JP4766159B2 - Inverted pendulum type moving body and control method thereof - Google Patents

Description

  The present invention relates to an inverted pendulum type moving body and a control method thereof.

  The inverted pendulum type moving body travels on a plane while maintaining the inverted state. At this time, the inverted pendulum type moving body performs the inverted control by driving the left and right driving wheels and correcting the center of gravity position so that the center of gravity of the vehicle body is positioned vertically above the axle. For example, Patent Document 1 discloses a technology that includes a control system that combines inversion control and position control, and that causes an inverted two-wheeled cart robot to travel along a preset route.

  When the inverted pendulum type moving body collides with an obstacle during traveling and cannot get over the obstacle, the wheel cannot be driven further in the traveling direction. For this reason, when the vehicle collides with an obstacle, a force (collision reaction force) in the direction opposite to the traveling direction is generated on the wheel. When the rotation of the wheel is stopped by the collision reaction force, a force for driving the wheel is applied to the vehicle body as a drive reaction force, and the drive reaction force greatly rotates the vehicle body of the inverted pendulum type moving body backward. At this time, in the conventional inverted pendulum type moving body, the wheel is driven in the direction opposite to the traveling direction (that is, rearward) so that the center of gravity of the vehicle body that rotates backward is positioned vertically above the axle. Try to maintain an inverted position.

  However, by driving the wheels backward to maintain the inverted state, a forward rotational force is generated with respect to the vehicle body. Therefore, the inverted pendulum type moving body further tries to maintain the inverted state by driving the wheels forward so as to cancel the forward rotation of the vehicle body. Thus, the inverted pendulum type mobile body receives a rotational force in the front-rear direction due to disturbance due to contact with an obstacle, and swings greatly in the front-rear direction in an attempt to maintain an inverted state against such disturbance. For this reason, the passenger of the inverted pendulum type moving body is also greatly shaken in the front-rear direction. In particular, since the backward direction is a blind spot for the passengers, the backward swing gives a great feeling of anxiety. In addition, depending on the magnitude of the impact, the inverted state may not be maintained, and swinging backward is dangerous.

On the other hand, Patent Document 2 discloses an inverted pendulum type moving body that performs an inverted control using a control arm.
JP 2005-145293 A Special table 2003-508285 gazette

  However, although the technique described in Patent Document 2 can stably control the inverted pendulum type moving body by supporting the passenger by the control arm, it can be safely avoided when it collides with an obstacle. There was a problem that it was difficult.

  The present invention has been made to solve such a problem, and an object thereof is to provide an inverted pendulum type moving body that can be safely avoided when colliding with an obstacle, and a control method therefor.

  A first inverted pendulum type moving body according to the present invention includes a first actuator that rotationally drives two or more wheels disposed on an axle, and an upper body of an inverted pendulum type moving body around an axis parallel to the axle. An inverted pendulum type moving body comprising: a second actuator that rotationally drives the center of gravity position of the portion, wherein the inverted pendulum type moving body is generated by contact when the inverted pendulum type moving body contacts an obstacle A rotational motion calculation unit that calculates the longitudinal swing motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type moving body, and the forward and backward swing motion by performing the rotational motion. A rotary motion control unit that drives and controls the second actuator so as to cancel the rotational movement of the upper body.

  As a result, the upper body part of the inverted pendulum type moving body can be rotated in a direction to cancel the back-and-forth swing generated by the contact, and the unstable operation that occurs when contacting the obstacle can be reduced more effectively. . For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  The rotational motion calculation unit calculates the rotational motion based on an output of a sensor that measures a change amount that varies according to a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. You may do it. Thereby, a rotational motion can be calculated more accurately.

  A second inverted pendulum type moving body according to the present invention includes a first actuator that rotationally drives two or more wheels disposed on an axle, and an upper body portion of the inverted pendulum type moving body in a direction orthogonal to the axle. An inverted pendulum type moving body comprising a second actuator for translationally driving the center of gravity position of the inverted pendulum type moving body when the inverted pendulum type moving body comes into contact with an obstacle. A translational motion calculation unit that calculates a longitudinal swing motion as a corresponding translational motion of the upper body portion in a direction orthogonal to the axle of the inverted pendulum type moving body; and performing the translational motion to cancel the forward / backward swing motion A translational motion control unit that drives and controls the second actuator to translate the upper body.

  Thereby, the upper body part of the inverted pendulum type moving body is translated in a direction to cancel the back-and-forth swing generated by the contact, and the unstable operation that occurs when it comes into contact with the obstacle can be reduced more effectively. . For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  The translational motion calculating unit calculates the translational motion based on an output of a sensor that measures a change amount that changes in accordance with a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. You may do it. Thereby, a translational motion can be calculated more accurately.

  A third inverted pendulum type moving body according to the present invention includes a first actuator that rotationally drives two or more wheels disposed on an axle, and an inverted pendulum around an axis parallel to the axle and / or in a direction orthogonal thereto. An inverted pendulum type moving body comprising a second actuator that rotates and / or translates the center of gravity of the upper portion of the mold moving body, and the inverted pendulum type moving body comes into contact with an obstacle, A rotational motion calculation unit that calculates a back-and-forth swing motion of the inverted pendulum type moving body generated by contact as a corresponding rotational motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type mobile body; and A rotary motion control unit that drives and controls the second actuator so as to cancel the back-and-forth swing motion, and a back-and-forth swing of the inverted pendulum type moving body generated by contact Movement A translational motion calculation unit that calculates the translational motion corresponding to the upper body part in a direction orthogonal to the axle of the inverted pendulum type moving body, and the second motion so as to cancel the back-and-forth swing motion by performing the translational motion. A translation control unit that drives and controls the actuator to translate the upper body.

  As a result, the upper body of the inverted pendulum type moving body is rotated or translated in a direction to cancel the forward / backward swing generated by the contact, and the unstable operation that occurs when it comes into contact with the obstacle is more effectively reduced. Can do. For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  Further, the sensor may be a gyro sensor that detects an inclination angular velocity of the upper body as the change amount. Thereby, the inclination angular velocity of the inverted pendulum type moving body can be detected with high responsiveness.

  Furthermore, you may make it provide the contact determination part which determines that the said inverted pendulum type mobile body contacted the obstruction. Thereby, since the contact timing can be specified and avoidance control can be performed according to the contact timing, it can avoid more safely.

  Further, the contact determination unit may determine contact based on an output of an encoder that measures a current position of the inverted pendulum type moving body based on a rotation amount of the wheel. Thereby, contact can be determined with higher accuracy based on the current position of the inverted pendulum type moving body.

  According to the fourth method of controlling the inverted pendulum type moving body according to the present invention, two or more wheels arranged on an axle are driven to rotate, and the upper body part of the inverted pendulum type moving body is rotated around an axis parallel to the axle. Inverted pendulum type moving body control method for rotationally driving the center of gravity position of the inverted pendulum type moving body when the inverted pendulum type moving body comes into contact with an obstacle, A step of calculating as a corresponding rotational motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type moving body, and an axis parallel to the axle so as to cancel the forward / backward swing motion by performing the rotational motion And rotating the center of gravity of the upper body part of the inverted pendulum type moving body.

  As a result, the upper body part of the inverted pendulum type moving body can be rotated in a direction to cancel the back-and-forth swing generated by the contact, and the unstable operation that occurs when contacting the obstacle can be reduced more effectively. . For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  In addition, the step of calculating the rotational motion is based on an output of a sensor that measures a change amount that changes in accordance with a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. You may make it calculate. Thereby, a rotational motion can be calculated more accurately.

  A fifth inverted pendulum type moving body control method according to the present invention rotates two or more wheels arranged on an axle and rotates the upper body portion of the inverted pendulum type moving body in a direction perpendicular to the axle. A method of controlling an inverted pendulum type moving body that translates the position of the center of gravity, wherein when the inverted pendulum type moving body comes into contact with an obstacle, the swinging motion of the inverted pendulum type moving body generated by the contact is changed. A step of calculating as a corresponding translational motion of the upper body in a direction orthogonal to the axle of the inverted pendulum type moving body, and an inversion in a direction orthogonal to the axle so as to cancel the back-and-forth swing motion by performing the translational motion. Translating the center of gravity of the upper body of the pendulum type moving body.

  As a result, the upper body of the inverted pendulum type moving body is rotated or translated in a direction to cancel the forward / backward swing generated by the contact, and the unstable operation that occurs when it comes into contact with the obstacle is more effectively reduced. Can do. For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  In addition, the step of calculating the translational motion may be performed based on an output of a sensor that measures a change amount that varies depending on a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. You may make it calculate. Thereby, a translational motion can be calculated more accurately.

  The sixth inverted pendulum type moving body control method according to the present invention is configured to rotate two or more wheels arranged on an axle and rotate the inverted pendulum type around an axis parallel to the axle and / or perpendicular thereto. A method of controlling an inverted pendulum type moving body that rotates and / or translates the position of the center of gravity of the upper body of the moving body, wherein the inverted pendulum type moving body contacts with an obstacle when the inverted pendulum type moving body is in contact with the obstacle. Calculating a back and forth swinging motion of the pendulum type moving body as a corresponding rotational motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type moving body; and performing the rotating motion and the back and forth swinging motion Rotating the center of gravity of the upper body of the inverted pendulum type moving body around an axis parallel to the axle so as to cancel out, and the inverted pendulum movement of the inverted pendulum type moving body generated by the contact Type moving body axle A step of calculating as a corresponding translational motion of the body part in a direction orthogonal to the body part, and a body part of an inverted pendulum type mobile body in a direction orthogonal to the axle so as to cancel the back-and-forth swing motion by performing the translational motion Translating the position of the center of gravity.

  As a result, the upper body of the inverted pendulum type moving body is rotated or translated in a direction to cancel the forward / backward swing generated by the contact, and the unstable operation that occurs when it comes into contact with the obstacle is more effectively reduced. Can do. For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  Further, an inclination angular velocity of the upper body part may be detected as the amount of change. Thereby, the inclination angular velocity of the inverted pendulum type moving body can be detected with high responsiveness.

  Furthermore, you may make it provide the step which determines that the said inverted pendulum type mobile body contacted the obstruction. Thereby, since the timing which contacted can be specified and it can control according to the timing which contacted, it can avoid more safely.

  Moreover, you may make it provide the step which measures the present position of the said inverted pendulum type mobile body based on the rotation amount of the said wheel, and the step which determines a contact based on the said measured current position. Thereby, a contact can be determined more accurately based on the current position of the inverted pendulum type moving body.

  An object of the present invention is to provide an inverted pendulum type moving body that can be safely avoided when it collides with an obstacle, and a control method therefor.

Embodiment 1 of the Invention
The moving body according to the first embodiment is an inverted pendulum type moving body. Therefore, the moving body moves to a predetermined position / posture by driving a wheel that is grounded on the ground. Furthermore, the inverted state can be maintained by driving the wheels.

  The configuration of the moving body 100 according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view schematically showing the configuration of the moving body 100, and FIG. 2 is a front view schematically showing the configuration of the moving body 100. As shown in FIG. 2, the moving body 100 is an inverted wheel type moving body (running body), and includes a right drive wheel 18, a left drive wheel 20, a right rod 14, a left rod 16, and a vehicle body 12. And. The vehicle body 12 is an upper body portion of the moving body 100.

  On the side surface side of the right rod 14, a right drive wheel 18 that is in contact with the ground is provided via a right mount 26. A left drive wheel 20 that is in contact with the ground is provided on a side surface side of the left rod 16 via a left mount 28. By rotating the right drive wheel 18 and the left drive wheel 20, the moving body 100 moves.

  A right mount 26 is disposed between the right drive wheel 18 and the right rod 14. The right mount 26 is fixed to the side end of the right rod 14. The right mount 26 rotatably supports the right driving wheel 18 via the axle 30. The right drive wheel 18 is fixed to the rotation shaft C <b> 1 of the right wheel drive motor 34 via the axle 30. The right wheel drive motor 34 is fixed in the right mount 26 and functions as a wheel actuator. That is, the right wheel drive motor 34 drives the right drive wheel 18 to rotate. A left mount 28 is disposed between the left drive wheel 20 and the left rod 16. The left mount 28 is fixed to the side end of the left rod 16. The left mount 28 rotatably supports the left drive wheel 20 via the axle 32.

  The left drive wheel 20 is fixed to the rotation shaft C <b> 2 of the left wheel drive motor 36 via the axle 32. The left wheel drive motor 36 is fixed in the left mount 28 and functions as a wheel actuator. That is, the left wheel drive motor 36 drives the left drive wheel 20 to rotate. The right wheel drive motor 34 and the left wheel drive motor 36 as the first actuator are, for example, servo motors. The wheel actuator is not limited to an electric motor, and may be an actuator using pneumatic pressure or hydraulic pressure.

  The right mount 26 includes a right wheel encoder 52. The right wheel encoder 52 detects a rotation angle as a rotation amount of the right drive wheel 18. The left mount 28 includes a left wheel encoder 54. The left wheel encoder 54 detects a rotation angle as a rotation amount of the left drive wheel 20.

  The right rod 14 is attached to the side end of the right drive wheel 18 via a right mount 26. The longitudinal direction of the right rod 14 is perpendicular to the rotation axis C1. The vehicle body 12 is attached to the upper end of the right rod 14 via a right posture control actuator 40. That is, the right rod 14 is a link that connects the vehicle body 12 and the right drive wheel 18. Therefore, the lower end side of the right rod 14 is connected to the rotation axis C1 of the right drive wheel 18, and the upper end side is connected to the rotation axis C3 of the vehicle body 12. The vehicle body 12 is supported via the right rod 14 so as to be rotatable with respect to the axle C1. The left rod 16 is attached to the side end of the left drive wheel 20 via the left mount 28. The longitudinal direction of the left rod 16 is perpendicular to the rotation axis C2. The vehicle body 12 is attached to the upper end of the left rod 16 via a left posture control actuator 42. That is, the left rod 16 is a link that connects the vehicle body 12 and the left drive wheel 20. Therefore, the lower end side of the left rod 16 is connected to the rotation axis C2 of the left drive wheel 20, and the upper end side is connected to the rotation axis C3 of the vehicle body 12. The vehicle body 12 is supported via the left rod 16 so as to be rotatable with respect to the axle C2. Thus, the right rod 14 and the left rod 16 serve as support members that support the vehicle body 12 so as to be rotatable with respect to the axles C1 and C2. A vehicle body 12 that is an upper body portion of the moving body 100 is disposed above the right rod 14 and the left rod 16.

  The right rod 14 and the left rod 16 are provided inside the right drive wheel 18 and the left drive wheel 20, respectively. That is, the moving body 100 has two right rods 14 and left rods 16 provided corresponding to the left and right wheels. A right posture control actuator 40 and a left posture control actuator 42 are attached to the right rod 14 and the left rod 16, respectively. The right posture control actuator 40 and the left posture control actuator 42 change the angles of the right rod 14 and the left rod 16 with respect to the vehicle body 12. The posture control actuators 40 and 42 as the second actuators are, for example, servo motors, and control the posture angle of the vehicle body 12. In addition, you may transmit the motive power of a motor via a gear, a belt, a pulley.

  The vehicle body 12 includes a pedestal 70, a support 72, a gyro sensor 48, and a boarding seat 22. The flat pedestal 70 is attached to the right rod 14 and the left rod 16 via a right posture control actuator 40 and a left posture control actuator 42, respectively. The right rod 14 and the left rod 16 are provided on the opposite side surfaces of the pedestal 70. That is, the base 70 is disposed between the right rod 14 and the left rod 16.

  When the right posture control actuator 40 and the left posture control actuator 42 are driven, the angle of the pedestal 70 with respect to the right rod 14 and the left rod 16 changes. Accordingly, the pedestal 70 can be rotated in the front-rear direction around an axis horizontal to the ground with the rotation axis C3 as the rotation center. The rotation axis C3 is parallel to the rotation axes C1 and C2, and is located above the rotation axes C1 and C2. A right rod 14 is provided between the rotation axis C3 and the rotation axis C1. A left rod 16 is provided between the rotation axis C3 and the rotation axis C2. A right attitude control actuator 40 and a left attitude control actuator 42 are provided on the rotation axis C3. That is, the right rod 14 and the left rod 16 serve as swing arms for controlling the posture.

  Further, when the right posture control actuator 40 and the left posture control actuator 42 are driven, the angles of the right rod 14 and the left rod 16 with respect to the base 70 change. Thereby, the pedestal 70 can be inclined in the left-right direction with respect to an axis perpendicular to the rotation axis C3. That is, the vehicle body 12 of the moving body 100 can be swung and tilted autonomously in the roll direction (around the longitudinal axis of the moving body 100 parallel to the forward movement direction). More specifically, for example, by driving only the right posture control actuator 40 and rotating the right rod 14 forward relative to the pedestal 70, the pedestal 70 is tilted so that the right drive wheel 18 side is lowered. .

  Of course, the right rod 14 may be rotated backward, and the present invention is not limited to this. That is, at least one of the rods may be driven in the front-rear direction so that the rotation axis C3 of the pedestal 70 is inclined, or the rod may be driven in any direction. Thus, when the right posture control actuator 40 and the left posture control actuator 42 are driven, the posture of the vehicle body 12 changes in the front-rear direction and the left-right direction.

  The pedestal 70 houses the battery module 44 and the obstacle detection sensor 58. The obstacle detection sensor 58 is an optical obstacle detection sensor and outputs a detection signal when an obstacle is detected in front of the moving body 100. The battery module 44 supplies power to the right wheel drive motor 34, the left wheel drive motor 36, the right posture control actuator 40, the left posture control actuator 42, the control unit 80, and the like.

  A gyro sensor 48 is provided on the pedestal 70 of the vehicle body 12. The gyro sensor 48 detects an angular velocity with respect to the inclination angle of the vehicle body 12. Here, the inclination angle of the vehicle body 12 is a degree of inclination from the axis at which the center of gravity of the moving body 100 extends vertically above the axles 30 and 32. For example, the vehicle body 12 is inclined forward in the traveling direction of the moving body 100. The case is represented as “positive”, and the case where the vehicle body 12 is inclined rearward in the traveling direction of the moving body 100 is represented as “negative”.

  In addition to the front-rear direction of the traveling direction, the tilt angular velocity in the left-right direction is measured using a three-axis gyro sensor 48 of roll, pitch, and yaw. As described above, the gyro sensor 48 measures the change in the inclination angle of the pedestal 70 as the inclination angular velocity of the vehicle body 12. Of course, the gyro sensor 48 may be attached to another location. The tilt angular velocity measured by the gyro sensor 48 changes according to the change in the posture of the moving body 100. That is, the inclination angular velocity is a change amount that changes in accordance with the amount of deviation of the center of gravity position of the vehicle body 12 from the axle position. Therefore, when the inclination angle of the vehicle body 12 changes suddenly due to disturbance or the like, the value of the inclination angular velocity increases.

  A support column 72 is provided in the vicinity of the center of the pedestal 70. The boarding seat 22 is supported by the support column 72. That is, the boarding seat 22 is fixed to the pedestal 70 via the support column 72. The boarding seat 22 has the shape of a chair on which a passenger can sit. An operation module 46 is provided on the side surface of the passenger seat 22. The operation module 46 is provided with an operation lever (not shown) and a brake lever (not shown). The operating lever is an operating member for the passenger to adjust the traveling speed and traveling direction of the moving body 100. The passenger adjusts the moving speed of the moving body 100 by adjusting the operation amount of the operating lever. The passenger can adjust the moving direction of the moving body 100 by adjusting the operating direction of the operating lever. The moving body 100 can make forward, stop, reverse, left turn, right turn, left turn, and right turn according to the operation applied to the operation lever. The moving body 100 can be braked when the passenger tilts the brake lever. The traveling direction of the moving body 100 is a direction perpendicular to the axles 30 and 32.

  Further, a control unit 80 is mounted on the backrest portion of the boarding seat 22. The control unit 80 controls the right wheel drive motor 34 and the left wheel drive motor 36 in accordance with the operation performed by the occupant on the operation module 46, and controls the travel (movement) of the moving body 100. The seating surface of the boarding seat 22 is disposed in parallel with the upper surface of the pedestal 70. The control unit 80 controls the right wheel drive motor 34 and the left wheel drive motor 36 in accordance with an operation on the operation module. As a result, the right wheel drive motor 34 and the left wheel drive motor 36 are driven with a torque command value corresponding to the operation in the operation module 46.

  The control unit 80 includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a communication interface, and the like, and controls various operations of the mobile unit 100. And this control part 80 performs various control according to the control program stored, for example in ROM. The control unit 80 controls the right wheel drive motor 34 and the left wheel drive motor 36 to a predetermined angle independently of each other by known feedback control.

  Next, the control by the control unit 80 will be described with reference to FIG. FIG. 3 is a block diagram for explaining the control of the control unit 80. The control unit 80 includes a travel control module 81, a turning control module 82, a posture control module 83 as a posture control unit, and a contact determination module 84 as a contact determination unit. The control unit 80 comprehensively controls the travel control module 81, the turning control module 82, the attitude control module 83, and the contact determination module 84.

  The travel control module 81 includes an amplifier that controls the right wheel drive motor 34 and the left wheel drive motor 36. The travel control module 81 outputs drive signals to the right wheel drive motor 34 and the left wheel drive motor 36 to feedback control the right drive wheel 18 and the left drive wheel 20. Specifically, measurement values measured by the right wheel encoder 52 and the left wheel encoder 54 are input to the travel control module 81.

  In addition, the traveling control module 81 receives an inclination angular velocity from the gyro sensor 48 in order to stabilize inversion. Further, a command value corresponding to an operation by the operation module 46 is input to the travel control module 81. Then, the traveling control module 81 drives the right wheel drive motor 34 and the left wheel drive motor 36 based on the measured value, the tilt angular velocity, and the command value. As described above, the traveling control module 81 performs feedback control on the right drive wheel 18 and the left drive wheel 20. As a result, the moving body 100 moves in accordance with the operation of the operation module 46. Therefore, it can drive stably in an inverted state. As the feedback control here, a known control method can be used.

  The turning control module 82 includes a turning movement control unit (not shown) that controls the turning movement of the moving body 100 after the moving body 100 comes into contact with an obstacle. That is, the turning control module 82 includes an amplifier that controls the right wheel drive motor 34 and the left wheel drive motor 36, and outputs a drive signal to the right wheel drive motor 34 and the left wheel drive motor 36, so that the right drive wheel 18. The left drive wheel 20 is feedback-controlled. Specifically, measured values measured by the right wheel encoder 52 and the left wheel encoder 54 are input to the turning control module 82. Then, the turning control module 82 drives the right wheel drive motor 34 and the left wheel drive motor 36 to make a turning motion based on the measured value. Here, the turning control module 82 drives the right wheel driving motor 34 and the left wheel driving motor 36 so that the moving body 100 turns about the vertical axis.

  Thereby, the back-and-forth swing caused by the reaction force generated by the contact can be avoided by the turning motion, and the unstable operation that occurs when the contact with the obstacle can be reduced. For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger. Further, by turning the moving body 100 to a position / posture substantially parallel to the obstacle, there is no obstacle in front of the moving body 100 in the traveling direction. Therefore, after the collision with the obstacle, the moving body 100 can more easily perform control for maintaining the inverted state in the front-rear direction around the axis horizontal to the ground. Moreover, since there is no obstacle ahead, after the mobile body 100 is inverted and stabilized, the movement can be started promptly.

  In addition, when the moving body 100 comes into contact with an obstacle, the turning control module 82 calculates a turning motion generated by the contact as a corresponding turning motion in the direction in which the inverted pendulum type moving body turns. It has a calculation part (not shown). The turning control module 82 controls the right wheel driving motor 34 and the left wheel driving motor 36 in a direction to cancel the forward / backward swing generated by the contact, and makes the moving body 100 turn around the vertical axis. The turning control module 82 makes the moving body 100 make a turning motion based on a command value such as a turning speed or a turning radius given by the turning motion calculation unit.

  Here, for example, the turning motion calculation unit calculates the turning motion based on the output of a sensor that measures the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the center of gravity of the vehicle body 12. . Thereby, a turning motion can be calculated with higher accuracy. The sensor detects the inclination angular velocity of the vehicle body 12 as the amount of change. For example, a gyro sensor 48 can be employed as a sensor for detecting the tilt angular velocity. Responsiveness can be improved by using a detection signal from the gyro sensor 48 that detects the tilt angular velocity. The tilt angular velocity may be measured by a sensor other than the gyro sensor 48. For example, the attitude control actuators 40 and 42 may be provided with an encoder that detects the rotation angle, or the vehicle body 12 is provided with an attitude angle sensor that detects the attitude angle or an encoder that detects the rotation angle, and the detected angle. The inclination angular velocity may be obtained by time differentiation.

  Further, the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the position of the center of gravity of the vehicle body 12 may be other than the inclination angular velocity. That is, the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the position of the center of gravity of the vehicle body 12 is not limited to the inclination angular velocity of the vehicle body 12. For example, the turning motion may be calculated based on the rotation amount of the right wheel drive motor 34 and the left wheel drive motor 36 or the acceleration of the vehicle body measured by an acceleration sensor as the change amount. Specifically, the turning motion can be calculated based on the speed of the moving body 100 immediately before the contact with the obstacle and the time required for the wheels to stop due to the contact.

  The attitude control module 83 controls the attitude of the moving body 100. That is, the posture control module 83 includes an amplifier for driving the right posture control actuator 40 and the left posture control actuator 42. The posture control module 83 outputs a control signal to drive the right posture control actuator 40 and the left posture control actuator 42. Thereby, the vehicle body 12 can be rotated in the front-rear direction, and the vehicle body 12 can be tilted in the left-right direction. That is, the posture of the moving body 100 can be controlled. Here, the posture control module 83 drives and tilts the right posture control actuator 40 and the left posture control actuator 42 so that the vehicle body 12 is lowered with respect to the ground contact surface on which the wheel contacts the turning center. Thereby, the centrifugal force generated when the mobile body 100 turns can be canceled and the turn can be made more stably. Further, the turning radius can be reduced, and the turning can be performed more quickly.

  The contact determination module 84 determines whether or not the moving body 100 has contacted an obstacle. For example, based on the output of an encoder that measures the current position of the moving body 100 from the rotation amounts of the wheels 18 and 20, it can be determined whether or not the moving body 100 has come into contact with an obstacle. Specifically, the encoder can measure the current position of the moving body 100 by measuring the rotation speed of the wheel as the rotation amount of the wheel. Therefore, when the difference between the current position and the target position of the moving body 100 output by the encoder is equal to or greater than a predetermined threshold, it can be determined that the moving body 100 is in contact with an obstacle. Thereby, since the contact timing can be specified and avoidance control can be performed according to the contact timing, it can avoid more safely. Furthermore, contact can be determined more accurately based on the current position of the moving body 100.

  Furthermore, in addition to the means for determining based on the output of the encoder, for example, contact can be determined more accurately by using the rotational torque of the wheel at the time of determination. Specifically, the moving body 100 determines the rotational torque necessary to reach the target position. When moving, for example, the magnitude of the rotational torque of the wheel can be detected in time series as the amount of rotation of the wheel by a pressure sensor provided on each shaft. Therefore, when the difference between the target rotational torque of the wheel determined to move and the detected actual rotational torque is greater than or equal to a predetermined threshold value, it can be determined that the moving body 100 is in contact with the obstacle. . In this way, by combining determinations based on rotational torque, it is possible to perform contact determination with higher accuracy.

  Furthermore, the means for determining contact with an obstacle is not limited to means for determining based on the output of the encoder and means for determining based on the rotational torque of the wheel. For example, contact with an obstacle may be determined using the obstacle detection sensor 58. Furthermore, the operation module 46 is provided with a switch capable of switching the control mode of the moving body 100, and when contact with an obstacle is predicted, the passenger turns the switch after contacting the obstacle by pressing the switch. You may make it switch to the control mode which performs control.

  Subsequently, the above-described turning motion control and posture control after the moving body 100 comes into contact with an obstacle will be described with reference to FIGS. FIG. 4 is a flowchart showing the above control method. In FIG. 4, the portions surrounded by broken lines indicate the control contents executed by the contact determination module 84, the turning control module 82, and the attitude control module 83 in order from the left. FIG. 5 thru | or 9 is a schematic diagram for demonstrating the mode of the avoidance action after the mobile body 100 contacts an obstruction. Here, a case where the moving body 100 contacts the obstacle 90 during traveling will be described. 5 to 9, the configuration shown in FIG. 1 and FIG. 2 is omitted as appropriate for explanation.

  In FIG. 5, the moving body 100 is moving from the left side to the right side. Furthermore, according to the time series, the state of the moving body 100 is shown as a moving body 100a, a moving body 100b, and a moving body 100c in order over FIGS. After the moving body 100a comes into contact with the obstacle 90, the moving body 100a becomes the moving body 100b at the next timing. Similarly, the moving body 100b becomes the moving body 100c at the next timing after contacting and turning. In this way, the moving body 100a, the moving body 100b, and the moving body 100c move in this order. FIG. 8 is a view of the traveling state of the moving body 100 shown in FIGS. 5 to 7 as seen from above. FIG. 9 is a side view showing a state in which the vehicle body 12 is tilted by posture control during the above-described turning control. That is, it is a side view showing the posture control performed when the moving body 100 turns after contacting the obstacle 90.

  The traveling control module 81 performs two-wheel control so as to perform normal traveling (step S101). Here, the right wheel drive motor 34 and the left wheel drive motor 36 are driven so that the vehicle can travel stably in an inverted state.

  The contact determination module 84 determines the current position of the moving body 100 based on the output of the encoder (step S201). That is, when the difference between the current position and the target position of the moving body 100 output by the encoder is equal to or greater than a predetermined threshold, it is determined that the moving body 100 may be in contact with the obstacle 90. During normal travel that is not in contact with the obstacle 90, the difference between the current position and the target position is within a range expected for normal travel. That is, it does not exceed a predetermined threshold set based on a range expected during normal driving.

  Accordingly, the traveling control module 81 maintains the inverted traveling while the difference between the current position and the target position of the moving body 100 does not exceed the predetermined threshold (step S102). Specifically, the travel control module 81 drives the right wheel drive motor 34 and the left wheel drive motor 36 in accordance with the command value according to the operation in the operation module 46. Further, the right wheel drive motor 34 and the left wheel drive motor 36 are controlled so as to be inverted according to the inclination angular velocity from the gyro sensor 48. As a result, the right drive wheel 18 and the left drive wheel 20 rotate at a desired rotation speed. While not in contact with the obstacle 90, the above process is repeated and the two-wheel inverted running is continued.

  On the other hand, when the vehicle is running normally, the wheels of the moving body 100 come into contact with the obstacle 90 (see the moving body 100a shown in FIG. 5). When the moving body 100 contacts the obstacle 90, the wheels 18 and 20 stop without moving forward, and a reaction force (collision reaction force) in a direction opposite to the traveling direction is generated. Due to the forward / backward swing based on the collision reaction force, the current position is greatly separated from the target position. Here, when the contact determination module 84 determines the current position based on the output result of the encoder (step S201), the difference between the current position and the target position exceeds a predetermined threshold. Further, the contact determination module 84 determines whether or not the difference between the actual rotational torque of the wheel and the target rotational torque exceeds a predetermined threshold (step S202). When it is determined that the difference in rotational torque does not exceed the predetermined threshold, the wheel 90 does not come into contact with the obstacle 90, and a sufficient amount of movement cannot be obtained due to the rotation of the wheel due to slip or the like. The traveling control module 81 maintains the inverted traveling (step S102).

  If it is determined in step S202 that the difference in rotational torque has exceeded a predetermined threshold, the turning control module 82 replaces the current position with the target position, instructs the traveling control module 81, and determines the driving force by the wheel drive motor. The application is stopped (step S301). Thereby, after the contact, the control to move forward based on the position command can be quickly released. Therefore, it is not necessary to repeat the contact with the obstacle again after the contact. For this reason, it can avoid more safely. Next, the turning control module 82 calculates the back-and-forth swing caused by the reaction force generated by the contact with the obstacle 90 as the corresponding turning motion in the direction in which the moving body 100 turns (step S302). For example, the tilt angular velocity of the vehicle body 12 is measured using the gyro sensor 48, and the turning motion is calculated based on the output of the sensor.

  Next, the turning control module 82 turns the mobile body 100 about the vertical axis in a direction to cancel the back-and-forth swing generated by the contact (step S303). The turning control module 82 gives command values such as a turning speed and a turning radius as a turning motion, and makes the moving body 100 turn (see the moving body 100b shown in FIG. 6 and the moving body 100c shown in FIG. 7). . Here, the moving body 100 is caused to turn around the vertical axis (z axis) in the direction of the white arrow D. In this way, by driving the right wheel drive motor 34 and the left wheel drive motor 36 to turn, the back and forth swinging caused by the reaction force generated by the contact is avoided by the turning motion.

  Next, the turning control module 82 determines whether or not the turning angle that the mobile body 100 has turned has reached the target value (step S304). For example, 90 degrees with respect to the turning axis center is set as the target value of the turning angle. By turning 90 degrees around the turning axis, the moving body 100 can be moved to a position / posture that is substantially parallel to the obstacle 90. If the turning angle has not reached the target value, the current position is replaced with the target position, the driving control module 81 is instructed to stop applying the driving force by the wheel drive motor (step S301), and the calculated turning Based on the movement, the moving body 100 is continuously turned around the vertical axis (step S303).

  On the other hand, when it is determined in step S304 that the turning angle has reached the target value, the traveling control module 81 starts the inverted traveling again (step S102). When performing an operation by the passenger himself, the operation module 46 is operated to perform an inverted traveling, and when performing an autonomous traveling, a position command value required for traveling from the current position to a new destination is obtained. Then, the inversion traveling is continued by giving a position command value to the traveling control module 81.

  The attitude control module 83 performs attitude control in synchronization with the turning control in step S303. The attitude control module 83 drives and tilts the right attitude control actuator 40 and the left attitude control actuator 42 so that the vehicle body 12 is lowered with respect to the ground contact surface on which the wheel is installed at the center of the turning axis (step S401). . That is, during the cornering in step S303, the vehicle travels while tilting the vehicle body 12 so that the center side of the pivot axis is lowered. Here, the side where the obstacle 90 exists is set as the center of the turning axis, and the rotation axis C3 of the vehicle body 12 is inclined toward the center of the turning axis so as to be lowered (see FIG. 9). Note that the inclination angle for inclining the vehicle body 12 may be calculated based on, for example, the turning speed and turning radius during turning, or may be calculated based on the inclination angular speed measured by the gyro sensor 48. In this case, the greater the centrifugal force generated by turning, the greater the tilt angle during turning. Thus, by driving and tilting the right posture control actuator 40 and the left posture control actuator 42, the centrifugal force generated during turning can be reduced.

  Next, the posture control module 83 determines whether or not a turning speed command in the turning control of S303 is given (step S402). When the command for the turning speed is given, the posture control module 83 continues to tilt the vehicle body 12. On the other hand, if the command for turning speed is not given in step S402, the vehicle body 12 is returned from the inclined state to the original horizontal state. Then, the traveling control module 81 starts the inverted traveling again (step S102).

  In the above description, the right rod 14 and the left rod 16 are rotated with respect to the vehicle body 12 by the right posture control actuator 40 and the left posture control actuator 42. However, the present invention is not limited to this. For example, the right posture control actuator 40 and the left posture control actuator 42 may be provided with linear motion joints, and either the right drive wheel 18 side or the left drive wheel 20 side of the vehicle body 12 may be slid in the vertical direction. Good. Specifically, for example, when turning about the vertical axis, the left posture control actuator 42 is driven to slide the left drive wheel 20 side of the vehicle body 12 downward in the vertical axis, and the right posture control actuator 40 is Drive to slide the right drive wheel 18 side of the vehicle body 12 upward in the vertical axis. That is, in the vertical axis direction, the vehicle body 12 is inclined so as to be lowered from the right drive wheel 18 side to the left drive wheel 20 side of the vehicle body 12. Of course, not only the configuration in which both the right rod 14 and the left rod 16 are driven by the right posture control actuator 40 and the left posture control actuator 42 but only at least one of the right rod 14 and the left rod 16 is driven. May be. That is, the posture may be controlled by independently driving at least one of the right rod 14 and the left rod 16.

  In addition, as a method of determining whether or not the difference between the determined target rotational torque of the wheel and the detected actual rotational torque exceeds the predetermined threshold in step S202 described above, for example, it is continuous in time series. A plurality of (for example, three) values of the actual rotational torque of the wheels acquired in this manner are acquired, and the average value of these values is compared with the set target rotational torque value. In this way, since the value of the large actual rotational torque generated suddenly is smoothed, it is possible to detect an increase in the actual rotational torque caused by the obstacle with higher accuracy.

  As a threshold for determining contact with the obstacle 90 as described above, it is preferable to perform a predetermined experiment in advance and determine an appropriate value for making a reasonable determination. In this experiment, experimental data is statistically acquired by changing various parameters, for example, the speed of the moving body 100 and the material of the floor surface, and an appropriate value is determined from these data.

Embodiment 2 of the Invention
Next, an inverted pendulum type moving body according to a second embodiment of the present invention will be described with reference to the block diagram shown in FIG. Note that the configuration of the inverted pendulum type moving body according to the second embodiment of the present invention is the same as the configuration shown in FIGS. In the present embodiment, the same or similar components as those of the moving body 100 described in the above embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 10 is a block diagram for explaining the control of the control unit 80. The control unit 80 includes a travel control module 81, a rotation control module 85, and a contact determination module 84 as a contact determination unit. The control unit 80 comprehensively controls the travel control module 81, the rotation control module 85, and the contact determination module 84. Note that the travel control module 81 and the contact determination module 84 have the same configurations as those of the first embodiment, and thus description thereof will be omitted.

  The rotation control module 85 includes a rotation motion control unit (not shown) that controls the rotation motion of the upper body portion of the moving body 100 around an axis parallel to the axles 30 and 32. That is, the rotation control module 85 includes an amplifier for driving the right posture control actuator 40 and the left posture control actuator 42. The rotation control module 85 outputs a control signal to drive the right attitude control actuator 40 and the left attitude control actuator 42. Thereby, the upper body part of the vehicle body 12 can be rotated in the front-rear direction around the axis parallel to the axles 30 and 32.

  Thereby, the upper body part of the moving body 100 is rotationally moved in a direction to cancel the back-and-forth swing generated by the contact, and the unstable operation that occurs when contacting the obstacle can be reduced. For this reason, even if it collides with an obstacle, the passenger can be safely avoided without greatly shaking the passenger.

  In addition, the rotation control module 85 is configured so that when the moving body 100 comes into contact with an obstacle, the front and rear swinging motion of the moving body 100 generated by the contact is performed on the upper body portion around an axis parallel to the axles 30 and 32 of the moving body 100. And a rotational motion calculation unit (not shown) for calculating as the corresponding rotational motion. The rotation control module 85 controls the actuators 40 and 42 to rotate the upper body of the moving body 100 in the front-rear direction so as to cancel the back-and-forth swing motion by performing the rotation motion. The rotation control module 85 causes the upper body of the moving body 100 to rotate according to a command value, such as a rotation speed, given by the rotational motion calculator.

  Here, the rotational motion calculation unit, for example, based on the output of a sensor that measures the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the position of the center of gravity of the vehicle body 12, Is calculated. Thereby, a rotational motion can be calculated more accurately. As the sensor, for example, a gyro sensor 48 that detects an inclination angular velocity of the vehicle body 12 as a change amount can be employed. By using the detection signal from the gyro sensor 48, responsiveness can be improved. The tilt angular velocity may be measured by a sensor other than the gyro sensor 48. For example, the attitude control actuators 40 and 42 may be provided with an encoder that detects the rotation angle, or the vehicle body 12 is provided with an attitude angle sensor that detects the attitude angle or an encoder that detects the rotation angle, and the detected angle. The inclination angular velocity may be obtained by time differentiation.

  Further, the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the position of the center of gravity of the vehicle body 12 may be other than the inclination angular velocity. That is, the amount of change that changes according to the distance in the traveling direction between the position of the axles 30 and 32 and the position of the center of gravity of the vehicle body 12 is not limited to the inclination angular velocity of the vehicle body 12. For example, the rotational force may be calculated based on the rotation amount of the right wheel drive motor 34 and the left wheel drive motor 36 as the change amount, or the acceleration of the vehicle body measured by the acceleration sensor. Specifically, the rotational swing can be detected based on the speed of the moving body 100 immediately before the contact with the obstacle and the time required for the wheel to stop due to the contact.

  Next, the rotation control after the moving body 100 comes into contact with the obstacle will be described with reference to FIGS. 11 and 12. FIG. 11 is a flowchart showing the above control. FIG. 12 is a schematic diagram for explaining a situation of avoidance behavior after the moving body 100 comes into contact with an obstacle. Here, a case will be described in which the right driving wheel 18 and the left driving wheel 20 of the moving body 100 are in contact with the obstacle 90 while the moving body 100 is traveling. In FIG. 12, the configuration shown in FIGS. 1 and 2 is omitted as appropriate for the sake of explanation.

  In FIG. 12A, the moving body 100a is moving from the left side to the right side. Furthermore, according to the time series, the moving body 100a becomes the moving body 100b shown in FIG. 12B at the next timing after contacting the obstacle 90.

  When the moving body 100 is traveling normally, the wheels of the moving body 100 come into contact with the obstacle 90 (see the moving body 100a shown in FIG. 12A). When the moving body 100 contacts the obstacle 90, the wheels 18 and 20 stop without moving forward, and a reaction force (collision reaction force) in a direction opposite to the traveling direction is generated. The current position is greatly separated from the target position by the forward / backward swing due to the collision reaction force. Here, when the contact determination module 84 determines the current position based on the output result of the encoder (step S201), the difference between the current position and the target position exceeds a predetermined threshold. Further, the contact determination module 84 determines whether or not the difference between the actual rotational torque of the wheel and the target rotational torque exceeds a predetermined threshold (step S202). When it is determined that the difference in rotational torque does not exceed the predetermined threshold, the wheel 90 does not come into contact with the obstacle 90, and a sufficient amount of movement cannot be obtained due to the rotation of the wheel due to slip or the like. The traveling control module 81 maintains the inverted traveling (step S102).

  If it is determined in step S202 that the difference in rotational torque has exceeded a predetermined threshold value, the rotation control module 85 replaces the current position with the target position, instructs the travel control module 81, and determines the driving force by the wheel drive motor. The application is stopped (step S501). Thereby, after the contact, the control to move forward based on the position command can be quickly released. Therefore, it is not necessary to repeat the contact with the obstacle again after the contact. For this reason, it can avoid more safely. Next, the rotation control module 85 calculates the back-and-forth swing motion of the moving body 100 generated by the contact with the obstacle 90 as the corresponding rotational motion of the upper body portion around an axis parallel to the axle of the moving body 100 (step S502). For example, the tilt angular velocity of the vehicle body 12 is measured using the gyro sensor 48, and the rotational motion is calculated based on the output of the sensor.

  Next, the rotation control module 85 rotates the upper body part of the moving body 100 in the front-rear direction so as to cancel the back-and-forth swing motion (step S503). The rotation control module 85 gives a command value such as a rotation speed, for example, and rotates the upper body portion of the moving body 100. That is, the actuators 40 and 42 are driven to rotate so as to cancel the back-and-forth swing in the direction in which the moving body 100 rotates in the front-rear direction, which is generated based on the reaction force due to the contact with the obstacle 90 (FIG. 12). (Refer to the moving body 100b shown in (b)). Here, the arrow E <b> 1 indicates the direction of the driving force of the wheel immediately before colliding with the obstacle 90. The arrow E2 indicates the direction of the driving reaction force on the wheels generated by the collision reaction force after the collision. An arrow E3 indicates a direction in which the upper body portion of the moving body 100 is rotationally moved so as to cancel the driving reaction force. That is, by driving and rotating the actuators 40 and 42, the back-and-forth swing caused by the contact is reduced. For example, the forward / backward swing can be reduced according to the inclination angular velocity (forward / backward swing) measured by the gyro sensor 48 when contacted. In this case, the greater the measured tilt angular velocity (back and forth swing), the greater the rotational speed during rotation.

Other embodiments.
In the first embodiment, the case where the turning control is performed after the moving body 100 comes into contact with the obstacle 90 is shown. And in said Embodiment 2, although the case where the rotation control was performed after the mobile body 100 contacted the obstruction 90 was shown, this invention is not limited to these. In other words, when the moving body 100 comes into contact with the obstacle 90, the turning motion and the rotational motion may be performed so as to cancel the back-and-forth swing due to the contact. Specifically, the turning motion calculation unit calculates the turning motion, and the rotational motion calculation unit calculates the rotational motion. For example, it can be avoided more safely by turning the moving body 100 than turning the vehicle body 12. If it is determined that the turning can be performed, the turning control module 82 performs turning control. Thereby, by switching the control based on the forward / backward swing due to the contact, the forward / backward swing caused by the contact with the obstacle 90 can be more effectively reduced.

  In the above description, when the moving body 100 comes into contact with the obstacle 90, the upper body part of the vehicle body 12 is driven by driving the right posture control actuator 40 and the left posture control actuator 42 as the second actuator. Although the unstable operation in the front-rear direction is reduced by rotating the vehicle in the front-rear direction around the axis parallel to the axles 30, 32, the present invention is not limited to this. That is, the means for driving the upper body portion of the vehicle body 12 with a degree of freedom independent of the wheel as the first actuator is not limited to the rotational motion, and the forward / backward swing motion is performed in a direction perpendicular to the axle of the moving body 100. A corresponding translational motion of the upper body may be performed. In addition to rotational movement, translational movement may be performed, or both may be mixed. Thereby, the unstable operation | movement of the front-back direction of the moving body 100 which generate | occur | produces by contact can be reduced more effectively.

  In the above description, the two-wheeled moving body 100 has been described, but the number of wheels is not limited to this. A single-wheeled mobile body or a mobile body having three or more wheels may be used. Furthermore, in the above description, the mobile body 100 having the boarding seat 22 has been described, but a mobile carriage for transporting objects may be used. Of course, other mobile bodies such as a mobile robot may be used.

It is a side view which shows the structure of the moving body concerning embodiment of this invention. It is a front view which shows the structure of the mobile body concerning embodiment of this invention. It is a block diagram which shows the structure of the control system of the moving body concerning Embodiment 1 of this invention. It is a flowchart which shows the control method of the moving body concerning Embodiment 1 of this invention. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 1 of this invention contacts an obstruction. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 1 of this invention contacts an obstruction. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 1 of this invention contacts an obstruction. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 1 of this invention contacts an obstruction from the upper surface. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 1 of this invention contacts an obstruction. It is a block diagram which shows the structure of the control system of the moving body concerning Embodiment 2 of this invention. It is a flowchart which shows the control method of the moving body concerning Embodiment 2 of this invention. It is a schematic diagram which shows the mode of the avoidance action after the mobile body concerning Embodiment 2 of this invention contacts an obstruction.

12 body, 14 right rod, 16 left rod, 18 right drive wheel, 20 left drive wheel,
22 Passenger seat, 26 Right mount, 28 Left mount 30 Axle, 32 Axle, 34 Right wheel drive motor, 36 Left wheel drive motor,
40 Actuator for right posture control, 42 Actuator for left posture control,
44 battery module, 46 operation module, 48 gyro sensor,
70 pedestals, 72 props,
80 control unit, 81 travel control module, 82 turning control module, 83 attitude control module, 84 contact determination module, 85 rotation control module,
90 obstacles, 100 mobiles, 101 passengers

Claims (16)

A first actuator that rotationally drives two or more wheels disposed on an axle; a second actuator that rotationally drives the center of gravity of the upper body of an inverted pendulum type moving body around an axis parallel to the axle; An inverted pendulum type moving body comprising:
When the inverted pendulum type moving body comes into contact with an obstacle, the back-and-forth swing motion of the inverted pendulum type moving body caused by the contact is caused by the movement of the upper body part around the axis parallel to the axle of the inverted pendulum type moving body. A rotational motion calculation unit that calculates the corresponding rotational motion;
A rotational motion control unit that rotationally moves the upper body part by driving and controlling the second actuator so as to cancel the forward / backward swing motion by performing the rotational motion;
Inverted pendulum type mobile body with The rotational motion calculation unit calculates the rotational motion based on an output of a sensor that measures a change amount that changes according to a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. The inverted pendulum type moving body according to claim 1, wherein A first actuator that rotationally drives two or more wheels disposed on an axle, and a second actuator that translates and drives the center of gravity of the upper body of the inverted pendulum type moving body in a direction orthogonal to the axle. An inverted pendulum type moving body comprising:
When the inverted pendulum type moving body comes into contact with an obstacle, the vertical swing motion of the inverted pendulum type moving body generated by the contact is equivalent to the upper body portion in a direction perpendicular to the axle of the inverted pendulum type moving body. A translational motion calculation unit that calculates the translational motion
A translation control unit that drives and controls the second actuator to translate the upper body so as to cancel the back-and-forth swing motion by performing the translation motion;
Inverted pendulum type mobile body with The translational motion calculation unit calculates a translational motion based on an output of a sensor that measures a change amount that changes in accordance with a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. The inverted pendulum type moving body according to claim 3, wherein: A first actuator that rotationally drives two or more wheels arranged on an axle, and a center of gravity position of an upper pendulum type moving body around an axis parallel to and / or perpendicular to the axle Or an inverted pendulum type moving body comprising a second actuator for translational driving,
When the inverted pendulum type moving body comes into contact with an obstacle,
A rotational motion calculation unit that calculates a back-and-forth swing motion of the inverted pendulum type moving body generated by the contact as a corresponding rotational motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type moving body;
A rotational motion control unit that rotationally moves the upper body part by driving and controlling the second actuator so as to cancel the forward / backward swing motion by performing the rotational motion;
A translational motion calculation unit that calculates a back-and-forth swing motion of the inverted pendulum type moving body generated by contact as a corresponding translational motion of the upper body part in a direction orthogonal to the axle of the inverted pendulum type moving body;
A translation control unit that drives and controls the second actuator to translate the upper body so as to cancel the back-and-forth swing motion by performing the translation motion;
Inverted pendulum type mobile body with The inverted pendulum type moving body according to any one of claims 1 to 5, wherein the sensor is a gyro sensor that detects an inclination angular velocity of the upper body part as the amount of change. The inverted pendulum type moving body according to any one of claims 1 to 6, further comprising a contact determination unit that determines that the inverted pendulum type moving body is in contact with an obstacle. The inverted pendulum type movement according to claim 7, wherein the contact determination unit determines contact based on an output of an encoder that measures a current position of the inverted pendulum type moving body based on a rotation amount of the wheel. body. An inverted pendulum type moving body control method that rotationally drives two or more wheels arranged on an axle and rotationally drives the center of gravity of the upper body portion of the inverted pendulum type moving body around an axis parallel to the axle. And
When the inverted pendulum type moving body comes into contact with an obstacle, the back-and-forth swing motion of the inverted pendulum type moving body caused by the contact is caused by the movement of the upper body part around the axis parallel to the axle of the inverted pendulum type moving body. Calculating the corresponding rotational motion;
Rotating the center of gravity position of the upper body part of the inverted pendulum type moving body around an axis parallel to the axle so as to cancel the back-and-forth swing motion by performing the rotational motion;
An inverted pendulum type moving body control method comprising: The step of calculating the rotational motion calculates the rotational motion based on an output of a sensor that measures a change amount that changes in accordance with a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. The method of controlling an inverted pendulum type moving body according to claim 9. A method of controlling an inverted pendulum type moving body that rotationally drives two or more wheels arranged on an axle and translates the position of the center of gravity of the upper body portion of the inverted pendulum type moving body in a direction orthogonal to the axle. ,
When the inverted pendulum type moving body comes into contact with an obstacle, the vertical swing motion of the inverted pendulum type moving body generated by the contact is equivalent to the upper body portion in a direction perpendicular to the axle of the inverted pendulum type moving body. Calculating as a translational motion,
Performing a translational movement of the center of gravity of the upper body part of the inverted pendulum type moving body in a direction orthogonal to the axle so as to cancel the back-and-forth swing movement by performing the translational movement;
An inverted pendulum type moving body control method comprising: The step of calculating the translational motion calculates the translational motion based on an output of a sensor that measures a change amount that changes in accordance with a distance in a traveling direction between the position of the wheel axle and the center of gravity of the upper body. The method of controlling an inverted pendulum type moving body according to claim 11. Two or more wheels arranged on the axle are driven to rotate, and the center of gravity position of the upper body part of the inverted pendulum type moving body is rotated and / or translated around an axis parallel to the axle and / or perpendicular to the axis. An inverted pendulum type moving body control method
When the inverted pendulum type moving body comes into contact with an obstacle,
Calculating a back-and-forth swing motion of the inverted pendulum type moving body generated by the contact as a corresponding rotational motion of the upper body portion around an axis parallel to the axle of the inverted pendulum type moving body;
Rotating the center of gravity position of the upper body part of the inverted pendulum type moving body around an axis parallel to the axle so as to cancel the back-and-forth swing motion by performing the rotational motion;
Calculating a back-and-forth swing motion of the inverted pendulum type moving body generated by contact as a corresponding translational motion of the upper body part in a direction orthogonal to the axle of the inverted pendulum type moving body;
Performing a translational movement of the center of gravity of the upper body part of the inverted pendulum type moving body in a direction orthogonal to the axle so as to cancel the back-and-forth swing movement by performing the translational movement;
An inverted pendulum type moving body control method comprising: The method of controlling an inverted pendulum type moving body according to any one of claims 9 to 13, wherein an inclination angular velocity of the upper body part is detected as the change amount. The method for controlling an inverted pendulum type moving body according to any one of claims 9 to 14, further comprising a step of determining that the inverted pendulum type moving body has come into contact with an obstacle. Measuring the current position of the inverted pendulum type moving body based on the rotation amount of the wheel;
The method for controlling an inverted pendulum type moving body according to claim 15, further comprising: determining contact based on the measured current position.

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