JP6823147B1 - Mobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a configuration capable of overcoming a step in a moving body provided with wheels without reducing the traveling efficiency of a flat road surface. SOLUTION: A moving body 1 provided with wheels 20 has a camera 31 as a step information acquisition unit for acquiring step information indicating the presence or absence of a step, an extension position extending to the outside of the wheels 20, and the inside of an outer end of the wheels 20. The expansion / contraction mechanism 50 having a plurality of expansion / contraction members 70 that can move between the standby positions located in the above, and the control unit 30 that controls switching the position of the expansion / contraction member 70 to the extension position or the standby position based on the step information. Be prepared. [Selection diagram] Fig. 3

Description

The present invention relates to a moving body including wheels.

Conventionally, a moving body having wheels has been known to have a function of overcoming a step. Non-Patent Document 1 describes this type of technology. Non-Patent Document 1 describes a wheelchair technique capable of overcoming a step having a predetermined height by an elastic member having a length exceeding the outer diameter of the wheel.

Ren-Chung Soong, Sun-Li Wu and Jui-Min Lee, “An Electric Wheelchair with Function of Climbing up and down a Step” Applied Mechanics and Materials Vols. 479-480 (2014) pp 304-308

In the structure described in Non-Patent Document 1, although it is possible to get over a step having a predetermined height, the elastic member comes into contact with the road surface when traveling on a flat road surface without a step, and resistance to the traveling is generated. It ends up. There was room for improvement in terms of running efficiently on flat roads.

An object of the present invention is to provide a structure in which a moving body provided with wheels can overcome a step without reducing the traveling efficiency of a flat road surface.

The moving body including the wheel of one aspect of the present invention has a step information acquisition unit that acquires step information indicating the presence or absence of a step, an extension position extending to the outside of the wheel, and a standby located inside the outer end of the wheel. It includes an expansion / contraction mechanism having a plurality of expansion / contraction members that can move between positions, and a control unit that controls switching the position of the expansion / contraction member to the extension position or the standby position based on the step information.

According to the moving body provided with the wheels of the present invention, it is possible to overcome a step without reducing the traveling efficiency of a flat road surface.

It is a side view which shows the state of the normal traveling of the robot which concerns on one Embodiment of this invention. It is a side view which shows the state of going up the stairs of the robot which concerns on one Embodiment of this invention. It is a perspective view which shows the state of going up the stairs of the robot which concerns on one Embodiment of this invention. It is a functional block diagram of the robot which concerns on one Embodiment of this invention. It is an enlarged side view which shows the wheel and branch mechanism of the robot which concerns on one Embodiment of this invention. FIG. 5 is a sectional view taken along line AA of FIG. 5 showing a wheel and a branch mechanism of a robot according to an embodiment of the present invention. It is an exploded perspective view which shows the wheel and a branch mechanism of the robot which concerns on one Embodiment of this invention. It is sectional drawing which shows the internal state at the time of unlocking of the branch mechanism of the robot which concerns on one Embodiment of this invention. FIG. 8 is a cross-sectional view taken along the line BB of FIG. 8 showing an internal state when the branch mechanism of the robot according to the embodiment of the present invention is unlocked. It is sectional drawing which shows the internal state at the time of locking of the branch mechanism of the robot which concerns on one Embodiment of this invention. FIG. 5 is a sectional view taken along line CC of FIG. 10 showing an internal state of a robot branch mechanism according to an embodiment of the present invention when locked. It is a flowchart which shows an example of the control of the robot which concerns on one Embodiment of this invention. It is a top view which shows typically how the robot which concerns on one Embodiment of this invention goes up a spiral staircase.

Hereinafter, non-limiting exemplary embodiments of the present invention will be described with reference to the drawings. 1 to 3 show a robot 1 as a moving body according to the present embodiment.

FIG. 1 shows a robot 1 that normally travels on a flat road surface 200, and FIGS. 2 and 3 show a robot 1 that climbs stairs 201. Hereinafter, the robot 1 when performing normal traveling may be described as the robot 1 in the normal mode, and the robot 1 climbing the stairs may be described as the robot 1 in the step mode.

First, the overall configuration of the robot 1 will be described. As shown in FIGS. 1 to 3, the robot 1 of the present embodiment includes a main body 11 in which electronic components such as a control device 30 are built, a frame 12 attached to the main body 11, and a plurality of robots supported by the frame 12. Wheels 20 and a branch mechanism 50 arranged for each wheel 20 are provided.

The main body 11 contains various electronic components such as a battery, a gyro sensor, a GPS, etc., in addition to a control device 30 that controls various functions and operations of the robot 1.

The frame 12 supports the main body 11. A wheel 20, a branch mechanism 50, and the like are attached to the frame 12. A total of four wheels 20 are arranged on the front, rear, left and right sides of the frame 12.

The branch mechanism 50 is a mechanism for ascending and descending stairs. The branch mechanism 50 switches the traveling mode of the robot 1 from the normal mode to the step mode or from the step mode to the normal mode.

FIG. 4 shows a part of the electrical configuration included in the robot 1. As shown in FIG. 4, the control device 30 includes a camera 31 that functions as a detection unit, a plurality of motors 90 arranged for each of the plurality of wheels 20, and a plurality of actuators arranged for each of the plurality of branch mechanisms 50. 100 and are electrically connected.

The control device 30 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage unit, an input / output interface, a communication unit, an external storage device, and the like. The CPU executes various processes for controlling the robot 1 according to the program recorded in the ROM or the program loaded from the storage unit into the RAM. The storage unit is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various types of information. The input / output interface is an output unit that is composed of a touch panel such as a liquid crystal display, an input unit such as an operation button, and various hardware such as a speaker, and outputs various information. The communication unit controls communication with other devices such as a user terminal via a network including the Internet. The configuration of the control device 30 described above is an example, and is not particularly limited to the configuration.

The camera 31 acquires an image or a moving image. The control device 30 performs various processes for detecting obstacles and the like and determining the traveling direction based on the image acquired by the camera 31.

The rotation speed and rotation direction of the motor 90 can be adjusted, and the rotation control is performed by the control device 30. A motor 90 as a drive unit is arranged on each of the four wheels 20, and the control device 30 can perform different rotation control for each wheel 20. The motor 90 of this embodiment is held by the frame 12.

The actuator 100 is a drive unit that drives the branch mechanism 50. The actuator 100 of this embodiment is an electromagnetic solenoid, and the control device 30 is driven and controlled. The actuator 100 of this embodiment is held by the frame 12.

Next, a mechanism for driving the wheels 20 included in the robot 1 of the present embodiment will be described. 5 and 6 show the wheel 20 and the branch mechanism 50 in the step mode. FIG. 7 shows each component for driving the wheel 20 and the branch mechanism 50.

A shaft 94 is connected to the output shaft 91 of the motor 90 via a coupling 92. The shaft 94 is rotatably supported via a bearing 93 fixed to the frame 12.

Assuming that the end of the shaft 94 on the side to which the motor 90 is connected is the inner end and the end on the side opposite to the side to which the motor 90 is connected is the outer end, the branch mechanism 50 is on the outer side of the motor 90. Connected to the end. The branch mechanism 50 rotates integrally with the shaft 94. In the following description, the case of simply inside may be described as the side of the motor 90 in the left-right direction of the robot 1, and the case of the outside may be described as the side away from the robot 1. The side away from the robot 1 referred to here is also the side opposite to the motor 90 side in the left-right direction of the robot 1 with respect to the position of the wheel 20.

The wheel 20 is attached to the shaft 94 via a bearing 22. Therefore, the wheel 20 has a structure that can rotate with respect to the shaft 94. In the present embodiment, the driving force of the motor 90 is transmitted to the wheels 20 via the clutch mechanism 95 arranged for each wheel 20.

As shown in FIG. 7, the clutch mechanism 95 of the present embodiment includes a connecting portion 101 connected to the actuator 100, a pressing portion 102 interlocked with the linear movement of the connecting portion 101, a synchronous gear 103, and gear fixing. A portion 104, a branch gear 110, and a wheel gear 21 are provided.

The connecting portion 101 operates linearly by driving the actuator 100. A pressing portion 102 is connected to the tip of the connecting portion 101, and the pressing portion 102 moves integrally with the connecting portion 101. The connecting portion 101 of the present embodiment is configured such that the surface connected to the pressing portion 102 is relatively larger than the connecting surface connected to the actuator 100.

The pressing portion 102 includes a rod-shaped portion 102a to which the connecting portion 101 is connected, and a ring portion 102b formed at the tip of the rod-shaped portion 102a. The inner diameter of the ring portion 102b is formed to be larger than the outer diameter of the shaft 94, and the shaft 94 is inserted through the hole of the ring portion 102b. The diameter of the ring portion 102b is sized according to the shape of the synchronous gear 103, and the driving force of the actuator 100 is transmitted to the synchronous gear 103 via the ring portion 102b.

The synchronous gear 103 includes internal teeth 103a, external teeth 103b, and a connecting portion 103c. The inner tooth 103a is a portion that meshes with the branch gear 110, and the outer tooth 103b is a portion that meshes with the wheel gear 21. The connecting portion 103c is an inner portion of the synchronous gear 103 and is a portion that comes into contact with the ring portion 102b.

The gear fixing portion 104 is a member for connecting the pressing portion 102 and the synchronous gear 103. With the pressing portion 102 sandwiched between the gear fixing portion 104 and the synchronous gear 103, the pressing portion 102, the synchronous gear 103, and the gear fixing portion 104 are connected by a fastening member such as a screw.

The branch gear 110 is fixed to the shaft 24. The branch gear 110 is a columnar external tooth gear that is long in the left-right direction. In the present embodiment, the length of the branch gear 110 in the left-right direction is set so that the meshing of the internal teeth 103a of the branch gear 110 and the synchronous gear 103 is maintained even when the synchronous gear 103 is moved by the actuator 100. It is configured to be longer than the length of the internal teeth 103a of 103 in the left-right direction. As a result, the internal teeth 103a of the branch gear 110 and the synchronous gear 103 are in a state of meshing in both the normal mode and the step mode.

The wheel gear 21 is fixed to the inner surface of the wheel 20. The wheel gear 21 is a ring-shaped internal tooth gear. When the wheel gear 21 meshes with the external teeth 103b of the synchronous gear 103, the rotation of the shaft 24 and the rotation of the wheel 20 are synchronized.

The external teeth 103b of the wheel gear 21 and the synchronous gear 103 are switched between the synchronous state and the asynchronous state by the operation of the actuator 100. The synchronous state corresponds to the normal mode, and the asynchronous state corresponds to the step mode.

In the present embodiment, the wheel gear 21 and the external teeth 103b of the synchronization gear 103 are in a synchronized state in which the pressing portion 102 is moved outward by the actuator 100. Further, the actuator 100 disengages the wheel gear 21 and the external teeth 103b of the synchronous gear 103 in a state where the pressing portion 102 is moved inward, so that the state becomes asynchronous.

Next, the configuration of the branch mechanism 50 will be described. As shown in FIGS. 5 to 7, the branch mechanism 50 is fixed to the shaft 24 on the outside of the wheel 20. The branch mechanism 50 of the present embodiment rotates integrally with the shaft 24.

The branch mechanism 50 is arranged in each of a plurality of branches 70 extending in the radial direction and at equal intervals in the circumferential direction, a coil spring 71 arranged in each of the plurality of branches 70, and each of the plurality of branches 70. It includes a branch support portion 80 and a connecting portion 75 having a mechanism for holding the position of the branch 70.

The branch 70 is configured to be linearly movable in the radial direction. The radial direction referred to here is the radial direction when the center of rotation of the wheel 20 is the center of the circle. The position of the branch 70 is changed depending on the traveling mode of the robot 1.

As shown in FIG. 1, when the robot 1 is in the normal mode, the tip end portion of the branch 70 is located radially inside the outer peripheral surface (outer end) of the wheel 20. In the following description, this state is set as the standby position of the branch 70. In the state where the branch 70 is in the standby position, the branch 70 is not installed on the ground even if the wheel 20 and the branch mechanism 50 rotate integrally.

Similarly, as shown in FIGS. 2 and 3, when the robot 1 is in the step mode, the tip end portion of the branch 70 is located radially outside the outer peripheral surface (outer end) of the wheel 20. This state is defined as the extension position of the branch 70. When the branch 70 is in the extended position, when the branch mechanism 50 rotates, the branch 70 always comes into contact with the ground.

The coil spring 71 urges the branch 70 in the direction of moving from the standby position to the extension position. Therefore, the branch 70 moves to the extension position in a state where the regulation by the lock mechanism 81 described later or the pushing force does not act.

The branch support 80 guides the moving direction of the branch 70. The branch support portion 80 causes the branch 70 to move along the radial direction.

The base end portion of the branch 70 in the standby position is inserted into the connecting portion 75. A mechanism for the connecting portion 75 to fix the branch 70 in the standby position will be described. 8 and 9 show the inside of the branch mechanism 50 when the lock is released. It is assumed that FIGS. 8 and 9 show the branch 70 in the standby position before shifting to the extension position at the time of unlocking.

An engaging groove 76 is formed in a portion of the branch 70 of the present embodiment that fits in the connecting portion 75. The engaging groove 76 is a portion having an outer diameter smaller than the outer peripheral surface of the branch 70. The engagement groove 76 is used to fix the branch 70 at the standby position.

The lock mechanism 81 that realizes the fixing of the branch 70 at the standby position is arranged inside the connecting portion 75. The lock mechanism 81 of the present embodiment includes a casing 82, an operating portion 83, a holding portion 84, and a spherical portion 85.

The casing 82 holds each component of the lock mechanism 81. The operation unit 83 is an interlocking member that interlocks with the operation of the actuator 100. The operating unit 83 has a portion (not shown) mechanically connected to the actuator 100, and operates in conjunction with the operation of the actuator 100 via the portion.

The holding portion 84 is a member that holds the spherical portion 85 that engages with the engaging groove 76 of the branch 70. The number of spherical portions 85 may be at least one, but in some cases, a plurality of spherical portions 85 may be arranged. In the state of being unlocked by the lock mechanism 81, the spherical portion 85 is not engaged with the engaging groove 76. Due to the urging by the coil spring 71, the branch 70 moves toward the extension position as shown by the arrow in FIG.

10 and 11 show the inside of the branch mechanism 50 when it is locked. When the actuator 100 moves to the synchronous position, the operating portion 83 linked to the operation of the actuator 100 moves outward, and the spherical portion 85 held by the holding portion 84 is pushed toward the engaging groove 76. As a result, the branch 70 is locked in the standby position.

Even if the operating portion 83 moves to the locked position while the branch 70 is in the extended position, when the branch 70 comes into contact with the ground, the branch 70 is pushed back from the extended position to the standby position by a reaction force. At this time, the branch 70 moves to the standby position over the spherical portion 85 in the process of movement, and when the engaging groove 76 reaches the position of the spherical portion 85, the spherical portion 85 engages with the engaging groove 76. And be locked.

Next, an example of control of the robot 1 will be described with reference to FIG. As shown in FIG. 13, when the robot 1 is activated, the running in the normal mode S101 of step S101 is started.

In step S102, it is detected whether or not there is a step. Various methods can be adopted as the method for determining the step based on the step information in step S102. For example, the control device 30 may determine the presence or absence of a step based on the image acquired by the camera 31 or the image information obtained by processing the image. In this case, a reference height for determining that there is a step may be set in advance, and the presence or absence of the step may be determined by comparing the acquired image with the reference height. A height exceeding 70% of the radius of the wheel 20 may be set as the reference height.

In the determination in step S102, the current value or torque of the motor 90 may be monitored, and the control device 30 may determine that there is a step when the pattern matches a preset abnormality pattern. For example, when the wheel 20 is in contact with the step, the current value of the motor 90 that drives the wheel 20 changes so as to show a pattern different from the usual one. Therefore, when the current value exceeds a predetermined threshold value, the control device 30 may be configured to determine that there is a step. Alternatively, when the wheel 20 is in contact with the step as in the current value, the torque also shows a pattern different from the normal one. Therefore, in the determination in step S102, the torque sensor is arranged on the shaft 24 or the like, and the control device 30 is used. It may be configured to monitor the torque of the torque sensor. In this case, the control device 30 determines that there is a step when the torque of the torque sensor falls within a preset threshold value.

In step S102, the step information is continuously monitored while it is determined that there is no step. If it is determined in step S102 that there is a step, the process proceeds to step S103.

In step S103, the transition to the step mode is performed. The control device 30 controls the actuator 100, puts the clutch mechanism 95 in an asynchronous state, and releases the lock mechanism 81 of the branch mechanism 50. As a result, the wheels 20 and the shaft 24 are released from synchronization, and the branch 70 is moved from the standby position to the extension position.

In the step mode, the branch mechanism 50 rotates together with the shaft 24 in a state where the plurality of branches 70 extend outward from the outer diameter of the wheel 20. In this state, since the wheel 20 is not synchronized with the rotation of the shaft 24, the grip force of the branch 70 can be efficiently transmitted to the ground (step surface) to overcome the step. In this step mode, the rotation control of the motor 90 may be adjusted based on the current or torque of the motor 90 described above. Although the robot 1 of the present embodiment has four wheels, the rotation control of all four wheels and the control of the corresponding branch mechanism 50 do not have to be the same control. For example, the timing at which the branch 70 of the branch mechanism 50 corresponding to the wheel 20 located on the front side is set to the extension position, whereas the branch 70 of the branch mechanism 50 corresponding to the wheel 20 located on the rear side is set at the extension position. Can also be delayed. As a result, the step can be overcome more smoothly by utilizing the torque of the rear wheel 20.

In step S104, it is determined whether or not the step is completed. Whether or not the step is completed is determined based on the image information of the camera 31 or the current value, torque, or the like acquired by the control device 30, as in the case of detecting the existence of the step. The step mode is continued until it is determined in step S104 that the step is completed. When it is determined in step S104 that the step is completed, the process returns to step S101, and the robot 1 shifts to the normal mode. That is, the telescopic member 70 is locked in the standby position by the lock mechanism 81, and the wheel 20 and the branch mechanism 50 are switched to the synchronized state by the clutch mechanism 95. After that, the processing after step S102 is continued until the stop command of the robot 1 is issued.

Next, an example of control when the robot 1 climbs the spiral staircase 202 will be described with reference to FIG. As shown in FIG. 13, when the robot 1 climbs the spiral staircase 202, the robot 1 needs to overcome the step while bending in a plan view.

The control device 30 of the present embodiment controls the rotation of the left and right motors 90 based on the inner ring difference. In the step mode, the branch mechanism 50 is rotated by the driving force of the motor 90, so that the rotation control of the branch mechanism 50 is executed based on the inner ring difference. For example, it is possible to control the rotation speed of the branch mechanism 50 located on the opposite side in the left-right direction with respect to the rotation speed of the branch mechanism 50 located on the side that bends in the left-right direction. Therefore, even when it is necessary to move the step diagonally as in the spiral staircase 202, the robot 1 of the present embodiment can smoothly overcome the step.

Further, although the robot 1 of the present embodiment is traveling on four wheels, it is not necessary to match the rotation control of the branch mechanism 50 corresponding to the rear wheels 20 with the rotation control of the front branch mechanism 50. The rotation control of the branch mechanism 50 can be individually performed according to the front-rear position. In this way, the rotation control of each branch mechanism 50 performed by the control device 30 through the control of the motor 90 can be different depending on the position and situation of the branch mechanism 50.

As is clear from the above description, each embodiment of the present invention has an advantageous effect due to the following configurations.

The moving body (1) including the wheels (20) according to the embodiment of the present invention extends to the outside of the wheels (20) together with the camera (31) or the control unit (30) that acquires the step information indicating the presence or absence of the step. An expansion / contraction mechanism (50) having a plurality of expansion / contraction members (70) that can move between an extension position and a standby position located inside the outer end of the wheel (20), and an expansion / contraction member (70) based on step information. A control unit (30) that controls switching the position to the extension position or the standby position is provided. As a result, it is possible to travel on the flat road surface 200 with the telescopic member (70) in the standby position in the normal state, and the telescopic member (70) can be moved to the extended position only when climbing the stairs 201. .. Since it is possible to prevent the expansion / contraction member (70) from coming into contact with the road surface during normal traveling, it is possible to prevent a decrease in traveling efficiency due to having a function of climbing stairs.

Further, in the moving body (1) according to the embodiment of the present invention, the wheel (20) is integrally rotated with the telescopic mechanism (50), and the wheel (20) is integrally with the telescopic mechanism (50). A clutch mechanism (95) for switching between a non-rotating asynchronous state and a non-rotating state is further provided. As a result, when climbing a step, the driving force can be transmitted only to the expansion / contraction mechanism (50), so that the expansion / contraction member (70) can be brought into contact with the upper part of the step without slipping of the wheels (20). it can. Since the high grip force of the telescopic member (70) can be realized, the operation of climbing a step can be made smoother.

Further, the control unit (30) provided in the moving body (1) according to the embodiment of the present invention switches the position of the telescopic member (70) to the extension position and asynchronously synchronizes the clutch mechanism (95) when there is a step. Control to state. As a result, it is possible to shift to the asynchronous state without performing a special operation, so that the moving body (1) can climb the step without bothering the user.

Further, the moving body (1) according to the embodiment of the present invention includes a first gear (110) in which the clutch mechanism (95) is fixed to the axle (24) to which the driving force of the driving unit (90) is transmitted. , The second gear (21) fixed to the wheel 20 and the synchronous position where both the first gear (110) and the second gear (21) are engaged and the second gear (21) is engaged with the first gear (110). Has a synchronous gear (103) that can move between asynchronous positions that do not mesh with each other, and an actuator (100) that changes the position of the synchronous gear (103) to a synchronous position or an asynchronous position. As a result, by using a plurality of gears, it is possible to realize a configuration in which the switching operation between the synchronous position and the asynchronous position is surely and quickly performed with a simple configuration.

Further, the moving body (1) according to the embodiment of the present invention further includes an image pickup unit (31) for acquiring an image, and the control unit (30) has step information from the image information acquired by the image pickup unit (31). To get. As a result, the step information can be acquired by using the image information of the imaging unit (31), so that the position of the telescopic member (70) is based on the step that actually exists even if there is no data indicating the point where the step exists. Can be changed.

Further, the control unit (30) included in the moving body (1) according to the embodiment of the present invention obtains step information from the current value of the drive unit (90) for driving the wheel (20) or the torque applied to the wheel (20). get. As a result, even when there is no sensor device such as a visual sensor such as an imaging unit (31) or a contact sensor, or when the visual sensor or contact sensor does not function, it is possible to detect a step and switch the traveling mode. ..

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention. is there.

In the above embodiment, the example in which the lock mechanism 81 is interlocked with the actuator 100 has been described, but the lock mechanism 81 may be provided independently of the actuator 100. For example, a lock mechanism that operates by receiving an electric signal may be arranged inside the connecting portion 75. In this case, the branch 70 can be moved from the standby position to the extension position at a timing different from the operation timing of the actuator 100, such as unlocking the lock mechanism 81 after the actuator 100 operates in the asynchronous position. As described above, the configurations of the lock mechanism 81, the branch mechanism 50, and the clutch mechanism 95 can be appropriately changed depending on the circumstances.

In the above embodiment, the camera 31 that acquires image information and the control device 30 that monitors the current or torque of the motor 90 have been described as an example of the step information acquisition unit, but the configuration of the step information acquisition unit is limited to this configuration. Do not mean. For example, the signal received by the robot 1 from the external device may be used as the step information.

In the above embodiment, the robot 1 traveling on four wheels has been described as an example of a moving body, but the robot 1 is not limited to the robot traveling on four wheels. Further, the present invention can be applied to the wheels of a vehicle or a wheelchair on which a person is boarding. In the case of a vehicle or a wheelchair on which a person is boarding, an operation unit capable of transmitting step information may be arranged, and the step information may be transmitted to the control unit by the operation unit.

1 Robot (mobile body)
20 wheels 21 wheel gear (second gear)
24 shaft (axle)
30 Control device (control unit, step information acquisition unit)
31 Camera (step information acquisition unit)
50 branch mechanism (expansion and contraction mechanism)
70 branches (expandable member)
90 motor (drive unit)
95 Clutch mechanism 100 Actuator 103 Synchronous gear 110 Branch gear (1st gear)

Claims (5)

A mobile body with wheels
A step information acquisition unit that acquires step information indicating the presence or absence of a step,
An expansion / contraction mechanism having a plurality of expansion / contraction members that can move between an extension position extending to the outside of the wheel and a standby position located inside the outer end of the wheel.
A control unit that controls switching the position of the telescopic member to the extension position or the standby position based on the step information.
A clutch mechanism that switches between a synchronous state in which the wheels rotate integrally with the telescopic mechanism and an asynchronous state in which the wheels do not rotate integrally with the telescopic mechanism.
A mobile body equipped with. The control unit
The moving body according to claim 1 , wherein when there is a step, the position of the telescopic member is switched to the extension position and the clutch mechanism is controlled to the asynchronous state. The clutch mechanism is
The first gear fixed to the axle to which the driving force of the driving unit is transmitted,
The second gear fixed to the wheel and
A synchronous gear that can move between a synchronous position that meshes with both the first gear and the second gear and an asynchronous position that meshes with the first gear but does not mesh with the second gear.
The moving body according to claim 1 or 2 , further comprising an actuator that changes the position of the synchronous gear to the synchronous position or the asynchronous position. It also has an imaging unit that acquires images.
The moving body according to any one of claims 1 to 3 , wherein the control unit acquires the step information from the image information acquired by the imaging unit. The moving body according to any one of claims 1 to 3 , wherein the control unit acquires step information from the current value of the drive unit that drives the wheels or the torque applied to the wheels.

Images