JP6601670B2 - Road surface condition recognition device, program thereof, and mobile system - Google Patents

Description

  The present invention relates to a road surface situation recognition device, a program thereof, and a mobile system, and more specifically, a road surface situation recognition device and a program thereof for recognizing a road surface situation when the mobile body moves on the road surface, and the road surface. The present invention relates to a moving body system that performs operation control of a moving body in accordance with a road surface situation recognized by a situation recognition device.

  In Japan, we are suffering from a wide range of natural disasters such as landslides and eruptions. In recent years, demand for environmental monitoring is increasing for reasons such as predicting disasters and understanding the situation. Accordingly, the present inventors have been researching an environmental monitoring robot that can perform long-term autonomous work in a special environment such as a forest in response to such social demand. Here, in the outdoor environment, there are many places where obstacles such as trees and stones and running obstacles such as swamps and grassland are scattered, so in order to move the robot autonomously, the robot correctly recognizes the outdoor environment. In conjunction with this, it is necessary to control the traveling of the robot.

  By the way, the following Patent Documents 1, 2, and 3 disclose devices that are mounted on a moving body such as a robot and estimate the shape and type of a road surface on which the moving body travels. That is, Patent Document 1 discloses a traveling region discriminating device that uses a laser range finder to discriminate whether the undulation existing in the travelable region is a slope or a step. In Patent Document 2, a road surface image in the vehicle traveling direction is acquired, and the closest reference pattern image is obtained by comparing the acquired image with a reference pattern image representing a plurality of road surface types such as gravel roads stored in advance. A road surface state estimating device that estimates the type of a road surface by specifying the above is disclosed. Further, Patent Document 3 compares the measured value of the pressure sensor that detects the ground contact state between the sole and the road surface with the stored value of the pressure sensor stored in advance corresponding to the type of road surface such as sand or concrete. Thus, a robot apparatus is disclosed that determines the type of road surface that is currently running.

JP 2014-119349 A JP 2013-213793 A JP 2014-200880 A

  However, the devices disclosed in the above cited documents are not limited to specifying the shape and type of the road surface, and cannot detect the road surface condition, that is, the road surface hardness and unevenness. Therefore, in the devices of the above cited references, even when the road surface is the same shape or type, for example, the road surface of the soil in a mountainous area, information on the change in the softness of the road surface due to the rainfall before and after is obtained. In such a special outdoor environment, it is impossible to perform accurate traveling control of a moving body such as a robot. In addition, small-sized mobile robots for disaster response that perform environmental monitoring by remote control have limitations in mounting large-scale equipment and sensors as described in the above cited references, and a new one for identifying road surface conditions. Providing equipment is not practical.

  The present invention has been devised to solve such problems, and its purpose is to provide road conditions such as the hardness of the road surface on which the mobile body travels and the degree of unevenness with a relatively simple configuration and equipment. It is possible to detect a road surface situation recognition apparatus that contributes to accurately performing traveling control of a mobile body based on the road surface situation, its program, and a mobile body system.

  In order to achieve the above object, the present invention mainly provides a road surface for recognizing the state of the road surface when the moving body moves while repeatedly contacting and non-contacting the road surface with a plurality of legs by the power of the actuator. In the situation recognition apparatus, the detection unit includes a detection unit that detects a state of the moving body during movement, and an information determination unit that obtains road surface information corresponding to the road surface state based on a detection result of the detection unit. The means includes a load detection unit that detects a load on the actuator, and the information determination unit estimates the hardness corresponding to the hardness of the road surface based on a change with time of the load detected by the current detection unit. A configuration is adopted in which a hardness estimation unit for obtaining a value is provided.

  In the claims and the specification, the “road surface” is used as a term meaning not only the surface of the road but also the entire traveling surface with which the leg contacts when the mobile body is traveling.

  According to the present invention, it is possible to estimate the road surface conditions that can affect the traveling of the moving body, such as the flexibility of the road surface and the unevenness of the road surface, and to accurately perform the traveling control of the moving body that moves autonomously. Can contribute. In addition, since the road surface condition can be recognized by the time-dependent change of the load on the actuator that operates the leg of the moving object and the time-dependent change of the posture information of the moving object, new equipment and equipment are provided for the recognition of the road condition. Etc. are not required to be provided on the moving body, and several devices used for the operation of the moving body can be used together. In other words, in the present invention, a road surface condition can be recognized with a relatively simple configuration and equipment without requiring high-price sensors such as a force sensor and a laser range finder and a calculation load, and a small movement Applicable to the body.

The block diagram showing the structure of the mobile body system which concerns on this embodiment. The schematic perspective view of a mobile robot. (A) is a schematic left side view of the mobile robot, and (B) is a schematic front view of the mobile robot. (A) is a schematic perspective view of the mobile robot at a certain time in the in-phase motion, and (B) is a schematic perspective view of the mobile robot at a certain time in the anti-phase motion. (A) is a figure for demonstrating the time series change of the leg part by an in-phase motion, (B) is a figure for demonstrating the time series change of the leg part by an antiphase motion.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of the mobile system in the present embodiment. In this figure, a mobile body system 10 includes a mobile robot 11 as a legged mobile body that can move on various road surfaces, a road surface state recognition device 12 that recognizes a road surface state when the mobile robot 11 moves, and an operator. And a control device 14 that controls the operation of the mobile robot 11 on the basis of the road surface status recognized by the road surface status recognition device 12. Although not particularly limited, the road surface condition recognition device 12 and the control device 14 may be provided integrally or separately, or may be provided separately from the mobile robot 11. It may be.

  The mobile robot 11 can autonomously move in a predetermined area in response to an operator's remote command from a computer terminal (not shown). As shown in FIGS. 2 and 3, the mobile robot 11 is provided at a plurality of locations on the side of the robot main body 16 and the robot main body 16, and is in contact with the road surface G (see FIG. 3). A leg 18 for moving the robot body 16 by repeatedly performing non-contact, and a motor 19 (see FIG. 2) as an actuator that is housed in the robot body 16 and driven as the power of the leg 18 are provided. Yes.

  In the following description, “front”, “rear”, “left”, “right”, “upper”, and “lower” used when describing the position and direction of the mobile robot 11 are unless otherwise specified. With reference to the position of the mobile robot 11 shown in FIG. 2, the direction along the x-axis is the front-rear direction, the y-axis direction in the figure is the left-right direction, and the z-axis direction in the figure is the up-down direction.

  The leg portion 18 includes a left leg portion 18L provided on the left side surface of the robot body 16 and a right leg portion 18R provided on the right side surface. The left and right leg portions 18L, 18R have the same configuration, and are provided with three elliptical disc-shaped elliptical legs 20, 21, 22, each having the same shape and size. Each elliptical leg 20, 21, 22 is fixed to a rotating shaft 24 connected to the robot body 16 side. The respective rotating shafts 24 are rotated by driving the motor 19, and the respective elliptical legs 20, 21, 22 are rotated with the rotation. The rotating shafts 24 are fixed to the outer peripheral edges of the elliptical legs 20, 21, and 22, and are attached to each other with the elliptical legs 20, 21, 22 and the center of the rotating shaft 24 shifted. . Accordingly, the elliptical legs 20, 21, and 22 are eccentrically rotated with respect to the robot body 16 by driving the motor 19.

  The left and right elliptical legs 20, 21, 22 are arranged in the front-rear direction as follows. That is, the front and rear elliptical legs 20 and 22 positioned at both ends in the front-rear direction and the central elliptical leg 21 positioned at the center in the front-rear direction between the elliptical legs 20 and 22 are attached in an inverted direction. ing. As shown in FIGS. 2 and 3B, the front and rear elliptical legs 20 and 22 and the central elliptical leg 21 are arranged so as to be shifted from each other in the left-right direction. 21 is arranged outside the front and rear elliptical legs 20 and 22 so that the respective elliptical legs 20, 21 and 22 can rotate eccentrically without interfering with each other. Further, the front and rear elliptical legs 20 and 22 and the central elliptical leg 21 are rotated in the course of movement of the mobile robot 11, and either the front or rear elliptical legs 20 and 22 or the central elliptical leg 21 is the road surface. When contacting the G, either one is separated from the road surface G.

  The motor 19 is an electric motor, and includes a left motor 19L that operates the left leg 18L and a right motor 19R that operates the right leg 18R, as shown in FIG. The left and right motors 19L and 19R are controlled by the control device 14 so that the robot body 16 performs a desired operation. Although not shown because it is not an essential part of the present invention, the motor 19L, between the left motor 19L and the left leg 18L, and between the right motor 19R and the right leg 18R, respectively, A drive mechanism for transmitting the power of 19R to the legs 18L and 18R is provided. The drive mechanism is composed of a plurality of pulleys and a belt that is wound around the pulleys, and when the left motor 19L rotates, the three elliptical legs 20, 21, and 22 of the left leg 18L rotate in synchronization. When the right motor 19R rotates, the three elliptical legs 20, 21, 22 of the right leg 18R rotate in synchronization with each other.

  The left and right leg portions 18L and 18R, when the mobile robot 11 travels on rough terrain such as swamps and grassland, the left and right elliptical legs 20, A traveling motion in which 21 and 22 are in phase (hereinafter referred to as “in-phase motion”) is applied. In this in-phase motion, as shown in FIGS. 4A and 5A, the position and orientation of the front and rear elliptical legs 20 and 22 are always the same between the left and right leg portions 18L and 18R. At the same time, the legs 18 operate so that the positions and orientations of the central elliptical legs 21 are the same. On the other hand, when the mobile robot 11 travels on leveling or the like, a traveling motion in which the left and right elliptical legs 20, 21, and 22 are in opposite phases by driving control of motors 19 </ b> L and 19 </ b> R by a control device 14 to be described later (hereinafter “ (Referred to as “antiphase motion”). In this antiphase motion, as shown in FIGS. 4B and 5B, the position and orientation of the front and rear elliptical legs 20 and 22 are always shifted by 180 degrees between the left and right legs 18L and 18R. At the same time, the leg 18 operates so that the position and orientation of each central elliptical leg 21 is also shifted by 180 degrees.

  In the present embodiment, the leg portion 18 has an elliptical disc shape, but the present invention is not limited to this, and any shape or shape can be used as long as it can repeatedly contact and non-contact the road surface G. Any structure is acceptable. Moreover, the leg part 18 and the motor 19 are not limited to the number of installation of this embodiment, This invention is applicable also to the aspect further increased / decreased.

  As shown in FIG. 1, the road surface condition recognition device 12 has a detection unit 26 that detects the state of the mobile robot 11 during movement, and a leg portion 18 is grounded based on a detection result of the detection unit 26. And information determining means 27 for obtaining road surface information corresponding to the road surface condition.

  The detection means 26 includes a current detection unit 29 (load detection unit) that detects current values that change in accordance with loads on the left and right motors 19L and 19R, and a posture detection unit 30 that detects the posture of the mobile robot 11. It consists of. In the present embodiment, the current detection unit 29 is configured by a current sensor attached to the motors 19L and 19R so as to measure the value of the current flowing through the motors 19L and 19R, and the posture detection unit 30 has a three-dimensional angular velocity and Although the present invention is configured by an inertial measurement device (IMU) capable of detecting acceleration, the present invention is not limited to this, and other sensors and measuring devices can be substituted as long as similar information can be detected. The measurement values from the current detection unit 29 and the posture detection unit 30 are sent to the information determination unit 27 every predetermined time.

  The information determination means 27 obtains a hardness estimation value corresponding to the hardness of the road surface based on the temporal change of the current values of the left and right motors 19L, 19R detected by the current detection unit 29. An estimation unit 32 and a roughness estimation unit 33 that obtains a roughness estimation value corresponding to the degree of unevenness of the road surface based on the temporal change of the posture information of the mobile robot 11 detected by the posture detection unit 30 are provided. . The road surface condition recognition device 12 is composed of a computer comprising a processing unit such as a CPU and a storage device such as a memory or a hard disk, and a program for causing the computer to function as the information determination unit 27 is installed. Has been.

上式において、ｋをモータ１９の番号（ｋ＝１、２・・・Ｎ）とし、本実施形態では、左側のモータ１９Ｌをｋ＝１とし、右側のモータ１９Ｒをｋ＝２とする。そして、ｉ_ｋ（ｔ_ｐ）は、移動ロボット１１の運動周期Ｔ（時間）の中で、ｋ番のモータ１９の電流値が極大値を採る時刻ｔ_ｐにおけるｋ番のモータ１９の電流値である。また、ｉ_ｋ（ｔ_ｂ）は、前記運動周期Ｔの中で、ｋ番のモータ１９の電流値が極小値を採る時刻ｔ_ｂにおけるｋ番のモータ１９の電流値である。更に、ｉ_ｋｍａｘは、ｋ番のモータ１９に流せる最大の電流値であり、各モータ１９Ｌ，１９Ｒで予め定められた値を採る。また、ω_ｋは、各モータ１９Ｌ，１９Ｒに設定された重み付けした係数である。つまり、上式では、モータ１９Ｌ，１９Ｒ毎に重み付けをした状態で、当該モータ１９Ｌ，１９Ｒ毎に求めた各硬さ推定値Ｈ_ｋを加算することで、最終的な硬さ推定値Ｈが求められる。 In the hardness estimation part 32, a hardness estimated value is calculated | required as follows. That is, when the mobile robot 11 travels and the reaction force received by the mobile robot 11 from the road surface G is large, the value of the current flowing through the motor 19 increases. In other words, depending on the hardness of the road surface G, the reaction force received from the road surface G when each of the elliptical legs 20, 21, 22 contacts the ground changes, so that the peak value of the current flowing through the motor 19 also varies in hardness. Different on road surface G. From this, the hardness estimation unit 32 obtains the estimated hardness value based on the difference between the maximum value and the minimum value of the current value in the motion cycle of the mobile robot 11 specified in advance. Specifically, the maximum value and the minimum value of the current values of the motors 19L and 19R detected by the current detection unit 29 are substituted into the following mathematical formula stored in advance to obtain the estimated hardness value H. . Here, although not particularly limited, the exercise cycle T in the present embodiment is set to a time until the legs 18L and 18R return to the same position and orientation.

In the above equation, k is the number of the motor 19 (k = 1, 2,... N), and in this embodiment, the left motor 19L is k = 1 and the right motor 19R is k = 2. _Then, i k _{(t p)} is in a motion period T of the mobile robot 11 (time), a current value of k-th of the motor 19 at the time _{t p} the current value of the k-th of the motor 19 takes a maximum value is there. Further, i _k (t _b ) is a current value of the k-th motor 19 at the time t _{b when} the current value of the k-th motor 19 takes the minimum value in the motion cycle T. Furthermore, i _kmmax is the maximum current value that can be passed through the k-th motor 19, and takes a value determined in advance for each motor 19L, 19R. Further, ω _k is a weighted coefficient set for each motor 19L, 19R. That is, in the above formula, the motor 19L, while the weighting for each 19R, the motor 19L, by adding the respective hardness estimate H _k obtained for each 19R, final hardness estimate H is determined It is done.

上式において、ｌ，ｗ，ｈは、予め特定された移動ロボット１１の長さ、幅、高さであり、定数として予め記憶されており、上式における粗さ推定値Ｕは、運動周期Ｔの間における移動ロボット１１の姿勢の変化を移動ロボット１１のサイズで無次元化したものとなっている。 In the roughness estimation unit 33, the unevenness of the road surface greatly affects the posture of the mobile robot 11 during traveling. Therefore, the roughness corresponding to the degree of unevenness of the road surface based on the change in the posture information of the mobile robot 11 over time. An estimated value is obtained. That is, when the mobile robot 11 travels on a rough road surface, the posture of the mobile robot 11 is tilted in a direction that swings back and forth (pitch direction) and a direction that swings left and right (roll direction). Accordingly, the roughness estimation unit 33 estimates the roughness in consideration of the size of the mobile robot 11 that affects the influence of the unevenness of the road surface in addition to the change in the pitch direction and the roll direction inclination of the mobile robot 11 in the motion period T. Is required. Specifically, the following formulas stored in advance are added to the pitch direction inclination angle θ _p (t) and the roll direction inclination angle θ _r (t) of the mobile robot 11 at time t detected by the posture detection unit 30. Is substituted to obtain the estimated roughness value U.

In the above equation, l, w, and h are the length, width, and height of the mobile robot 11 specified in advance, and are stored in advance as constants. The estimated roughness value U in the above equation is the motion period T The change in the posture of the mobile robot 11 during the period is made dimensionless by the size of the mobile robot 11.

  Thus, in the information determination means 27, the estimated hardness value H and the estimated roughness value U, which are road surface information relating to the hardness and roughness of the road surface G, are obtained for each motion cycle T, and the obtained road surface information is obtained. It is sent to the control device 14.

  The control device 14 is configured by a computer, and a program for causing the computer to function as the following units is installed. As shown in FIG. 1, the control device 14 is obtained by a drive control means 35 that controls driving of the motors 19 </ b> L and 19 </ b> R and a road surface condition recognition device 12 to cause the mobile robot 11 to perform a desired operation. There is provided an operation change command means 36 for instructing the drive control means 35 to change the operation of the mobile robot 11 in accordance with the road surface information.

  The drive control means 35 detects the state of the mobile robot 11 including a terminal operation on the operator side at a location away from the mobile robot 11 within a certain range and an encoder (not shown) that measures the position and speed of the leg 18. The movements and speeds of the left and right leg portions 18L and 18R are controlled by the measured values of the various sensors and the recognition of the road surface state by the road surface state recognition device 12. In other words, here, the road surface condition detected by the road surface condition recognition device 12 is added to the desired operation by the operation of the operator, and the driving state and the rotation speed of the motors 19L and 19R are determined by the following traveling pattern. Adjusted.

  The travel pattern in the present embodiment is not particularly limited, but for each of the in-phase motion and the anti-phase motion described above, the forward and backward movements are performed in two speed modes (high speed mode and low speed mode). A possible pattern is set.

  In the same phase motion, as shown in FIGS. 4 (A) and 5 (A), the left and right left and right legs 18L and 18R are arranged in the same phase so that the left and right legs 18L and 18R are in the same phase at the same time. Driving of the motors 19L and 19R is controlled. On the other hand, in the anti-phase motion, as shown in FIG. 4B and FIG. 5B, the left and right sides of the left and right legs 18L and 18R are shifted by 180 degrees at the same time. The driving of the motors 19L, 19R is controlled.

  In the operation change command means 36, the motor is changed so that the current travel pattern of the mobile robot 11 and the current road surface information obtained by the road surface condition recognition device 12 are changed to different travel patterns according to the rules stored in advance. The drive control means 35 is instructed to change the drive states of 19L and 19R.

  In the present embodiment, for example, it is applied when traveling on a horizontal leveling road surface or the like, and is applied when traveling on a first level traveling pattern with a reverse phase motion in a high speed mode and a horizontal uneven road surface, etc. A second traveling pattern that moves forward with the same phase motion and a third traveling pattern that is applied when traveling on a horizontal soft road surface or the like and moves backward with the same phase motion in the low speed mode are set. In the third traveling pattern, in addition to or in place of the backward movement of the mobile robot 11, the movement route of the mobile robot 11 may be reset.

(When moving in the first traveling pattern)
While the mobile robot 11 is moving in the first travel pattern, if the estimated roughness value U is equal to or greater than a preset first threshold value, the unevenness having the unevenness that affects the mobile robot 11 is detected. Assuming that the vehicle has entered the leveling road surface, a transition is made to the second traveling pattern in which the mobile robot 11 moves forward at a low speed. In addition, when the mobile robot 11 is moving in the first travel pattern, if the estimated hardness value H is equal to or lower than a preset second threshold value, the mobile robot 11 has entered a soft road surface. As a transition to the third traveling pattern in which the mobile robot 11 moves backward at a low speed.

(When moving in the second traveling pattern)
When the mobile robot 11 is moving in the second travel pattern, if the roughness estimation value U becomes less than the first threshold value, the travel is changed from the rough road surface to the road surface that is leveled. As a result, the transition is made to the first traveling pattern in which the mobile robot 11 moves forward at a high speed. In addition, when the mobile robot 11 is moving in the second travel pattern, the estimated hardness value H is less than or equal to the second threshold value, or the estimated roughness value U is set separately from the above. If it is equal to or greater than the third threshold value, the mobile robot 11 enters the soft road surface, and a transition is made to the third travel pattern that causes the mobile robot 11 to move backward at a low speed. Here, the third threshold value is set to a value larger than the first threshold value.

  According to the present embodiment described above, in consideration of the estimated hardness value H corresponding to the hardness of the road surface and the size of the mobile robot 11, the situation of road surface unevenness that can affect the movement of the mobile robot 11 is obtained. A corresponding roughness estimate U can be determined. When obtaining the estimated hardness value H and the estimated roughness value U, various types of processing that are computationally expensive, such as detection with a force sensor, processing of an image captured by a camera, and a laser range finder The processing using etc. is unnecessary. Therefore, the configuration of the present embodiment has an effect that it can be sufficiently applied to the small mobile robot 11. Further, when the estimated hardness value H is equal to or smaller than a predetermined threshold value, or when the estimated roughness value U is equal to or larger than the predetermined threshold value, the mobile robot 11 is moved backward and / or the moving path of the mobile robot 11 is changed. The moving speed of the mobile robot 11 is changed according to the magnitude of the estimated roughness value U. For this reason, the movement control of the mobile robot 11 according to the road surface condition can be performed with a sensation close to that of a human somatic.

  In the above-described embodiment, both the hardness estimated value H and the roughness estimated value U are obtained by the information determining unit 27. However, only one of them may be obtained if necessary.

  Further, the present invention is not limited to the application to the mobile robot 11 having the configuration of the above-described embodiment, and is a multi-legged walking robot having a plurality of legs that operate so as to repeatedly contact and non-contact the road surface. It can be applied to any legged mobile body.

  Furthermore, in the above-described embodiment, the leg-type moving body using the electric motor 19 as the actuator for operating the leg portion 18 has been described. However, the present invention is not limited to this, and the leg using the hydraulic motor or the hydraulic cylinder as the actuator. It is also possible to apply the formula to a moving body. In this case, the hardness estimation unit 32 detects a change over time in the hydraulic pressure flowing through the actuator using a hydraulic gauge provided in a hydraulic system connected to the actuator as a change over time in the load of the actuator. In the same manner as described above, the estimated hardness value is obtained.

  Further, the mobile robot 11 may be equipped with a measuring device to which the technique described in Japanese Patent No. 5269729 or a technique similar thereto is applied.

  In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

10 Mobile system 11 Mobile robot (mobile)
12 Road surface condition recognition device 14 Control device 18 Leg 19 Motor (actuator)
26 detection means 27 information determination means 29 current detection part (load detection part)
30 posture detection unit 32 hardness estimation unit 33 roughness estimation unit 35 drive control unit 36 operation change command unit

Claims (9)

In the road surface situation recognition device for recognizing the road surface situation when the moving body moves while repeatedly making contact and non-contact with the road surface by the power of the actuator,
Detecting means for detecting the state of the moving body during movement, and information determining means for obtaining road surface information corresponding to the road surface condition based on a detection result of the detecting means;
The detection means includes a load detection unit that detects a load on the actuator,
The road surface is characterized in that the information determination means includes a hardness estimation unit that obtains a hardness estimation value corresponding to the hardness of the road surface based on a change with time of the load detected by the load detection unit. Situation recognition device.   2. The road surface condition according to claim 1, wherein the hardness estimation unit obtains the hardness estimation value based on a difference between a maximum value and a minimum value of the load in a predetermined motion cycle of the moving body. Recognition device. A plurality of the actuators are provided to operate the legs separately.
In the hardness estimation unit, the hardness estimation value is obtained for each actuator, and in a state where weighting is performed for each actuator, by adding the hardness estimation values obtained for each actuator, The road surface condition recognition apparatus according to claim 2, wherein a final value of the estimated hardness value is determined. The detection means further includes a posture detection unit that detects a posture of the moving body,
The information determination unit further includes a roughness estimation unit that obtains a roughness estimation value corresponding to the degree of unevenness of the road surface based on a change in the posture detected by the posture detection unit over time. The road surface condition recognition apparatus according to claim 1, 2 or 3.   The roughness estimation unit obtains the estimated roughness value based on a change in the pitch of the moving body and an inclination in a roll direction and a size of the moving body in a predetermined motion cycle of the moving body. The road surface condition recognition apparatus according to claim 4. In a program for causing a computer of a road surface situation recognition device to recognize the situation of the road surface when moving a moving body that moves while repeatedly making contact and non-contact with the road surface by the power of an actuator,
Based on the state of the moving body during movement, the computer functions as information determining means for obtaining road surface information corresponding to the road surface condition,
Wherein in the information determining unit, as the road information, the program of the road surface situation recognition apparatus characterized by hardness estimated value corresponding to the hardness of the road surface from the change over time in the load on the actuator is prompted. In a moving body system comprising a moving body capable of moving on a predetermined road surface, a road surface state recognition device that recognizes the state of the road surface when the moving body moves, and a control device that performs operation control of the moving body,
The moving body includes a leg portion that moves the moving body by repeatedly performing contact and non-contact with the road surface, and an actuator that is driven as power of the leg portion,
The road surface condition recognition device comprises information determining means for obtaining road surface information corresponding to the road surface condition based on the state of the moving body during movement,
In the information determination means, as the road surface information, a hardness estimation value corresponding to the hardness of the road surface is obtained from a change over time of the load on the actuator ,
The control device changes the operation of the moving body according to the road surface information obtained by the drive control means for controlling the driving of the actuator to cause the moving body to perform a desired operation and the road surface condition recognition device. Thus, a moving body system comprising an operation change command means for commanding the drive control means. In the information determining means, a roughness estimated value corresponding to the degree of unevenness of the road surface is further obtained from the change over time of the posture of the moving body ,
In the operation change command means, when the estimated hardness value is equal to or less than a predetermined threshold value, or when the estimated roughness value is equal to or greater than a predetermined threshold value, the moving body is moved backward and / or moved. 8. The moving body system according to claim 7, wherein the driving control means is instructed to reset the moving path of the body. In the information determining means, a roughness estimated value corresponding to the degree of unevenness of the road surface is further obtained from the change over time of the posture of the moving body,
And in the operation change command means, wherein to change the moving speed of the moving object according to the size of the roughness estimates, moving body in accordance with claim 7 Symbol mounting, characterized in that the command to the drive control means system.

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