KR20240024662A - Apparatus and method for performing control to maintain a horizontal posture of a four-wheel drive driving robot - Google Patents

Abstract

A control device is provided. The control device includes a first acquisition unit that acquires first information related to the inclination of the body portion disposed facing the ground; When a moving part connected to the moving body in contact with the ground and installed in the body to be movable along an adjustment direction inclined to the traveling direction of the body is provided, a second part related to the adjustment movement of the moving part moving along the adjustment direction a second acquisition unit that acquires information; and a control unit configured to control the adjustment movement of a plurality of moving units installed in the body unit, wherein the control unit can maintain a horizontal posture of the body unit through control of the adjustment movement targeting each moving unit.

Description

Apparatus and method for performing control to maintain a horizontal posture of a four-wheel drive driving robot}

The present invention relates to an apparatus and method for maintaining the horizontal posture of a four-wheel drive robot.

A four-wheeled driving platform can be provided for driving on rough terrain such as agricultural and mountainous areas and transporting cargo.

For platforms that run in rough environments such as farmland and mountains, it is necessary to implement a rollover prevention function and an escape function by shifting the center of gravity when the platform wheels sink into the ground. Through this, the platform running on rough terrain can prevent overturning and stable transport of cargo.

Korean Patent Publication No. 1993995 discloses a technology that allows agricultural implements, including tractors, to maintain a horizontal state even on slopes using hydraulic cylinders.

Korean Patent Publication No. 1993995

The present invention is intended to provide a control device and method for achieving a horizontal posture of a body traveling along the ground by controlling the height of the wheels.

The control device of the present invention includes a first acquisition unit that acquires first information related to the inclination of the body portion disposed facing the ground; When a moving part connected to the moving body in contact with the ground and installed in the body to be movable along an adjustment direction inclined to the traveling direction of the body is provided, a second part related to the adjustment movement of the moving part moving along the adjustment direction a second acquisition unit that acquires information; It may include a control unit that controls the adjustment movement of the moving units installed in plurality on the body.

The controller may maintain the horizontal posture of the body portion through control of the adjustment movement targeting each moving portion.

The control method of the present invention includes a first acquisition step of acquiring first information related to the inclination of a body portion disposed facing the ground; When a moving part is provided that is connected to a moving body in contact with the ground and installed in the body so as to be movable along an adjustment direction inclined to the traveling direction of the body, second information related to the adjustment movement of the moving part with respect to the body. A second acquisition step of acquiring; A control step of controlling the adjustment movement of the plurality of moving units installed on the body whenever the body is tilted.

The control step may maintain the horizontal posture of the body portion through control of the adjustment movement.

The control step is performed whenever any one of the plurality of moving parts is determined to be approaching a physical movement boundary in the adjustment direction in the process of maintaining the current horizontal posture, and a new horizontal posture having a different height from the current horizontal posture is performed. You can set your posture.

In the control step, if the approach of the mobile unit to the movement boundary is achieved through a descent of the mobile unit, the height of the other horizontal posture may be set to be lower than the current horizontal posture.

In the control step, the approach of the movable unit to the movement boundary is achieved by raising the movable unit, and the height of the other horizontal posture can be set to be higher than the current horizontal posture.

The control step may control the adjustment movement of each moving part so that the different horizontal postures are achieved.

According to the present invention, a hardware configuration and implementation method of a posture control device that drives in a direction perpendicular to each wheel axis can be provided. This enables stable operation of four-wheeled robots and platforms in various rough environments and prevents the cargo from tipping over.

An IMU (Inertial Measurement Unit) sensor capable of sensing roll, pitch, and angle may be provided at the center of the body of the robot or traveling body.

A posture maintenance device (corresponding to the moving part) whose length is variable in the vertical direction connected to each wheel, and a limit sensor that informs the position of the body when it is maximally raised or lowered in the vertical direction (when physical variation is no longer possible) (limit sensor) may be provided.

The control unit that controls the horizontal posture of the body portion can maintain the horizontal posture of the body portion by raising or lowering the posture maintaining device of each wheel axis in the vertical direction based on detection signals from the IMU sensor and limit sensor. At this time, the control unit can calculate the direction and amount of movement for raising/lowering each wheel axle and perform position and rotation speed control (RPM control) of each motor.

1 is a schematic diagram showing the control device of the present invention.
Figure 2 is a schematic diagram showing a traveling body on which a control device is installed.
Figure 3 is a schematic diagram showing the adjustment movement of the traveling body.
Figure 4 is a schematic diagram showing a state in which a traveling body is tilted due to a change in the ground.
Figure 5 is a schematic diagram showing the operation of a control device to eliminate tilt of the traveling body.
Figure 6 is a schematic diagram showing control factors for resolving the tilt of the traveling body.
Figure 7 is a schematic diagram showing another control operation of the control device for the traveling body.
Figure 8 is a flowchart showing the operation of the control device.
9 is a flowchart showing other operations of the control device.
Figure 10 is a schematic diagram showing the calculation formula for resolving the tilt of the traveling body.
Figure 11 is a schematic diagram showing an operation formula for controlling the adjustment movement of the traveling body.
Figure 12 is a flowchart showing the control method of the present invention.
13 is a diagram illustrating a computing device according to an embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

In this specification, duplicate descriptions of the same components are omitted.

Also, in this specification, when a component is mentioned as being 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but may be connected to the other component in the middle. It should be understood that may exist. On the other hand, in this specification, when it is mentioned that a component is 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

Additionally, the terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention.

Also, in this specification, singular expressions may include plural expressions, unless the context clearly dictates otherwise.

In addition, in this specification, terms such as 'include' or 'have' are only intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and one or more It should be understood that this does not exclude in advance the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of the plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Additionally, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

Figure 1 is a schematic diagram showing the control device 100 of the present invention. Figure 2 is a schematic diagram showing a traveling body on which the control device 100 is installed. Figure 3 is a schematic diagram showing the adjustment movement of the traveling body. Figure 4 is a schematic diagram showing a state in which a traveling body is tilted due to a change in the ground. Figure 5 is a schematic diagram showing the operation of the control device 100 to eliminate tilt of the traveling body. Figure 6 is a schematic diagram showing control factors for resolving the tilt of the traveling body. Figure 7 is a schematic diagram showing another control operation of the control device 100 for the traveling body. Figure 8 is a flowchart showing the operation of the control device 100. Figure 9 is a flowchart showing other operations of the control device 100. Figure 10 is a schematic diagram showing the calculation formula for resolving the tilt of the traveling body. Figure 11 is a schematic diagram showing an operation formula for controlling the adjustment movement of the traveling body.

The control device 100 shown in FIG. 1 may include a first acquisition unit 110, a second acquisition unit 120, and a control unit 130. The control device 100 can control a traveling body or robot that moves or travels along the traveling direction u.

The first acquisition unit 110 may acquire first information related to the inclination of the body portion 90 arranged to face the ground g.

As an example, the first acquisition unit 110 may communicate wired or wirelessly with a first sensor 30 capable of detecting the inclination of the body 90, for example, an IMU (Inertial Measurement Unit) sensor. The first acquisition unit 110 may acquire first information from the first sensor 30 . The first information may include roll and pitch information of the body portion 90. In order for the first information to indicate the inclination of the body 90, the first sensor 30 is preferably installed at the center of the body 90, as shown in FIG. 2.

The body portion 90 may be formed in a plate or cylinder shape.

A moving part 20 installed on the body part 90 may be provided.

The moving unit 20 may be connected to a moving body 10 in contact with the ground, for example, a wheel or an endless track. The moving unit 20 may be installed in the body 90 to be movable along an adjustment direction h inclined to the traveling direction u of the body 90 . As an example, the adjustment direction h may be perpendicular to the ground or parallel to the direction of gravity. In a state where there is no tilt, the traveling direction u and the control direction h may have a vertical relationship.

The body part 90 can be moved along the traveling direction u by the moving part 20.

The second acquisition unit 120 may acquire second information related to the adjustment movement of the moving unit 20 moving along the adjustment direction h. The second information includes at least one of the distance moved by the moving unit 20 along the adjustment direction h, a direction indicating whether it moves forward or reverse along the adjustment direction h, and whether the set position has been reached in the adjustment direction h. may be included. As an example, the downward direction along the control direction h may be defined as the forward direction. The reverse direction may mean the opposite direction of the forward direction. In the case of the above example, the direction of adjustment upward along h may be defined as the reverse direction.

The second acquisition unit 120 may communicate wired or wirelessly with the second sensor 50 that detects the movement of the moving unit 20 moving along the adjustment direction, that is, the adjustment movement. The second acquisition unit 120 may acquire second information from the second sensor 50 . For example, as shown in FIG. 3, the moving unit 20 may include a cylinder having an axis that expands and contracts along the adjustment direction. A limit sensor may be provided on the corresponding axis. A first limit sensor 51 may be installed on one end of the shaft, and a second limit sensor 52 may be installed on the other end of the shaft.

In Figure 3, forward movement may represent movement along the direction of gravity. In FIG. 3 , reverse movement may indicate that the moving unit 20 moves in a direction opposite to gravity.

For example, the first limit sensor 51 may be installed at the lower end of the shaft in the direction of gravity. The second limit sensor 52 may be installed at the upper end of the shaft in the direction of gravity.

The first limit sensor 51 can detect forward movement of the moving unit 20. Alternatively, the first limit sensor 51 may detect that the moving unit 20 moving in the forward direction has reached the first set position.

The second limit sensor 52 can detect reverse movement of the moving unit 20. Alternatively, the second limit sensor 52 may detect that the moving unit 20 moving in the reverse direction has reached the second set position.

The control unit 130 may control the movement of a plurality of moving units 20 installed on the body 90.

The control unit 130 can maintain the horizontal posture of the body unit 90 by controlling the movement of each moving unit 20.

The control unit 130 may primarily control the moving unit 20 so that the tilt of the body unit 90 is resolved.

If the adjusted movement of the moving unit 20 satisfies the set value due to the primary control, the control unit 130 may perform secondary control of the moving unit 20.

The control unit 130 may thirdly control the moving part 20 to eliminate the new tilt caused by the secondarily controlled moving part 20.

The target of tertiary control may be selected from the remaining moving parts 20 excluding the specific moving part 20 that is secondaryly controlled.

It is recommended that the body portion 90 maintain a horizontal posture in order to minimize shaking of the loaded load, improve the feeling of operation when performing various tasks, and improve work efficiency. At this time, it is good that the altitude or height of the body portion 90 is also maintained constant. Here, the height may be based on the ground or the body portion 90.

Even in a horizontal position, if the body 90 moves up and down, the load may shake or the feeling of operation of the body 90 may deteriorate.

Primary control can be performed within a range where the altitude or height of the body portion 90 does not change. During primary control, there may be situations where primary control is physically impossible. To overcome physical limitations, the controller 130 may perform height control to change the altitude or height of the moving unit 20.

Height control can be performed in a variety of ways. As an example, height control may be performed through secondary control and tertiary control. When the altitude is changed to a different value due to height control, the control unit 130 may perform new primary control within a range in which the newly changed altitude is maintained at the different value.

The body portion 90 may be provided with a plurality of moving portions, for example, four moving portions 20 to maintain balance.

The secondary control performed by the control unit 130 may include control that prevents any one of the plurality of moving units 20 from performing an adjustment movement that is physically impossible. A specific moving unit 20 that attempts to perform a physically impossible control movement may be moving according to the existing primary control to maintain a horizontal posture. Therefore, according to the secondary control that prevents the physically impossible adjustment movement of the specific moving part 20, the primary control is interrupted and the horizontal posture of the body part 90 cannot be maintained. Instead of the specific moving part 20 whose primary control has been interrupted, the horizontal posture of the body part 90 can be maintained through adjustment and movement of the remaining moving parts 20 excluding the specific moving part 20.

The tertiary control performed by the control unit 130 can control and move the remaining moving parts 20 in place of the specific moving part 20 in which the primary control was interrupted.

The control unit 130 can maintain the horizontal posture of the body unit 90 through relative control movement of the plurality of moving units 20.

The control unit 130 may set limit positions a1 and a2 corresponding to positions before the controlled movement of the moving unit 20 reaches the physical movement boundary b1 or b2. For example, the first limit position a1 may correspond to the first set position detected by the first limit sensor 51. The second limit position a2 may correspond to the second set position detected by the second limit sensor 52.

The control unit 130 may adjust and move the first moving unit 20 in the first direction to maintain the first horizontal posture. The control at this time may correspond to primary control.

The control unit 130 may control the first moving part 20 to return when the limit position a1 or a2 is satisfied (reached) while the first moving part 20 is adjusting and moving in the first direction. The control at this time may correspond to secondary control.

Due to the secondary control, the first moving unit 20 that has satisfied the limit position a1 or a2 may be adjusted and moved in a second direction opposite to the first direction by the control unit 130. Since the limit position a1 or a2 is provided at a position before reaching the physical movement boundary line b1 or b2, according to the secondary control, the first moving part 20 returns to the opposite side before reaching the movement boundary line b1 or b2. . As a result, the first moving unit 20 can be free from physical shock generated when the moving unit 20 reaches the moving boundary line b1 or b2.

When it becomes impossible to achieve the first horizontal posture due to the specific moving portion 20 returning from the limited position in the second direction, the control unit 130 controls the moving portion to maintain a second horizontal posture at a different height from the first horizontal posture. 20) can be tertiarily controlled.

For example, the control unit 130 may maintain the body unit 90 in the second horizontal posture by moving the second moving unit 20 in the second direction. In other words, the control unit 130 may move the second moving unit 20 along the same direction as the reverse direction in which the first moving unit 20, which had reached the limit position, returns.

The second horizontal posture may have the same angle to the direction of gravity as compared to the first horizontal posture, but may have a different altitude or height.

The control unit 130 may set a limit range k for each moving unit 20 that is included within the physical movement boundary range m and is smaller than the boundary range m.

The control unit 130 may initially control the moving unit 20 to maintain the first horizontal posture at the first height d1, as shown in FIGS. 4 and 5.

When the first moving unit 20 corresponding to one of the plurality of moving units 20 is defined, the control unit 130 sets the first moving unit 20 to a limited range k in the process of maintaining the first horizontal posture. When the limit is reached, a second horizontal posture of a second height that can be achieved while positioning the first moving part 20 within the limit range k can be derived.

According to a comparative example, when the first moving unit 20 reaches the limit of the limit range k, the control unit 130 can derive a horizontal posture of height d2 including the limit of the limit range k, as shown in FIG. 7. . In this case, the first moving unit 20 may no longer be able to move further in a specific direction. If the control state is maintained in a state where further movement is not possible, problems such as immediate follow-up actions may be difficult.

When the first moving unit 20 reaches the limit of the limit range k through descent, the control unit 130 may set the second height lower than the first height.

When the first moving unit 20 reaches the limit of the limit range k through rising, the control unit 130 may set the second height to be higher than the first height.

The controller 130 may control the plurality of moving units 20 to maintain the second horizontal posture at the second height.

Meanwhile, the first moving unit 20 that has reached the limit of the limiting range k, that is, the limiting position a1 or a2, can be returned in the direction opposite to the direction from which it came by the control unit 130. At this time, the first moving unit 20 may be controlled to return to the center point o of the limit range k.

The above primary control, secondary control, and tertiary control may be performed on the pitch and roll of the body portion 90. As shown in FIG. 6, roll may refer to an inclination centered on a virtual axis extending along the traveling direction u of the body portion 90. Pitch extends along a direction perpendicular to the traveling direction u. This may mean a tilt with the virtual axis as the center of rotation.

The control device 100 of the present invention can provide a hardware configuration and control method for maintaining the horizontal posture of a ground-based four-wheeled driving platform that travels on rough terrain such as agricultural and mountaineering and transports cargo.

The platform may correspond to the moving vehicle or robot described above. An IMU sensor capable of sensing roll angle and pitch angle may be installed at the exact center of the platform. The platform includes a posture maintaining device (corresponding to the moving part 20) that is connected to each wheel (corresponding to the moving body 10) and variable in the vertical direction, when the platform rises or falls in the vertical direction at its maximum (physically no longer variable). (when this is not possible), a limit sensor may be provided to indicate the location. In plan, the first wheel (11) corresponds to the left front wheel, the second wheel (12) corresponds to the right front wheel, the third wheel (13) corresponds to the left rear wheel, and the fourth wheel (14) corresponds to the right rear wheel. can be prepared.

The control unit 130 maintains the horizontality of the main body by vertically raising or lowering the posture maintenance device of each of the four axes based on the IMU sensor and limit sensor signals. At this time, the operation direction and amount of movement for raising or lowering each axis are set. By calculating , the position and RPM (revolution per minute) control of each motor can be performed.

As shown in Figure 8, the posture control of the four-wheeled driving platform recognizes the tilt of the body portion 90 due to the expansion and contraction length of each wheel based on the IMU sensor, and determines the variable direction and variable amount of each axis based on the center of the platform. It may include a process of calculating and driving the posture control device 100 to vary the vertical axis.

However, the posture control drive shaft has structural limitations in the range in which it can vary up and down. Therefore, when the first limit sensor 51 and the second limit sensor 52 are placed at the top and bottom, respectively, and the limit sensor operates, the variable direction of each axis is based on the starting point where the limit sensor operates, not based on the center of the platform. Posture control can be operated by recalculating the and variable variables. The feedback control method in FIG. 8 is the same as the general driving method and responds immediately to the tilt, so it can be suitable for environments where the tilt changes quickly (when the platform speed is fast).

Unlike the control method in FIG. 8, the control method that combines feedforward and feedback control in FIG. 9 calculates the target position and RPM at the same time when the altitude change direction and amount of change for each axis are calculated, giving an approximate value of the target position. Up to 80~90% of the length can be feedforward controlled by high RPM driving, and the remaining 10~20% of the remaining length can be feedback controlled by low RPM.

This type of control method is advantageous for applications such as agricultural machines where the driving speed is slow or the posture control variable is large due to the severe curvature of the ground.

The calculation formula for calculating the altitude direction and change amount of each axis in FIGS. 8 and 9 is shown in FIG. 10. An explanation of the factors in FIG. 10 is shown in FIG. 6.

The vertical up and down movement (elevation movement) of each axis for attitude control is basically operated based on the exact center of the platform, which is based on the width and overall length of the platform (based on the wheel center and center) and the roll and pitch output from the IMU sensor. By applying the angle to the formula in FIG. 10, the vertical length and direction in which the moving part 20 must move can be obtained.

Based on the vertical length and direction obtained thereafter, the RPM and target position required when the attitude control altitude changes can be calculated.

When moving each axis vertically with horizontal attitude control, all axes must reach the horizontal at the same time, so the RPM of each axis can be calculated relative to the vertical length that must be moved.

When the limit sensor in FIGS. 8 and 9 operates, the calculation formula for calculating the altitude direction and change amount of each axis is shown in FIG. 11. An explanation of the factors of the formula shown in FIG. 11 is shown in FIG. 6.

When the vertical up/down movement (elevation movement) of each axis for posture control reaches the top or bottom of the vertical direction and physical changes are no longer possible, driving with the existing platform-centered control algorithm becomes impossible. Therefore, when the limit sensor operates, the variable amounts of the remaining three axes must be calculated based on the starting point and wheel of the activated limit sensor.

Since the center point of the wheel is the standard, calculations are made without dividing the total length and width, and the attitude control direction can be determined depending on whether the limit sensor is raised or lowered.

Figure 12 is a flowchart showing the control method of the present invention.

The control method of FIG. 12 may be performed by the control device 100 shown in FIG. 1.

The control method may include a first acquisition step (S 510), a second acquisition step (S 520), and a control step (S 530).

The first acquisition step (S510) may acquire first information related to the inclination of the body portion 90 disposed to face the ground. The first acquisition step (S510) may be performed by the first acquisition unit 110.

A moving part 20 may be provided that is connected to the moving body 10 in contact with the ground and installed on the body 90 to be able to move along an adjustment direction inclined to the traveling direction of the body 90. At this time, the second acquisition step (S520) may acquire second information related to the controlled movement of the moving part 20 with respect to the body part 90. The second acquisition step (S520) may be performed by the second acquisition unit 120.

The control step (S530) may control the adjustment movement of a plurality of moving units 20 installed on the body 90 whenever the body 90 is tilted. The control step (S530) may be performed by the control unit 130.

In the control step (S530), the horizontal posture of the body portion 90 can be maintained through control of the adjustment movement.

In the control step (S530), whenever it is determined that any one of the plurality of moving parts 20 is approaching the physical movement boundary in the control direction in the process of maintaining the current horizontal posture, it adjusts the height to a height different from the current horizontal posture. You can set different horizontal postures.

In the control step (S530), if the approach of the moving unit 20 to the moving boundary is made through the lowering of the moving unit 20, the height of the other horizontal posture may be set to be lower than the current horizontal posture.

In the control step (S530), the approach of the mobile unit 20 to the movement boundary is achieved through the elevation of the mobile unit 20, and the height of another horizontal posture can be set to be higher than the current horizontal posture.

The control step (S530) may control the adjustment movement of each moving unit 20 to achieve different horizontal postures.

13 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 13 may be a device described herein (e.g., control device 100, etc.).

In the embodiment of FIG. 13, the computing device TN100 may include at least one processor TN110, a transceiver device TN120, and a memory TN130. Additionally, the computing device TN100 may further include a storage device TN140, an input interface device TN150, an output interface device TN160, etc. Components included in the computing device TN100 may be connected by a bus TN170 and communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Processor TN110 may be configured to implement procedures, functions, and methods described in connection with embodiments of the present invention. The processor TN110 may control each component of the computing device TN100.

Each of the memory TN130 and the storage device TN140 can store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

The transceiving device TN120 can transmit or receive wired signals or wireless signals. The transmitting and receiving device (TN120) can be connected to a network and perform communication.

Meanwhile, the embodiments of the present invention are not only implemented through the apparatus and/or method described so far, but may also be implemented through a program that realizes the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. This implementation can be easily implemented by anyone skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of invention rights.

10...moving body 11...first wheel
12...2nd wheel 13...3rd wheel
14...Fourth wheel 20...Moving part
30...first sensor 50...second sensor
51...First limit sensor 52...Second limit sensor
90...body 100...control device
110...1st acquisition department 120...2nd acquisition department
130...control unit

Claims (5)

a first acquisition unit that acquires first information related to the inclination of the body portion disposed to face the ground;
When a moving part is provided that is connected to the moving body in contact with the ground and installed in the body to be able to move along an adjustment direction inclined to the running direction of the body,
a second acquisition unit that acquires second information related to the adjustment movement of the moving unit moving along the adjustment direction;
A control unit that controls the adjustment movement of the moving parts provided in plurality on the body,
The control unit is a control device that maintains the horizontal posture of the body unit through control of the adjustment movement targeting each moving unit.
According to paragraph 1,
The control unit primarily controls the moving part to eliminate tilt of the body part,
The control unit performs secondary control of the moving unit when the adjusted movement of the moving unit satisfies a set value due to the primary control,
The control unit thirdly controls the moving part to eliminate a new tilt caused by the secondarily controlled moving part,
A control device in which the object of the tertiary control is selected from the remaining moving parts excluding the specific moving part that is secondaryly controlled.
According to paragraph 1,
The control unit maintains the horizontal posture of the body unit through relative control movement of the plurality of moving units,
The control unit sets a limit position corresponding to the position before the adjustment movement reaches the physical movement boundary,
The control unit adjusts and moves the first moving unit in a first direction to maintain the first horizontal posture,
The control unit controls the first moving part to return when the first moving part satisfies the limit position while adjusting and moving in the first direction,
The first moving part that satisfies the limit position is adjusted and moved by the control unit in a second direction opposite to the first direction,
When it becomes impossible to achieve the first horizontal posture due to the specific movable portion returning in the second direction from the limit position, the controller controls the movable portion to maintain a second horizontal posture at a height different from the first horizontal posture; ,
The control unit maintains the body unit in the second horizontal posture by moving the second moving unit in the second direction.
According to paragraph 1,
The control unit sets a limit range for each moving unit that is within a physical movement boundary range and is smaller than the boundary range,
The control unit primarily controls the moving unit to maintain a first horizontal posture at a first height,
When a first moving part corresponding to one of the plurality of moving parts is defined,
When the first moving part reaches the limit of the limiting range in the process of maintaining the first horizontal posture, the control unit sets the second horizontal posture of a second height that can be achieved by positioning the first moving part within the limiting range. Derive
The control unit sets the second height lower than the first height when the first moving part reaches the limit of the limit range through descent,
The control unit sets the second height higher than the first height when the first moving unit reaches the limit of the limit range through rising,
The control unit controls the plurality of moving units so that the second horizontal posture at the second height is maintained.
In a control device performed by a control method,
A first acquisition step of acquiring first information related to the inclination of the body portion disposed to face the ground;
When a moving part is provided that is connected to the moving body in contact with the ground and installed in the body to be able to move along an adjustment direction inclined to the running direction of the body,
a second acquisition step of acquiring second information related to control movement of the movable part with respect to the body part;
A control step of controlling the adjustment movement of the plurality of moving parts installed on the body whenever the body is tilted,
The control step maintains the horizontal posture of the body portion through control of the adjustment movement,
The control step is performed whenever any one of the plurality of moving parts is determined to be approaching a physical movement boundary in the adjustment direction in the process of maintaining the current horizontal posture, and a new horizontal posture having a different height from the current horizontal posture is performed. Set your posture,
The control step sets the height of the other horizontal posture to be lower than the current horizontal posture if the approach of the moving part to the moving boundary is made through the lowering of the moving part,
The control step is such that the approach of the moving part to the moving boundary is achieved through the raising of the moving part, and the height of the other horizontal posture is set to be higher than the current horizontal posture,
The control step controls the adjustment movement of each moving part so that the different horizontal postures are achieved.

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