JP5329337B2 - Auxiliary device for bipedal moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assist device for a bipedal mobile body in which a loosening amount of a rope-shaped connecting member is reduced and, when the bipedal mobile body loses its posture and almost falls, an impact for supporting a load is reduced. <P>SOLUTION: The assist device for a bipedal mobile body which is connected to a bipedal mobile robot (12) via a rope-shaped connecting member (18) and which has a lifter (14) supporting the bipedal mobile body from the upper side when the bipedal mobile body loses its posture includes: lifter moving means (20, 22, 24, 26, 28, 30) for moving the lifter in a three-dimensional space; a lifter controlling unit (38) for controlling the movement of the lifter moving means; and detecting means (32, 34) for detecting the position of the bipedal mobile body in the three-dimensional space. The controlling unit for the lifter moving means controls the movement of the lifter moving means such that the lifter follows the bipedal mobile body based on the detected position. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an auxiliary device for a biped moving body, and more particularly to an auxiliary device including a lifter that supports the biped moving body from above when the biped moving body loses its posture.

  In the conventional auxiliary device for the biped moving body, as described in Patent Document 1 below, by connecting the lifter (14) to the vicinity of both shoulders of the biped moving body via a rope-shaped connecting member, The biped mobile body is supported from above so that the biped mobile body does not fall over when the biped mobile body loses its posture.

JP 2008-114315 A (FIGS. 1 and 2)

  The rope-shaped connecting member is in a relaxed state so that it does not affect the walking motion when the bipedal mobile body stands on its own without losing its posture, and the amount of looseness of the bipedal mobile body assumes the posture. When it collapses and falls, it is desirable that the amount be as small as possible so as to reduce the impact when supporting the load.

  In the auxiliary device for the bipedal moving body described in Patent Document 1, the bipedal moving body is walked on the treadmill (10) so as to be positioned within a predetermined range, so that the lifter (14) itself is Fixed to the side of the treadmill.

  However, even when walking on a treadmill, the bipedal moving body moves not only in the up / down / left / right and front / rear directions, but it is necessary to secure a certain amount of looseness of the rope-shaped connecting member. . That is, in the auxiliary device for the bipedal moving body described in Patent Document 1, the amount of looseness of the connecting member is large, so that when the bipedal moving body collapses and falls down, the impact when supporting the load There has been a problem that increases. Further, when walking on a normal floor surface rather than on a treadmill, it is necessary for the third party (person) to follow the lifter alongside the bipedal moving body by pulling the lifter himself or herself.

  Accordingly, the object of the present invention is to solve the above-mentioned problems, and by making the lifter follow the bipedal moving body automatically and with high accuracy, the amount of looseness of the rope-like connecting member is reduced as much as possible, and the bipedal moving body is in the posture. It is an object of the present invention to provide a bipedal mobile body or an auxiliary device for a bipedal mobile robot that can reduce the impact when supporting the load when it falls over.

In order to achieve the above object, according to the first aspect of the present invention, the two-legged moving body is connected to the two-legged moving body via a rope-shaped connecting member, and the two-legged moving body loses its posture. In an auxiliary device for a bipedal moving body composed of a lifter that supports the moving body from above, a lifter moving means that can move the lifter in a three-dimensional space; a lifter moving means control means that controls the operation of the lifter moving means; Controls the operation of the detecting means for detecting the position of the biped moving body in the three-dimensional space, a belt on which the biped moving body can walk, a belt driving means for driving the belt, and the belt driving means. a belt drive unit control means, with the biped mobile body and a fall determining means for determining whether there is a risk of overturning destroy the attitude, driving the belt and the lifter moving means control means Means control means are connected to each other so that they can communicate with each other, and the belt driving means control means is configured to cause the biped moving body to be positioned within a predetermined range of the three-dimensional space based on the detected position. The lifter moving means control means controls the lifter to follow the biped moving body based on the detected position and the operation of the belt driving means controlled by the belt driving means control means. In this manner, the operation of the lifter moving means is controlled.

In addition, in the auxiliary device for the biped moving body according to claim 2, the fall determining means for determining whether or not the biped moving body is likely to fall over its posture and acts on the lifter. A load sensor that detects a load of the biped mobile body, and the fall determination means may cause the biped mobile body to fall over its posture when the detected load is equal to or greater than a predetermined load. It was configured to judge that there was.

Further, in the auxiliary device for the biped moving body according to claim 3, the fall determining means for judging whether or not the biped moving body is likely to fall over its posture, and the biped moving body. Comprises a plurality of limit sensors around a belt that can be walked, and the fall determination means determines whether or not the biped moving body is located within a predetermined area to be walked based on an output from the limit sensor. At the same time, when it is determined that the bipedal moving body is not located within the predetermined area, it is determined that the bipedal moving body may collapse and fall over .

In the auxiliary device for the biped moving body according to claim 4 , the lifter moving means control means determines that the fall judging means may cause the biped moving body to fall in a posture and fall. If it was constructed as Before moving at a maximum speed of the lifter upward in the vertical direction.

Moreover, in the bipedal mobile body auxiliary device according to claim 5, the bipedal mobile body comprises a bipedal mobile robot that walks according to a predetermined walking plan, and the lifter moving means control means includes The lifter motion plan is created based on the walking plan, and the lifter motion plan is corrected based on the detected position so that the lifter follows the biped mobile robot, thus the lifter moving means The operation was controlled. The auxiliary device for a bipedal moving body according to claim 6 further comprises lifter position detecting means for detecting the position of the lifter, and the lifter moving means control means is configured to detect the 2 detected by the detecting means. A speed that calculates the difference between the position of the foot moving body and the position of the lifter detected by the lifter position detecting means, and that defines the moving speed of the lifter moving means when the calculated difference is less than a predetermined value. While the gain value is set to the first value, the speed gain value is set to a second value larger than the first value when the calculated difference is equal to or greater than a predetermined value.

In the auxiliary device for a bipedal moving body according to claim 1, the bipedal moving body is connected to the bipedal moving body via a rope-like connecting member, and when the bipedal moving body loses its posture. A lifter moving means for moving the lifter supporting the lifter from above in three-dimensional space, a lifter moving means control means for controlling the operation of the lifter moving means, and a detecting means for detecting the position of the biped moving body in the three-dimensional space; A belt on which the bipedal movable body can walk; belt driving means for driving the belt; belt driving means control means for controlling the operation of the belt driving means ; and lifter moving means control means and belt driving means control means. It is communicably connected to each other, while controlling the operation of the belt drive means as a bipedal mobile body is positioned at a predetermined range of the three-dimensional space based on the detected position of the bipedal mobile body is detected Owing to this arrangement to control the operation of the lifter moving means so lifter to follow the bipedal mobile body based on the operation of the belt drive means controlled by the position and the belt drive means control means of the two-legged mobile, ropes The amount of looseness of the connecting member can be reduced. Therefore, when the bipedal mobile body collapses and falls, the impact when supporting the load can be reduced. Furthermore, it is possible to reduce the lifter movement amount for following the bipedal moving body, thereby preventing the lifter moving means from becoming large. Moreover, the space required to assist the bipedal moving body can be suppressed.

In the auxiliary device for a bipedal moving body according to claim 2, a fall determining means for determining whether or not the bipedal moving body is likely to fall over its posture and a bipedal moving body acting on a lifter together and a load sensor for detecting a load of, when the detected load is equal to or more than a predetermined load, so bipedal mobile body is composed as to determine that there is a risk of overturning break the posture biped mobile If There was about to fall to break the posture can Rukoto impact was more relaxed when supporting the load.

In the auxiliary device for the biped moving body according to claim 3, the fall determining means for judging whether or not the biped moving body may fall over its posture and the biped moving body is walkable. A plurality of limit sensors are provided around the belt, and based on the output from the limit sensor, it is determined whether or not the biped moving body is located within a predetermined area to be walked, and the biped moving body is within the predetermined area. When it is judged that it is not positioned, it is configured to judge that the bipedal moving body may collapse and fall, so when the bipedal moving body collapses and falls and supports its load Can be further mitigated.

In the assisting device of bipedal mobile robot according to claim 4, when bipedal mobile body is judged that there is a risk of overturning destroy the orientation, as Before moving at maximum speed lifter upward in the vertical direction Configured .

In the bipedal mobile auxiliary device according to claim 5, the bipedal mobile body is composed of a bipedal mobile robot that walks according to a predetermined walking plan, and creates a lifter motion plan based on the predetermined walking plan. At the same time, since the lifter operation plan is corrected so that the lifter follows the biped robot based on the detected position, and thus the operation of the lifter moving means is controlled, the amount of looseness of the rope-shaped connecting member the can be reduced, thus if the bipedal mobile robot was about to fall to break the posture can Rukoto impact is the relaxation time for supporting the load.
The auxiliary device for a bipedal moving body according to claim 6 includes lifter position detecting means for detecting the position of the lifter, and is detected by the detected position of the bipedal moving body and the lifter position detecting means. When the difference between the lifter positions is calculated and the calculated difference is less than a predetermined value, the speed gain value that defines the moving speed of the lifter moving means is set to the first value, while the calculated difference is When the value is equal to or greater than the value, the speed gain value is set to a second value larger than the first value.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the auxiliary | assistant apparatus of the bipedal mobile body based on 1st Example of this invention entirely. It is a flowchart explaining operation | movement of the auxiliary device of the bipedal mobile body of FIG. It is the schematic which shows the auxiliary | assistant apparatus of the biped moving body based on 2nd Example of this invention entirely. It is a flowchart explaining operation | movement of the auxiliary device of the bipedal mobile body of FIG. It is a flowchart explaining operation | movement of the auxiliary | assistant apparatus of the bipedal mobile body which concerns on 3rd Example of this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment for implementing an auxiliary device for a bipedal moving body according to the invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic view showing an auxiliary device for a bipedal moving body according to a first embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes an auxiliary device for a biped moving body according to the first embodiment of the present invention. The auxiliary device 10 includes a lifter 14 that supports the bipedal moving body 12 from above. The lifter 14 and the bipedal moving body 12 are connected via a hanger 16 and a rope-shaped connecting member (hanger belt) 18. Specifically, the hanger belt 18 is connected to brackets (not shown) installed near both shoulders of the bipedal moving body 12.

  In the figure, the front-rear direction of the biped moving body 12 is defined as the X direction, the left-right direction is defined as the Y direction, and the gravity direction is defined as the Z direction. The X, Y, and Z directions are orthogonal to each other.

  Here, a bipedal mobile robot will be described as an example of the bipedal moving body 12. The bipedal moving body 12 may be a person.

  The biped mobile robot 12 includes a base 12a, a pair of arms 12b extending from the top of the base 12a to the left and right, a pair of left and right legs 12c extending from the bottom of the base 12a, and an upper surface side of the base 12a. And a robot controller 12e for controlling the movement of the head 12d, and the left and right legs 12c have a function capable of being moved by two legs by the movement accompanied by getting off and landing. The robot control unit 12e is a microcomputer including a CPU, a ROM, a memory, an input / output circuit, and the like. Details are described in Japanese Patent Application Laid-Open No. 2006-015433, and a description thereof is omitted here.

  The lifter 14 is movably installed above the biped mobile robot 12 and supports the biped mobile robot 12 from above when the biped mobile robot 12 collapses its posture.

  The hanger belt 18 is in a relaxed state (a state of zero tension) so as not to affect the walking motion when the biped mobile robot 12 walks independently without breaking its posture.

  The lifter 14 is connected to the lifter Z-axis guide frame 20 on the upper side thereof. Specifically, the lifter Z-axis guide frame 20 is provided with a ball screw 20a, and the lifter 14 is connected to the ball screw 20a via an appropriate connecting member. A Z-axis electric motor 22 is installed at the upper end of the lifter Z-axis guide frame 20. By rotating the ball screw 20 a by the Z-axis electric motor 22, the lifter 14 is moved in the Z direction with respect to the lifter Z-axis guide frame 20.

  The lifter Z-axis guide frame 20 is connected to the lifter Y-axis guide frame 24 on the upper side thereof. Specifically, the lifter Y-axis guide frame 24 is provided with a ball screw (not shown), and the lifter Z-axis guide frame 20 is connected to the ball screw via an appropriate connection member. A Y-axis electric motor 26 is installed at the end of the lifter Y-axis guide frame 24. The lifter Z-axis guide frame 20 (and the lifter 14) is moved in the Y direction with respect to the lifter Y-axis guide frame 24 by rotating the ball screw with the Y-axis electric motor 26.

  The lifter Y-axis guide frame 24 is slidably connected to the lifter X-axis guide frame 28 on the upper side thereof. A rack and pinion drive type rack 28 a is provided on the lower surface of the lifter X-axis guide frame 28. An X-axis electric motor 30 is installed on the upper surface of the lifter Y-axis guide frame 24. The lifter Y-axis guide frame 24 (and the lifter Z-axis guide frame 20 and the lifter 14) is rotated relative to the lifter X-axis guide frame 28 by rotating a pinion (not shown) engaged with the rack 28 a by the X-axis electric motor 30. Moved in the X direction. The lifter X-axis guide frame 28 itself is fixed to an appropriate support. As described above, the lifter 14 is movable in the three-dimensional direction in the three-dimensional space.

  The auxiliary device 10 includes an XY plane sensor 32 that detects the position of the biped mobile robot 12 in the X direction and the Y direction. The XY plane sensor 32 is installed at an appropriate position such as a floor surface on which the biped mobile robot 12 walks, irradiates the biped mobile robot 12 with laser light, and reflects reflected light reflected from the biped mobile robot 12. Based on this, a signal corresponding to the position (X coordinate, Y coordinate) in the X direction and Y direction of the biped robot 12 is output.

  The auxiliary device 10 includes a Z-direction sensor 34 that detects the position of the biped mobile robot 12 in the Z direction. The Z direction sensor 34 is provided at the waist position of the biped mobile robot 12, irradiates the floor surface with laser light, and the position (Z in the Z direction of the biped mobile robot 12 based on the reflected light reflected from the floor surface. A signal corresponding to the coordinates is output.

  Furthermore, the auxiliary device 10 includes a load sensor 36 that detects the load of the biped mobile robot 12. The load sensor 36 is installed between the lifter 14 and the hanger 16 and outputs a signal corresponding to a load applied below the hanger 16, particularly a load received from the biped mobile robot 12.

  Output signals from the XY plane sensor 32, the Z direction sensor 34, and the load sensor 36 are input to the lifter control unit 38 via signal lines. The three electric motors 22, 26, 30 are also connected to the lifter control unit 38 through signal lines.

  The lifter control unit 38 is composed of a microcomputer including a CPU, a ROM, a memory, an input / output circuit, and the like, and controls the driving of the three electric motors 22, 26, 30 based on the output signals of the respective sensors. .

  FIG. 2 is a flowchart for explaining the control. The illustrated program is executed by the lifter control unit 38 when the power supply (not shown) of the auxiliary device 10 is turned on.

  In S10, the counter n used in the control routine of this program is reset to zero.

  Next, in S12, the initial positions of the lifter 14 and the biped mobile robot 12 (X, Y, Z coordinates Xlift_0, Ylift_0, Zlift_0 of the lifter 14 and X, Y, Z coordinates Xrobot_0, Yrobot_0, Zrobot_0 of the biped mobile robot 12). Is detected. The X, Y, and Z coordinates Xlift_0, Ylift_0, and Zlift_0 of the lifter 14 are detected based on the output signals of the rotary encoders associated with the three electric motors 22, 26, and 30, respectively. The initial position of the biped mobile robot 12 is detected based on the output signals of the XY plane sensor 32 and the Z direction sensor 34 described above.

  The initial positions of the lifter 14 and the bipedal mobile robot 12 are set so that the amount of looseness of the hanger belt 18 is minimized. Further, as shown in the figure, deviations Δx, Δy, Δz between the initial positions of the lifter 14 and the bipedal mobile robot 12 are calculated.

  Next, in S14, whether or not the absolute value of the difference between the X coordinate Xrobot_n of the biped mobile robot 12 and the X coordinate Xlift_n of the lifter 14 is less than a predetermined value σ, or the walking speed Vrobotx_n of the biped mobile robot 12 in the X direction. It is determined whether the absolute value of is less than a predetermined speed τ. The walking speed Vrobotx_n in the X direction of the biped mobile robot 12 is calculated from the difference between the previous X coordinate Xrobot_n-1 and the current X coordinate Xrobot_n in the program loop.

  When the result in S14 is affirmative, the program proceeds to S16, in which the speed gain Kβ in the X direction of the lifter 14 is set to a small value (Low). On the other hand, when the result in S14 is negative, the program proceeds to S18 where the speed gain Kβ in the X direction of the lifter is set to a large value (High).

  Next, in S20, whether or not the absolute value of the difference between the Y coordinate Yrobot_n of the biped mobile robot 12 and the Y coordinate Ylift_n of the lifter 14 is less than a predetermined value θ, or the walking speed Vroboty_n of the biped mobile robot 12 in the Y direction. It is determined whether the absolute value of is less than a predetermined speed ρ. The walking speed Vroboty_n in the Y direction of the biped mobile robot 12 is calculated from the difference between the previous Y coordinate Yrobot_n-1 and the current Y coordinate Yrobot_n in the program loop.

  When the result in S20 is affirmative, the program proceeds to S22, in which the speed gain Kγ in the Y direction of the lifter 14 is set to Low. On the other hand, when the result in S20 is negative, the program proceeds to S24, in which the speed gain Kγ in the Y direction of the lifter 14 is set to High.

  When the result in S14 or S20 is negative, the speed gains Kβ and Kγ of the lifter 14 are set to High when the biped mobile robot 12 and the lifter 14 are separated from each other, or the moving speed of the biped mobile robot 12 This is because the moving speed of the lifter 14 needs to be greatly changed so that the lifter 14 follows the biped mobile robot 12 with good responsiveness.

  Next, in S26, the movement speeds Vliftx_n, Vlifty_n and Vliftz_n of the lifter 14 in the X, Y and Z directions are calculated. Specifically, the movement speed Vliftx_n of the lifter 14 in the X direction is initially set to the position Xlift_n of the lifter 14 from the position Xrobot_n of the biped mobile robot 12 in the X direction to the previous movement speed Vliftx_n-1 of the X direction in the program loop. It is calculated by adding the value obtained by subtracting the position deviation Δx and the speed gain Kβ. The movement speed Vlifty_n in the Y direction and the movement speed Vliftz_n in the Z direction of the lifter 14 are similarly calculated.

  The lifter control unit 38 sends drive command values to the three electric motors 22, 26, and 30 so that the lifter 14 moves at the movement speeds Vliftx_n, Vlifty_n, and Vliftz_n.

  Next, in S28, it is determined whether or not the biped mobile robot 12 is located within a predetermined area. This is determined by providing a proximity switch or the like on the safety fence 40 in FIG. When the result in S28 is affirmative, the program proceeds to S30, in which it is determined whether or not the load detected by the load sensor 36 is less than the predetermined load α.

  If the result in S30 is affirmative, the program proceeds to S32, in which it is determined whether the auxiliary device 10 is powered on. If the determination is affirmative, the process proceeds to S34 and the counter n is incremented by one.

  Next, in S36, the positions of the lifter 14 and the biped mobile robot 12 (X, Y, Z coordinates Xlift_n, Ylift_n, Zlift_n of the lifter 14 and X, Y, Z coordinates Xrobot_n, Yrobot_n, Zrobot_n of the biped mobile robot 12) are determined. It detects again and progresses to S14.

  Unless the result is negative in S28, S30, and S32, the processes from S14 to S36 are repeated. That is, the lifters 14 follow the biped mobile robot 12 as a result of continuing to calculate the movement speeds Vliftx_n, Vlifty_n, Vliftz_n in the X, Y, and Z directions of the lifter 14 based on the positional deviation between the lifter 14 and the biped mobile robot 12. Will move.

  When the result in S30 is negative, the program proceeds to S38, in which the moving speeds Vliftx_n and Vlifty_n in the X and Y directions are set to 0, the moving speed Vliftz_n in the Z direction is set to the maximum speed Vz_Max, and the program ends. That is, when the result in S30 is negative, it is determined that the bipedal mobile robot 12 is in a situation where the posture of the bipedal mobile robot 12 collapses, and the movement of the lifter 14 in the X and Y directions is stopped and the lifter 14 is moved upward. Thus, the bipedal mobile robot 12 is supported from above. Further, when the result in S28 is NO, the program proceeds to S38 and the same process is executed. This is because when the mobile robot 12 is not located within the predetermined area, that is, when the mobile robot 12 collides with the safety fence 40, there is a high possibility that the mobile robot 12 will subsequently fall, and the fall is avoided in advance. The moving speed Vliftz_n in the Z direction is set to 0 after a predetermined time has elapsed.

  When the result in S32 is negative, the program proceeds to S40, in which the speed gains Kβ and Kγ are reset to 0, and the program ends.

  As described above, in the first embodiment of the present invention, the biped mobile body 12 is connected to the biped mobile body 12 via the hanger belt 18 and the biped mobile body 12 loses its posture. Lifter moving means (lifter Z-axis guide frame 20, Z-axis electric motor 22, lifter Y-axis guide frame 24, Y-axis electric motor 26, lifter X-axis guide) which can move lifter 14 supporting 12 from above in a three-dimensional space. Frame 28, X-axis electric motor 30), lifter control unit 38 for controlling the operation of the lifter moving means, and detecting means (XY plane sensor 32, Z direction sensor) for detecting the position of biped moving body 12 in a three-dimensional space. 34) and the operation of the lifter moving means is controlled so that the lifter 14 follows the biped moving body 12 based on the detected position of the biped moving body 12 (S26). Since Ku configuration, it is possible to reduce the loosening amount of the hanger belt 18, thus if the two-legged mobile body 12 is about to fall to break the posture, it is possible to alleviate the impact at the time of supporting the load.

In addition, a load sensor 36 that detects the load of the bipedal moving body 12 acting on the lifter 14 is provided, and when the detected load is equal to or greater than the predetermined load α, the lifter moving means moves the lifter 14 upward. Since the operation is controlled (S30, S38), when the bipedal moving body 12 collapses in a posture, the impact when supporting the load can be further alleviated. Further, there is provided lifter position detecting means (rotary encoder associated with each of the electric motors 22, 26, 30) for detecting the position of the lifter 14, and the difference between the detected position of the bipedal moving body 12 and the position of the lifter 14 (Xrobot_n When S is calculated as −Xlift_n, Yrobot_n−Ylift_n) and the calculated difference (Xrobot_n−Xlift_n, Yrobot_n−Ylift_n) is less than a predetermined value (σ, θ) (S14, S20), the electric motors 22, 26 The speed gain values (Kβ, Kγ) that define the moving speeds (Vliftx_n, Vlifty_n) are set to the first values (Low) (S16, S22), while the calculated differences (Xrobot_n−Xlift_n, Yrobot_n−Ylift_n) When it is equal to or greater than the predetermined value (σ, θ) (S14, S20), the speed gain value (Kβ, Kγ) is set to a second value (High) larger than the first value (S18, S24). did.

  FIG. 3 is a schematic view generally showing an auxiliary device for a bipedal moving body according to the second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the auxiliary device for the biped moving body according to the second embodiment, the biped moving body 12 is caused to walk on the treadmill 42 and the operation of the lifter 14 is controlled via the treadmill 42. . Also in the second embodiment, a bipedal mobile robot will be described as an example of the bipedal moving body 12. The bipedal moving body 12 may be a person.

  The treadmill 42 includes an endless belt 42a on which the biped mobile robot 12 can walk, an electric motor 42b that drives the endless belt 42a, and a belt controller 42c that controls the operation of the electric motor 42b.

  The endless belt 42a is stretched around two rollers 42d and 42e provided at both ends of the treadmill 42, and the electric motor 42b moves the endless belt 42a by rotating the roller 42d therein.

  Two X-axis limit sensors 42f and 42g are arranged at the front and rear of the treadmill 42. The X-axis limit sensors 42f and 42g irradiate laser beams toward the reflectors 42h and 42i installed on the opposite shore of the endless belt 42a, and detect the reflected light from the reflectors 42h and 42i.

  Two Y-axis limit sensors 42j and 42k are arranged on the left and right of the front portion of the treadmill. The Y-axis limit sensors 42j and 42k irradiate laser light toward the reflectors 42l and 42m installed at the rear part of the treadmill 42, and detect the reflected light from the reflectors 42l and 42m.

  Output signals from the X-axis limit sensors 42f and 42g and the Y-axis limit sensors 42j and 42k are input to the belt control unit 42c. Further, output signals from the XY plane sensor 32, the Z direction sensor 34, and the load sensor 36 are also input to the belt control unit 42c.

  The belt control unit 42c includes a microcomputer including a CPU, a ROM, a memory, an input / output circuit, and the like, and controls driving of the electric motor 42b based on the output signals of the sensors. Also, as shown in the figure, the belt control unit 42c and the lifter control unit 38 are connected to each other so as to be communicable with each other, and the lifter control unit 38 is configured based on various information transmitted via the belt control unit 42c. The driving of the electric motors 22, 26, 30 is controlled.

  FIG. 4 is a flowchart for explaining these controls. The left flow chart is a program executed in the belt control unit 42c, and the right flow chart is a program executed in the lifter control unit 38. These programs are executed in parallel in the belt control unit 42c and the lifter control unit 38, respectively, when the power supply (not shown) of the auxiliary device 10 is turned on.

  First, the program executed in the left belt control unit 42c will be described. In S100, the target position Xa in the X direction of the biped mobile robot 12 is set. This target position Xa is a target position determined when the biped mobile robot 12 is walked at a fixed position in the X direction on the endless belt 42a.

  Next, in S102, the counter n used in the control routine of this program is reset to zero.

  Next, in S104, the initial position (X, Y, Z coordinates Xrobot_0, Yrobot_0, Zrobot_0) of the biped mobile robot 12 is detected. Information about the detected initial position of the biped mobile robot 12 is transmitted to the lifter control unit 38.

  Next, in S106, it is determined whether or not the bipedal mobile robot 12 has started walking (starts walking). Specifically, the previous value and the current value in the program loop are compared for the position of the biped mobile robot 12 in the X direction, and if the two values are different, it is determined that the biped mobile robot 12 has started walking.

  Next, in S108, the speed gain Kα in the X direction of the endless belt 42a is set to High. Here, the reason why the speed gain Kα is set to High is to move the endless belt 42 a quickly in accordance with the start of the bipedal mobile robot 12.

  Next, in S110, it is determined whether or not the detected position Xrobot_n in the X direction of the biped mobile robot 12 is within a range of ± 100 mm with respect to the target position Xa. When negative, it progresses to S112 and sets the speed gain K (alpha) of the endless belt 42a to High.

  On the other hand, if the result in S110 is affirmative, whether or not the position Xrobot_n in the X direction of the biped mobile robot 12 detected in S114 is within a range of ± 100 mm with respect to the target position Xa is maintained for 1 sec or longer. to decide. When negative, it progresses to S112 and sets the speed gain K (alpha) of the endless belt 42a to High.

  On the other hand, when the result in S114 is affirmative, the program proceeds to S116, in which the speed gain Kα of the endless belt 42a is set to Low. Information regarding the speed gain Kα of the endless belt 42 a is transmitted to the lifter control unit 38.

  Next, in S118, the moving speed Vbelt_n in the X direction of the endless belt 42a is calculated. Specifically, the X-direction moving speed Vbelt_n of the endless belt 42a is obtained by subtracting the position Xrobot_n of the biped mobile robot in the X direction from the target position Xa to the previous moving speed Vbelt_n-1 in the program loop. Calculated by adding the product of Kα.

  The belt controller 42c sends a drive command value to the electric motor 42b so that the endless belt 42a moves at the moving speed Vbelt_n.

  Next, in S120, it is determined whether or not the biped mobile robot 12 is located within a predetermined area. This is determined based on the output signals of the X-axis limit sensors 42f and 42g and the Y-axis limit sensors 42j and 42k. When the result in S120 is affirmative, the program proceeds to S122, in which it is determined whether or not the load detected by the load sensor 36 is less than the predetermined load α. Information regarding the determination results of S120 and S122 is also transmitted to the lifter control unit 38.

  If the determination in S122 is affirmative, the process proceeds to S124 to determine whether or not the auxiliary device 10 is powered on. This determination result is also transmitted to the lifter control unit 38. If the result in S124 is affirmative, the program proceeds to S126 and the counter n is incremented by one.

  Next, in S128, the position (X, Y, Z coordinates Xrobot_n, Yrobot_n, Zrobot_n) of the biped mobile robot 12 is detected again, and the process proceeds to S110. Information regarding the position of the biped mobile robot 12 detected in S128 is also transmitted to the lifter control unit 38.

  Unless it is denied in S120, S122, and S124, the processing from S110 to S128 is repeated. That is, as a result of continuing to calculate the moving speed Vbelt_n in the X direction of the endless belt 42a based on the deviation between the target position Xa and the position Xrobot_n of the biped mobile robot 12, the biped mobile robot 12 includes the target position Xa in the three-dimensional space. The operation of the endless belt 42a is controlled so as to be positioned within the predetermined range.

  When the result in S122 is negative, the program proceeds to S130, in which the moving speed Vbelt_n in the X direction of the endless belt 42a is set to 0, and the program ends. That is, when the result in S122 is NO, it is determined that the bipedal mobile robot 12 is in a situation where the posture of the bipedal mobile robot 12 collapses, and the movement of the endless belt 42a is stopped. Further, when the result in S120 is negative, the process proceeds to S130 and the same process is executed. This is because when the mobile robot 12 is not located within the predetermined area, that is, when the mobile robot 12 deviates from the endless belt 42a, there is a high possibility that the mobile robot 12 will fall over.

  When the result in S124 is negative, the program proceeds to S132 where the speed gain Kα is reset to 0 and the program is terminated.

  Next, the program executed in the right-side lifter control unit 38 will be described. In S200, the counter n used for the control routine of this program is reset to zero.

  Next, in S202, the initial position (X, Y, Z coordinates Xlift_0, Ylift_0, Zlift_0) of the lifter 14 is detected. Further, as shown in the figure, deviations Δx, Δy, Δz from the initial position (X, Y, Z coordinates Xrobot_0, Yrobot_0, Zrobot_0) of the biped mobile robot 12 transmitted from the belt control unit 42c are calculated.

  Next, in S204, the speed gain Kβ in the X direction of the lifter 14 is set to High. Here, the speed gain Kβ is set to High in order to move the lifter 14 quickly in preparation for the biped mobile robot 12 to start walking.

  Next, in S206, based on the information regarding the speed gain Kα of the endless belt 42a transmitted from the belt control unit 42c, it is determined whether the speed gain Kα is High or Low. When the speed gain Kα of the endless belt 42a is Low, the process proceeds to S208, and the speed gain Kβ in the X direction of the lifter 14 is also set to Low. On the other hand, when the speed gain Kα of the endless belt 42a is High, the process proceeds to S210, and the speed gain Kβ in the X direction of the lifter 14 is also set to High. The speed gain Kβ of the lifter 14 is changed in accordance with the speed gain Kα of the endless belt 42a when the moving speed of the endless belt 42a needs to be largely changed when the biped mobile robot 12 moves greatly. This is because the moving speed of the lifter 14 needs to be greatly changed.

  Next, in S212, whether or not the absolute value of the difference between the Y coordinate Yrobot_n of the biped mobile robot 12 and the Y coordinate Ylift_n of the lifter 14 transmitted from the belt control unit 42c is less than a predetermined value θ, or the biped mobile robot. It is determined whether or not the absolute value of the 12 walking speeds Vroboty_n in the Y direction is less than the predetermined speed ρ. The walking speed Vroboty_n in the Y direction of the biped robot 12 is calculated from the difference between the previous Y coordinate Yrobot_n-1 and the current Y coordinate Yrobot_n in the program loop.

  When the result in S212 is affirmative, the program proceeds to S214, in which the speed gain Kγ in the Y direction of the lifter 14 is set to Low. On the other hand, when the result in S212 is negative, the program proceeds to S216, in which the speed gain Kγ in the Y direction of the lifter 14 is set to High. Here, the speed gain Kγ is set to High when the biped mobile robot 12 and the lifter 14 are separated from each other, or when the moving speed of the biped mobile robot 12 is high, the lifter 14 is moved by two legs. This is because the moving speed of the lifter 14 needs to be greatly changed in order to follow the robot 12 with good responsiveness.

  Next, in S218, the movement speeds Vliftx_n, Vlifty_n, and Vliftz_n of the lifter 14 in the X, Y, and Z directions are calculated. Specifically, the movement speed Vliftx_n of the lifter 14 in the X direction is changed from the position Xrobot_n of the biped mobile robot 12 in the X direction transmitted from the belt control unit 42c to the previous movement speed Vliftx_n-1 in the program loop. Is calculated by adding a value obtained by subtracting a deviation Δx between the initial position Xlift_n and the initial position and a speed gain Kβ. The movement speed Vlifty_n in the Y direction and the movement speed Vliftz_n in the Z direction of the lifter 14 are similarly calculated.

  The lifter control unit 38 sends drive command values to the three electric motors 22, 26, and 30 so that the lifter 14 moves at the movement speeds Vliftx_n, Vlifty_n, and Vliftz_n.

  Next, in S220, it is determined whether or not the biped mobile robot 12 is located within a predetermined area. Here, the determination is made based on the determination result of S120 transmitted from the belt control unit 42c. If the determination is affirmative, the routine proceeds to S222, where it is determined whether or not the load detected by the load sensor 36 is less than the predetermined load α. This determination is also made based on the determination result of S122 transmitted from the belt control unit 42c.

  If the result in S222 is affirmative, the program proceeds to S224, in which it is determined whether the auxiliary device 10 is powered on. This determination is also made based on the determination result of S124 transmitted from the belt control unit 42c. When the result in S224 is affirmative, the program proceeds to S226 and the counter n is incremented by one.

  Next, the process proceeds to S228, where the position of the lifter 14 (X, Y, Z coordinates Xlift_n, Ylift_n, Zlift_n) is detected again, and the process proceeds to S206.

  Unless the result is negative in S220, S222, and S224, the processing from S206 to S228 is repeated. That is, the lifters 14 follow the biped mobile robot 12 as a result of continuing to calculate the movement speeds Vliftx_n, Vlifty_n, Vliftz_n in the X, Y, and Z directions of the lifter 14 based on the positional deviation between the lifter 14 and the biped mobile robot 12. Will move.

  When the result in S222 is negative, the program proceeds to S230, in which the moving speeds Vliftx_n and Vlifty_n in the X and Y directions are set to 0, the moving speed Vliftz_n in the Z direction is set to the maximum speed Vz_Max, and the program ends. In other words, when the result in S222 is negative, it is determined that the bipedal mobile robot 12 is in a situation where the posture of the bipedal mobile robot 12 collapses, and the movement of the lifter 14 in the X and Y directions is stopped and the lifter 14 is moved upward. Thus, the bipedal mobile robot 12 is supported from above. Further, when the result in S220 is NO, the process proceeds to S230 to execute the same process. This is because, when the mobile robot 12 is not located within the predetermined area, that is, when the mobile robot 12 deviates from the endless belt 42a, there is a high possibility that the mobile robot 12 will fall, and the fall is avoided in advance. The moving speed Vliftz_n in the Z direction is set to 0 after a predetermined time has elapsed.

  When the result in S224 is negative, the program proceeds to S232 where the speed gains Kβ and Kγ are reset to 0 and the program is terminated.

As described above, in the second embodiment of the present invention, the bipedal mobile body 12 is connected to the bipedal mobile body 12 via the hanger belt 18 and the bipedal mobile body 12 loses its posture. Lifter moving means (lifter Z-axis guide frame 20, Z-axis electric motor 22, lifter Y-axis guide frame 24, Y-axis electric motor 26, lifter X-axis guide) which can move lifter 14 supporting 12 from above in a three-dimensional space. Frame 28, X-axis electric motor 30), lifter control unit 38 for controlling the operation of the lifter moving means, and detecting means (XY plane sensor 32, Z direction sensor) for detecting the position of biped moving body 12 in a three-dimensional space. and 34), base bipedal mobile body to control the endless belt 42a freely walking, an electric motor 42b that drives the endless belt 42a, the operation of the electric motor 42b Together and a preparative controller 42c, the lifter control unit 38 and the belt drive means controlling means is communicably connected to one another, two-legged mobile 12 based on the position of the detected two-legged mobile body 12 is three-dimensional The operation of the electric motor 42b is controlled so as to be positioned within a predetermined range of the space (S118), while the lifter is based on the detected position of the bipedal moving body 12 and the operation of the electric motor 42b controlled by the belt control unit 42c. Since the movement of the lifter moving means is controlled so that 14 follows the bipedal moving body 12 (S218), the amount of looseness of the hanger belt 18 can be reduced, and the bipedal moving body 12 loses its posture and falls. When applied, the impact when supporting the load can be reduced. Furthermore, the lifter moving amount for following the bipedal moving body 12 can be reduced, and thus the lifter moving means can be prevented from increasing in size. Moreover, the space required to assist the bipedal moving body 12 can be suppressed.

Further, a fall determination means (lifter control unit 38, belt control unit 42c) for determining whether or not the bipedal moving body may collapse and fall, and the load of the bipedal moving body 12 acting on the lifter 14 And a load sensor 36 for detecting the load , and when the detected load is equal to or greater than the predetermined load α, it is determined that the bipedal moving body 12 may lose its posture and fall (S122 , S222 ). since the, if two-legged mobile body 12 is about to fall to break the posture can Rukoto impact was more relaxed when supporting the load.

Further, the bipedal moving body 12 includes a plurality of limit sensors (X-axis limit sensors 42f and 42g, Y-axis limit sensors 42j and 42k) around the endless belt 42a on which the biped mobile body 12 can walk, and based on the output from the limit sensor, 2 When it is determined whether or not the leg moving body 12 is located within a predetermined area to be walked, and when it is determined that the biped moving body 12 is not located within the predetermined area, the biped moving body 12 loses its posture and falls because fear has to (S 120, S220) as configuration determined that the, if two-legged mobile body 12 is about to fall to break the posture, shock can be further alleviated at the time of supporting the load. Further, when it is determined that the bipedal moving body 12 may collapse and fall down (S120, S122, S220, S222), the lifter 14 is moved in the Z direction at the maximum speed Vz_Max (S230). . Further, there is provided lifter position detecting means (rotary encoder associated with each of the electric motors 22, 26, 30) for detecting the position of the lifter 14, and the difference between the detected position of the bipedal moving body 12 and the position of the lifter 14 (Yrobot_n −Ylift_n) and when the calculated difference (Yrobot_n−Ylift_n) is less than a predetermined value (θ) (S212), a speed gain value (Kγ) that defines the moving speed (Vlifty_n) of the electric motor 26 is calculated. On the other hand, when the calculated difference (Yrobot_n−Ylift_n) is equal to or larger than a predetermined value (θ), the speed gain value (Kγ) is set to be larger than the first value (S214). The value is set to 2 (High) (S216).

  FIG. 5 is a flow chart for explaining the operation of the auxiliary device for the bipedal moving body according to the third embodiment of the present invention.

  In the auxiliary device for the biped moving body according to the third embodiment, the XY plane sensor 32, the Z direction sensor 34, and the load sensor 36 are excluded from the second embodiment, and the walking is performed according to a predetermined walking plan. The operations of the endless belt 42 a and the lifter 14 are controlled based on various information transmitted from the biped mobile robot 12.

  FIG. 5 is a flowchart for explaining these controls. The left flow chart is a program executed in the belt control unit 42c, and the right flow chart is a program executed in the lifter control unit 38. These programs are executed in parallel in the belt control unit 42c and the lifter control unit 38, respectively, when the power supply (not shown) of the auxiliary device 10 is turned on.

  In the robot control unit 12e shown in the center of the figure, a walking plan of the biped mobile robot 12 is registered in advance, and the biped mobile robot 12 calculated based on the output signal of the gyro sensor of the biped mobile robot 12 is calculated. Current coordinates (three-dimensional coordinates) are input. The status parameter Status_robot of the biped mobile robot 12 calculated based on output signals from the tilt sensor and force sensor of the biped mobile robot 12 is also input.

  The walking plan, the current coordinates, and the status parameter Status_robot of the biped mobile robot 12 in the robot control unit 12e are transmitted to the belt control unit 42c and the lifter control unit 38 using known transmission / reception means.

  First, the program executed in the left belt control unit 42c will be described. In S300, the target position Xa in the X direction of the biped mobile robot 12 is set. This target position Xa is a target position determined when the biped mobile robot 12 is walked at a fixed position in the X direction on the endless belt 42a.

  Next, in S302, the counter n used in the control routine of this program is reset to zero.

  Next, in S304, an operation plan of the endless belt 42a is created based on the walking plan of the biped mobile robot 12 transmitted from the robot control unit 12e. The operation plan of the endless belt 42a is a temporal transition of the moving speed Vbelt_n of the endless belt 42a. In other words, the movement speed transition of the endless belt 42a is created so that the biped mobile robot 12 is positioned within a predetermined range including the target position Xa based on the walking plan. The created operation plan of the endless belt 42 a is transmitted to the lifter control unit 38.

  Next, in S306, the operation plan of the endless belt 42a is corrected based on the current position of the biped mobile robot 12 transmitted from the robot controller 12e. Specifically, the operation plan of the endless belt 42a is corrected based on the current position of the biped mobile robot 12 so that the biped mobile robot 12 is positioned within a predetermined range including the target position Xa.

  Next, in S308, the operation of the endless belt 42a is controlled according to the corrected operation plan of the endless belt 42a. Specifically, a drive command value is sent to the electric motor 42b according to the corrected operation plan of the endless belt 42a. Information regarding the operation status of the endless belt 42 a is also transmitted to the lifter control unit 38.

  Next, in S310, it is determined whether or not the status parameter Status_robot transmitted from the robot control unit 12e is abnormal (Err). The status parameter Status_robot being abnormal (Err) indicates that some abnormality has occurred in the biped mobile robot 12. If the result in S310 is No, the process proceeds to S312.

  In S312, it is determined whether or not the status parameter Status_robot transmitted from the robot control unit 12e is stopped. The status parameter Status_robot being stopped indicates that the biped mobile robot 12 has stopped walking. When the result in S312 is negative, the process proceeds to S314, the counter n is incremented by 1, and the process proceeds to S306.

  Unless the result in S310 and S312 is positive, the processes from S306 to S314 are repeated. That is, the operation of the endless belt 42a is controlled so that the biped mobile robot 12 is located in a predetermined range including the target position Xa in the three-dimensional space.

  When the result in S310 is affirmative, the program proceeds to S316, in which the moving speed Vbelt_n in the X direction of the endless belt 42a is set to 0, and the program ends. That is, when the result in S310 is affirmative, it is determined that the bipedal mobile robot 12 is in a situation where the posture of the bipedal mobile robot 12 collapses, and the movement of the endless belt 42a is stopped.

  If the result in S312 is affirmative, the program proceeds to S318, where the operation of the endless belt 42a is stopped and the program is terminated.

  Next, the program executed in the right lifter control unit 38 will be described. In S400, the counter n used in the control routine of this program is reset to zero.

  Next, in S402, an operation plan of the lifter 14 is created based on the walking plan of the biped robot 12 transmitted from the robot control unit 12e and the operation plan of the endless belt 42a transmitted from the belt control unit 42c. The operation plan of the lifter 14 is a temporal transition of the moving speeds Vliftx_n, Vlifty_n, and Vliftz_n of the lifter 14. That is, the movement speed transition of the lifter 14 is created so that the lifter 14 follows the biped mobile robot 12 based on the walking plan of the biped mobile robot 12 and the operation plan of the endless belt 42a.

  Next, in S404, the operation plan of the lifter 14 is corrected based on the current position of the biped mobile robot 12 transmitted from the robot control unit 12e and the operation status of the endless belt 42a transmitted from the belt control unit 42c. Specifically, the operation plan of the lifter 14 is corrected so that the lifter 14 follows the biped mobile robot 12 based on the current position of the biped mobile robot 12 and the operation state of the endless belt 42a.

  Next, in S406, the operation of the lifter 14 is controlled according to the corrected operation plan of the lifter 14. Specifically, drive command values are sent to the three electric motors 22, 26, 30 in accordance with the corrected operation plan of the lifter 14.

  Next, in S408, it is determined whether or not the status parameter Status_robot transmitted from the robot control unit 12e is abnormal (Err). When negative, it progresses to S410.

  In S410, it is determined whether or not the status parameter Status_robot transmitted from the robot control unit 12e is stopped. When negative, it progresses to S412, the counter n is incremented by 1, and progresses to S404.

  Unless the determination in S408 and S410 is affirmative, the processing from S404 to S412 is repeated. That is, the lifter 14 is controlled to follow the biped mobile robot 12.

  When the result in S408 is affirmative, the program proceeds to S414, in which the moving speeds Vliftx_n and Vlifty_n in the X direction and the Y direction are set to 0, the moving speed Vliftz_n in the Z direction is set to the maximum speed Vz_Max, and the program ends. In other words, if the result in S408 is affirmative, it is determined that the bipedal mobile robot 12 is in a situation where the posture of the bipedal mobile robot 12 collapses, and the movement of the lifter 14 in the X and Y directions is stopped and the lifter 14 is moved upward. I did it. The moving speed Vliftz_n in the Z direction is set to 0 after a predetermined time has elapsed.

  When the result in S410 is affirmative, the program proceeds to S416, the lifter operation is stopped, and the program is terminated.

As described above, in the third embodiment of the present invention, the biped mobile body 12 includes the biped mobile robot 12 that walks according to a predetermined walking plan, and the operation plan of the lifter 14 is based on the predetermined walking plan. (S402), and based on the detected position of the biped mobile robot 12, the lifter 14 is corrected so that the lifter 14 follows the biped mobile robot 12 (S404). Since the operation is controlled (S406) , the amount of looseness of the hanger belt 18 can be reduced. Therefore, when the bipedal mobile robot 12 collapses its posture and falls down, the impact when supporting the load is reduced. Can do.

Further, the lifter control unit 38 and the belt control unit 42c are connected to each other so as to be able to communicate with each other, and the operation of the lifter moving means is controlled based on the operation of the electric motor 42b controlled by the belt control unit 42c (S406). .

As described above, in the second and third embodiments, the bipedal mobile body (bipedal mobile robot 12) is connected via the rope-shaped connecting member (hanger belt 18), and the 2 In a two-legged moving body auxiliary device comprising a lifter (14) for supporting the biped moving body from above when the leg moving body loses its posture, the lifter can be moved in a three-dimensional space. Z-axis guide frame 20, Z-axis electric motor 22, lifter Y-axis guide frame 24, Y-axis electric motor 26, lifter X-axis guide frame 28, X-axis electric motor 30), and lifter for controlling the operation of the lifter moving means. Moving means control means (lifter control section 38) and detecting means for detecting the position of the biped moving body in the three-dimensional space (XY plane sensor 32, Z direction sensor 34 , gy B ) , a belt on which the bipedal moving body can walk (endless belt 42a), belt driving means (electric motor 42b) for driving the belt, and belt driving means control means for controlling the operation of the belt driving means. (Belt control unit 42c) , the lifter movement control means and the belt movement control means are connected to each other so as to be able to communicate with each other, and the belt driving means control means is configured to connect the two legs based on the detected position. The operation of the belt driving means is controlled so that the moving body is located in a predetermined range of the three-dimensional space (S118, S308), while the lifter moving means control means controls the detected position and the belt driving means. the lifter moves as the lifter to follow the bipedal mobile body based on the operation of the belt drive means controlled by the means It controls the operation of the stage (S26, S218, S406) and as configuration.

As a result, the amount of looseness of the rope-shaped connecting member (hanger belt 18) can be reduced, and therefore, when the bipedal moving body collapses and falls over, the impact when supporting the load can be reduced. Further, the lifter moving amount for following the bipedal moving body can be reduced, and hence the lifter moving means can be prevented from being enlarged. Moreover, the space required to assist the bipedal moving body can be suppressed.

Further, in the first and second embodiments, the fall determination means (lifter control unit 38, belt control unit 42c) for determining whether or not the bipedal moving body may fall over its posture. ) And a load sensor (36) for detecting a load of the biped mobile body (bipedal mobile robot 12) acting on the lifter 14, and the fall determination means is configured so that the detected load is a predetermined load. When it is equal to or greater than (α), it is determined that the bipedal moving body is likely to fall over its posture ( S30, S122, S222 ).

Thus, if the two-legged mobile is about to fall to break the posture can Rukoto impact was more relaxed when supporting the load.

The bipedal moving body 12 includes a plurality of limit sensors (X-axis limit sensors 42f and 42g, Y-axis limit sensors 42j and 42k) around a belt (endless belt 42a) that can be walked, and the fall determination means includes: , Based on the output from the limit sensor, it is determined whether or not the biped moving body is located within a predetermined area to be walked, and it is determined that the biped moving body is not located within the predetermined area The bipedal mobile body is determined to have a risk of falling its posture and falling (S30, S120, S220 ).

  Thereby, when the bipedal moving body breaks down and falls over, the impact when supporting the load can be further alleviated.

The lifter position detecting means for detecting the position of the lifter 14 (a rotary encoder associated with each of the electric motors 22, 26, 30) is provided, and the lifter moving means control means is configured to detect the two legs detected by the detecting means. The difference between the position of the transfer body 12 and the position of the lifter detected by the lifter position detection means (Xrobot_n−Xlift_n, Yrobot_n−Ylift_n) is calculated, and the calculated difference is less than a predetermined value (σ, θ). At some time (S14, S20, S212), the speed gain values (Kβ, Kγ) that define the moving speeds (Vliftx_n, Vlifty_n) of the lifter moving means (electric motors 22, 26) are set to the first value (Low). (S16, S22, S214) On the other hand, when the calculated difference is greater than or equal to a predetermined value, the speed gain value is set to a second value (High) greater than the first value. Setting (S18, S24, S216) and as configuration.

Further, in the third embodiment, the bipedal mobile body comprises a bipedal mobile robot (12) that walks according to a predetermined walking plan, and the lifter moving means control means is based on the predetermined walking plan. The lifter motion plan is created (S402), and the lifter motion plan is corrected so that the lifter follows the biped robot based on the detected position (S404). The operation of the means is controlled (S406) .

As a result, the amount of looseness of the rope-like connecting member can be reduced, so that when the biped mobile robot breaks down and falls over, the impact when supporting the load can be reduced .

In the first to third embodiments, the lifter moving means control means determines that the fall determining means may cause the biped moving body to fall out of posture and fall. S28, S30, S120, S122, S220, S222, S310, S408), and the lifter is configured to move vertically (Z direction) at the maximum speed Vz_Max (S38, S230, S414) .

  In the first and second embodiments described above, a bipedal mobile robot has been described as an example of a bipedal moving body. However, a human may be used. That is, the bipedal mobile auxiliary device according to the first and second embodiments of the present invention can be used for human walking rehabilitation.

  10 Biped moving body assisting device, 12 Biped moving robot (biped moving body), 14 Lifter, 18 Hanger belt (rope connection member), 20 Lifter Z-axis guide frame, 22 Z-axis electric motor, 24 Lifter Y-axis guide frame, 26 Y-axis electric motor, 28 Lifter X-axis guide frame, 30 X-axis electric motor, 32 XY plane sensor, 34 Z direction sensor, 36 Load sensor, 38 Lifter control unit, 42a Endless belt, 42b Electric motor 42c Belt controller

Claims (6)

An auxiliary device for a bipedal moving body, which is connected to the bipedal moving body via a rope-shaped connecting member and includes a lifter that supports the bipedal moving body from above when the bipedal moving body loses its posture. The lifter moving means for moving the lifter in a three-dimensional space, the lifter moving means control means for controlling the operation of the lifter moving means, and the detecting means for detecting the position of the biped moving body in the three-dimensional space A belt on which the biped moving body can walk, belt driving means for driving the belt, belt driving means control means for controlling the operation of the belt driving means , and the lifter moving means control means; The belt driving means control means is connected to be communicable with each other, and the belt driving means control means is configured such that the biped moving body is based on the detected position. Of one for controlling the operation of the belt drive means so as to be positioned in a predetermined range, the lifter moving means control means for operation of the belt drive means controlled by said belt drive means controlling means and the detected position An apparatus for assisting a bipedal moving body, wherein the operation of the lifter moving means is controlled so that the lifter follows the bipedal moving body. A fall determination means for the biped mobile determines whether there is a risk of overturning destroy the orientation, with and a load sensor for detecting a load of the biped mobile acting on said lifter, said tipping determining means, when the detected load is equal to or greater than a predetermined load, a bipedal mobile body according to claim 1 Symbol mounting the biped moving body and determines that there is a risk of overturning destroy the orientation Auxiliary equipment. The fall determination means for determining whether or not the biped mobile body may fall over its posture, and a plurality of limit sensors around a belt on which the biped mobile body can walk, the fall determination The means determines whether or not the biped moving body is located within a predetermined area to be walked based on an output from the limit sensor, and is determined that the biped moving body is not located within the predetermined area. 2. The assisting device for a bipedal moving body according to claim 1, wherein the bipedal moving body is determined to have a risk of falling over its posture when falling. The lifter moving means control means moves the lifter vertically upward at a maximum speed when it is determined by the fall determining means that the bipedal moving body is likely to fall out of posture. The auxiliary device for a bipedal mobile body according to claim 2 or 3. The biped mobile body is a bipedal mobile robot that walks according to a predetermined walking plan, and the lifter moving means control means creates an operation plan of the lifter based on the predetermined walking plan and the detected 5. The lifter movement plan is corrected so that the lifter follows the biped mobile robot based on the position, and thus the operation of the lifter moving means is controlled. The auxiliary device for the bipedal moving body as described . The lifter position detecting means for detecting the position of the lifter, the lifter moving means control means, the position of the biped moving body detected by the detecting means and the position of the lifter detected by the lifter position detecting means When the calculated difference is less than a predetermined value, the speed gain value that defines the moving speed of the lifter moving means is set to a first value, while the calculated difference is The auxiliary device for a bipedal moving body according to any one of claims 1 to 4, wherein when the value is equal to or larger than the value, the speed gain value is set to a second value larger than the first value.

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