the rear intermediate wheels 43 and 44, and the rear leg wheels 33 and 34 are prevented from colliding with a step. The angle command Bl may be set to a value corresponding to higher than the horizontal position.

FIGS. 18A to 18F show the posture change during the climbing step by the wheel type traveling device of the present embodiment. FIG. 18 (a) shows the attitude of the wheel type traveling device traveling on a flat road. The movable legs 21, 22, 23, 24 are in a horizontal position, and the main body 11 is driven to run by leg wheels 31, 32, 33, 34 and intermediate wheels 41, 42, 43, 44, and travels at a required speed. Is running on. This corresponds to the case where a step is not detected in the process 311 of the determination command unit 202 shown in FIG. When a step is detected in the process 311, the wheel-type travel device changes to the step-up preparation posture shown in FIG. This corresponds to the processing 312 of the determination command unit 202 shown in FIG. 6, in which the front movable legs 21 and 22 are lifted to a rotation angle corresponding to the step height, and the rear movable legs 23 and 24 are set to a horizontal position. The The main body 11 is driven to travel at a required speed by the front intermediate wheels 41, 42, the rear intermediate wheels 43, 44, and the rear leg wheels 33, 34. Since the wheel type traveling device continues traveling in the traveling direction, the front leg wheels 31 and 32 reach the step as shown in FIG. This corresponds to the case where the stepped arrival of the front leg wheels 31 and 32 is detected in the process 313 of the determination command unit 202 shown in FIG. After detecting the arrival of the steps of the front leg wheels 31 and 32, in the process 314 of FIG. 6, the front movable legs 21 and 22 and the rear movable legs 23 and 24 are simultaneously rotated by a required step angle to Lift up gradually. Accordingly, the main body 11 gradually rises while maintaining the reference plane of the main body 11 horizontal, and the main body 11 is moved by the front leg wheels 31 and 32 and the rear leg wheels 33 and 34 as shown in FIG. The posture changes to driving. Since the main body 11 is driven by the front leg wheels 31 and 32 and the rear leg wheels 33 and 34, the rear intermediate wheels 43 and 44 reach the step as shown in FIG. This corresponds to the case where the step intermediate wheels 43 and 44 are detected to reach the step in the process 315 of the determination command unit 202 shown in FIG. After detecting that the rear intermediate wheels 43 and 44 have reached the level difference, the process 316 in FIG. 6 sets the rear movable legs 23 and 24 to the horizontal position or at an angle higher than that, and sets the rear leg wheels 33 and 34 above the level difference. Lift it up. As a result, as shown in FIG. 18 (f), the main body 11 is driven to run by the leg wheels 31, 32, 33, 34 and the intermediate wheels 41, 42, 43, 44. In this way, the main body 11 of the wheel-type traveling device keeps the reference surface of the main body 11 horizontal and performs a level climbing operation stably while continuing to travel at a required traveling speed.

In the present embodiment, the front movable leg and the rear movable leg are synchronized and gradually lowered simultaneously, and at the same time, the rear leg wheel is accelerated according to the rear movable leg or the front movable leg. By adopting such a configuration, it is possible to prevent a step climb failure. This will be described.

  FIG. 17 shows the lifting operation of the rear portion of the main body 11 by the rear movable legs 23 and 24. In FIG. 17A, the rear movable legs 23 and 24 are in a horizontal state, and the rear part of the main body 11 is driven to travel by rear intermediate wheels 43 and 44 and rear leg wheels 33 and 34. For easy understanding, the traveling speed of the main body 11 is set to zero or very low.

First, a case where there is no acceleration correction signal Fl (when Fl is fixed to 0) will be described. As the angle command Bl increases, the rear movable legs 23 and 24 gradually rotate to gradually lift the rear part of the main body 11. FIG. 17B shows a target posture in which the rear movable legs 23 and 24 are rotated by the angle command Bl and the rear portion of the main body 11 is lifted by the height corresponding to the step height. When the speed of the main body 11 is zero or very small, the road contact points of the leg wheels 33 and 34 hardly change. Therefore, when the rear part of the main body part 11 is lifted by the rear movable legs 23 and 24 as shown in FIG. 17B, a phenomenon occurs in which the rear end part of the main body part 11 moves backward by the length W. When the rear movement of the main body portion 11 occurs, the front leg wheels 31 and 32 and the front intermediate wheels 41 and 42 on the front side of the main body portion 11 are lowered rearward. Therefore, the front leg wheels 31 and 32 located at the end on the step move backward, and the front leg wheels 31 and 32 slip off from the upper end of the step. As a result, the climbing of the step fails and the posture of the main body 11 is greatly collapsed.

  On the other hand, in this embodiment, the acceleration correction signal Fl is generated according to the lowering operation of the rear movable legs 23 and 24, and the traveling of the rear leg wheels 33 and 34 is accelerated by the acceleration correction signal Fl. Thereby, it becomes possible to eliminate the rearward movement of the rear part of the main body part 11, and the front leg wheels 31, 32 do not move rearward, so that the front leg wheels 31, 32 are not dropped from the end on the step. Disappear. As a result, it is possible to stably climb the step while maintaining the horizontal posture of the main body 11. In particular, in the configuration of the signal flow diagram shown in FIG. 14 and the flowchart shown in FIG. 11, the nonlinear gain Gl is changed in a sine wave shape according to the angle (rotation angle command or detection angle) of the rear movable legs 23, 24. Therefore, the optimum acceleration correction signal Fl corresponding to the lowering operation of the rear movable legs 23 and 24 can be generated, and the traveling of the rear leg wheels 33 and 34 can be accelerated. When the angle of the left rear movable leg 23 and the angle of the right rear movable leg 24 are different, it is preferable to accelerate the travel of the leg wheels of each rear movable leg in accordance with the lowering operation of each rear movable leg. . However, the traveling of the leg wheels of both rear movable legs may be accelerated according to the lowering operation of either one of the rear movable legs.

  In the present embodiment, the rear side lifting operation of the main body by the rear movable leg is gradually performed in synchronization with the front side lifting operation of the main body by the front movable leg. It is possible to climb the steps while maintaining As a result, the load surface of the main body is less likely to be shaken, so that the steps can be climbed stably while carrying luggage or people.

In the present embodiment, when a step in the traveling direction is detected based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg drive unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to the horizontal position or the almost horizontal position to move the rear leg wheel. Make it almost the same height as the rear middle wheel,
(3) Next, based on the output of the step detection unit, it detects when the front leg wheel has moved up the step, and the leg driving unit controls the rotation of the front movable leg having the front leg wheel located at the upper end of the step. In synchronization with the operation of gradually lifting the front side of the main unit, the rear movable leg is controlled by the leg drive unit to gradually lift the rear side of the main unit, thereby maintaining the reference plane of the main unit horizontally. While the main body is gradually raised by an amount corresponding to the height of the step, the posture is changed to drive the main body with two front leg wheels and two rear leg wheels,
(4) Next, based on the output of the step detection unit, it detects the time when the rear intermediate wheel has moved on the step, and the rear drive leg is controlled by the leg drive unit to control the rear leg wheel of the rear intermediate wheel. It is almost the same as or higher than the height position.

  Accordingly, the posture can be changed smoothly while the traveling of the wheel type traveling device is continued, and the step can be smoothly climbed in a short time while maintaining the main body portion horizontal.

As shown in this embodiment, if the angle command of the front movable leg and the angle command of the rear movable leg are increased or decreased by the step change, the lifting operation on the front side of the main body by the front movable leg and the rear movable leg The lifting operation on the rear side of the main body can be easily synchronized. Also, the lifting speed can be easily changed according to the value of the step change. Note that the amount of change can be changed for each step, and is included in the present invention.

  Although the step detection unit obtains two-dimensional cross-sectional data of the road surface by using one rotational distance sensor, detailed road surface data may be obtained by using two or more rotational distance sensors. In addition to the rotational distance sensor, other sensors such as a visual sensor may be used. Further, the posture of the reference plane of the main body may be detected by an acceleration sensor or a gyro sensor, and the movement of the front movable leg and the rear movable leg at the time of climbing the step may be corrected according to the output of these sensors. Moreover, although it is preferable that the wheel diameter of a leg wheel and the wheel diameter of an intermediate | middle wheel are equal, you may differ.

  As mentioned above, although embodiment of this invention was described in detail, these are only illustrations and do not limit a claim. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.

  In addition, the technical elements described in the present 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 external view which looked at the wheel type traveling device of the present invention from the upper side External view of the wheel-type traveling device of the present invention viewed from the side The figure which shows the drive transmission of the movable leg of the wheel type traveling apparatus of this invention, a leg wheel, or an intermediate | middle wheel. The figure which shows arrangement | positioning of the sensor for level | step difference detection of the wheel type traveling apparatus of this invention. The figure which shows the structure of the drive control part of the wheel type traveling apparatus of this invention. The flowchart for demonstrating the process of the level | step climb operation | movement of the judgment command part 202 of the drive control part 200 of the wheel type traveling apparatus of this invention. Flowchart for explaining processing 311 of determination command unit 202 Flowchart for explaining processing 312 of determination command unit 202 Flowchart for explaining processing 313 of determination command unit 202 Flowchart for explaining processing 314 of determination command unit 202 Flowchart for explaining processing 366 of determination command unit 202 Flowchart for explaining processing 315 of determination command unit 202 Flowchart for explaining processing 316 of determination command unit 202 Signal flow diagram for explaining processing 366 of determination command unit 202 The figure for explaining the road surface measurement method with the rotation distance sensor The figure for explaining the road surface measurement method with the road surface sensor The figure for demonstrating the raising posture of the rear part of the main-body part 11 by a rear movable leg. The figure for demonstrating the operation | movement attitude | position at the time of level | step climbing of the wheel type traveling apparatus of this invention

Explanation of symbols

11 Body
21, 22 Front movable leg
23, 24 Rear movable legs
31, 32 Front leg wheel
33, 34 Rear leg wheel
41, 42 Front intermediate wheel
43, 44 Rear intermediate wheel
61, 71, 81 Drive motor
62, 72, 82 Reducer
63, 73, 83 Rotation detector
101 Rotational distance sensor
131, 132, 133, 134, 141, 142, 143 Road surface sensor
200 Drive control unit 201 Step detection unit 202 Judgment command unit 203 Leg drive unit 204 Wheel drive unit 220 Distance detection block 231, 232, 233, 234, 241, 242, 243, 244 Road surface detection block 251, 252, 253, 254 Leg Drive block 261,262,263,264 Leg wheel drive block 271,272,273,274 Intermediate wheel drive block

Claims (17)

A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
The drive control unit gradually lowers the front movable leg and the rear movable leg synchronously by the leg driving unit when climbing the step detected based on the output of the step detection unit by the front movable leg. The main body portion is changed to a posture supported by the front leg wheels and the rear leg wheels, and at the same time, the rear leg wheels are driven by the wheel drive unit according to the lowering operation of the rear movable legs or the front movable legs. A wheel-type traveling device characterized by accelerating the vehicle. The drive control unit obtains an acceleration correction value by multiplying the rotation angular velocity of the rear movable leg by a non-linear gain corresponding to the rotation angle of the rear movable leg, and according to the acceleration correction value, The wheel-type traveling device according to claim 1, wherein traveling is accelerated. The wheel type travel device according to claim 2, wherein the drive control unit changes the nonlinear gain in accordance with a sine wave of a rotation angle of the rear movable leg. The drive control unit rotates the front movable leg having the front leg wheel positioned at the upper end of the step by the leg drive unit when climbing the step detected based on the output of the step detection unit by the front movable leg. Synchronously with the operation of gradually lifting the front side of the main body part by controlling the movement of the rear movable leg by the leg driving part and gradually lifting the rear side of the main body part, The main body is gradually raised by an amount corresponding to the height of the step while maintaining the reference plane of the part horizontally, and the posture is changed to drive the main body by the front leg wheel and the rear leg wheel. The wheel type traveling apparatus according to claim 1. When the drive control unit detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. Raising the height of the rear intermediate wheel to approximately the same as or higher than that,
The wheel-type travel device according to claim 1, wherein: The step detection unit includes a rotational distance sensor, and measures and outputs two-dimensional cross-sectional data representing the height of the front road surface of the main body from the output of the rotational distance sensor,
The wheel type travel device according to any one of claims 1 to 5, wherein the drive control unit obtains a distance to a climbing step and a height of the step based on the two-dimensional cross-sectional data. The step detection unit includes a front leg road surface sensor attached to a tip portion of the front movable leg,
Measure and output a value corresponding to the distance from the front leg wheel to the road surface by the output of the front leg road surface sensor,
The drive control unit determines whether or not the front movable leg has reached a step based on a rotation angle of the front movable leg and an output of the front leg road surface sensor. The wheel type traveling apparatus according to any one of claims 6 to 9. The step detection unit includes a rear intermediate road surface sensor attached to the main body, measures and outputs a value corresponding to a distance from the rear intermediate wheel to the road surface by an output of the rear intermediate road surface sensor,
The drive control unit determines whether or not the rear intermediate wheel has reached a level difference based on a rotation angle of the rear movable leg and an output of the rear intermediate road surface sensor. The wheel type travel device according to any one of claims 7 to 9. A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
The drive control unit rotates the front movable leg having the front leg wheel positioned at the upper end of the step by the leg drive unit when climbing the step detected based on the output of the step detection unit by the front movable leg. Synchronously with the operation of gradually lifting the front side of the main body part by controlling the movement of the rear movable leg by the leg driving part and gradually lifting the rear side of the main body part, The main body is gradually raised by an amount corresponding to the height of the step while maintaining the reference plane of the part horizontally, and the posture is changed to drive the main body by the front leg wheel and the rear leg wheel. Wheel type traveling device.   The drive control unit controls the rotation of the front movable leg by the leg driving unit and controls the rotation of the rear movable leg in synchronization with the operation of gradually lifting the front side of the main body unit. The rear side wheel is gradually lifted, and at the same time, the traveling of the rear leg wheel is accelerated by the wheel driving unit in accordance with the turning operation of the rear movable leg or the front movable leg. Wheel-type travel device. The drive control unit obtains an acceleration correction value by multiplying the rotation angular velocity of the rear movable leg by a non-linear gain corresponding to the rotation angle of the rear movable leg, and according to the acceleration correction value, The wheel-type traveling device according to claim 10, wherein the traveling is accelerated. The wheel-type travel device according to claim 11, wherein the drive control unit changes the nonlinear gain in accordance with a sine wave of a rotation angle of the rear movable leg. When the drive control unit detects a step in the traveling direction based on the output of the step detection unit, (1) first, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. Raising the height of the rear intermediate wheel to approximately the same as or higher than that,
The wheel-type traveling device according to claim 9. A body that can carry luggage or people,
A front movable leg attached to the front side of the main body, a rear movable leg attached to the rear side of the main body,
Front leg wheels attached to each of the front movable legs and capable of driving the main body,
Rear leg wheels attached to each of the rear movable legs and capable of driving the main body,
A front intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
A rear intermediate wheel that is located between the front leg wheel and the rear leg wheel and that can drive the main body;
Wheel drive unit for driving and controlling the front leg wheel, the rear leg wheel, the front intermediate wheel, and the rear intermediate wheel, a leg drive unit for driving and controlling the front movable leg and the rear movable leg, and a climbing step in the traveling direction A drive control unit including a step detection unit for obtaining data for detecting
Comprising
When the drive control unit detects a step in the traveling direction based on the output of the step detection unit,
(1) First, measure the height of the step at a position more than the required distance to the step,
(2) Next, the front movable leg is rotated by the leg driving unit to bring the front leg wheel to a height position corresponding to the height of the step, and the rear movable leg is set to a horizontal position or a substantially horizontal position. The rear leg wheel is at the same height as the rear intermediate wheel,
(3) Next, based on the output of the step detection unit, the time point when the front leg wheel has moved on the step is detected, and the front movable leg having the front leg wheel positioned at the upper end of the step is used as the leg driving unit. By rotating and controlling the rear movable leg by the leg drive unit in synchronization with the operation of gradually lifting the front side of the main body part by gradually rotating the rear side of the main body part, While maintaining the reference plane of the main body level, the main body portion gradually rises by an amount corresponding to the height of the step so that the main body portion is driven and driven by the front leg wheels and the rear leg wheels. ,
(4) Next, based on the output of the step detection unit, the time point when the rear intermediate wheel has moved on the step is detected, and the rear movable leg is controlled by the leg driving unit to rotate the rear movable leg. The wheel type traveling device is characterized in that the height is substantially equal to or higher than the height position of the rear intermediate wheel. The drive control unit controls the rotation of the front movable leg by the leg driving unit and controls the rotation of the rear movable leg in synchronization with the operation of gradually lifting the front side of the main body unit. The rear side wheel is gradually lifted, and at the same time, the traveling of the rear leg wheel is accelerated by the wheel driving unit in accordance with the rotational movement of the rear movable leg or the front movable leg. Wheel-type travel device. The drive control unit obtains an acceleration correction value by multiplying the rotation angular velocity of the rear movable leg by a non-linear gain corresponding to the rotation angle of the rear movable leg, and according to the acceleration correction value, The wheel-type traveling device according to claim 15, wherein the traveling is accelerated. The wheel drive device according to claim 16, wherein the drive control unit changes the nonlinear gain in accordance with a sine wave of a rotation angle of the rear movable leg.

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