WO2007100148A1

WO2007100148A1 - Inverted pendulum type movable body

Info

Publication number: WO2007100148A1
Application number: PCT/JP2007/054487
Authority: WO
Inventors: Takashi Yamamoto; Toshiharu Miyazaki
Original assignee: Toyota Jidosha Kabushiki Kaisha
Priority date: 2006-03-03
Filing date: 2007-03-01
Publication date: 2007-09-07
Also published as: JP2007237750A

Abstract

An inverted pendulum type movable body of which the inverted state can be prevented from becoming unstable when auxiliary wheels are lowered. Auxiliary wheel devices (21, 22) having auxiliary legs (21b, 22b) are disposed at the front and rear of a carriage body (10) in the advancing direction. Motors (23, 24) for adjusting the lifting angles of the auxiliary legs (21b, 22b) and motors (29, 30) for adjusting the extension degrees and/or the extension speeds of the legs (21b, 22b) are mounted on the auxiliary wheel devices. Consequently, the extension degrees and/or the extension speeds of the auxiliary legs (21b, 22b) can be adjusted independently of each other.

Description

Description Inverted Fresh Type Mobile Body This application claims a 1 »right based on Japanese Patent Application No. 2006-058571 filed on March 3, 2006. The entire contents of that application are incorporated herein by reference.

Technical field

The present invention relates to an inverted moving body. In detail, the present invention relates to an oval rotating body (for example, «, a sphere, etc.) and its time ^^ times! The present invention relates to an inverted »type moving body having a stand main body supported so as to be freely tiltable around, and relates to an inverted type moving body in which a cart body is inverted by driving a fringe swirling around a floor. Here, the “inverted type moving body” means that the center of gravity of the main body of the fountain is located above the rotating shaft of the rotating body, and the rotating body can be controlled to sleep and the body power and standing state can be maintained. No moving body. Background

The inverted moving body turns the trolley body upside down by subjecting the rotating body in contact with the floor surface to saddle control (ie, inverted control). Stopping the inversion of the book can force the stand to turn upside down. A moving body has been developed that allows the main body to be in an inverted state while the inversion control of the ^: is stopped (for example, JP 2004-291799 A).

The moving body disclosed in Japanese Patent Application Laid-Open No. 2004-291799 is provided with an assisting wheel attached to the base body so as to be movable up and down, and an actuator for raising and lowering the auxiliary wheel. The auxiliary wheels are moved up and down by an actuator, and are arranged at a position that does not contact the floor so as not to obstruct the movement of the carriage during the inversion control. When the inverted control is stopped, the auxiliary wheel is placed at the position where it can be swung with the floor surface. By placing the auxiliary wheel at a position opposite to the floor surface, the platform body can maintain the stable inverted state. Disclosure of the Invention

In the case of a conventional moving body, the traveling iS ^ of the moving body is 0 mZ s, the platform ¾ ~ Τ in the direction of movement ^: The tilt angle of the body is 0 °, and the platform and the floor are ϊ Yes, the lift of the auxiliary wheel, m The descending angle is set. For this reason, when the state of the moving body when the auxiliary wheel is lowered is consistent with ¾ ^^, the auxiliary wheel is lowered to suitably worm on the surface of the auxiliary wheel. As a result, the moving body can be supported in a stable state.

However, in reality, the state of the moving body when the auxiliary wheel is lowered does not match the case of the auxiliary wheel, and the inverted state may become unstable when the auxiliary wheel is lowered. For example, with this type of moving body, the inversion control is also performed when the auxiliary wheel is lowered. Therefore, in practice, the traveling habit will not be O m./s, and the angle of inclination of the base will not be 0 degrees. In addition, the auxiliary wheel is lowered when the vehicle stops: ^ means that the running speed is 0 π ^κ s and 0 degrees. Therefore, if the auxiliary wheel is lowered in such a situation, all the auxiliary wheels will not worm on the floor at the same timing. If only some of the auxiliary wheels come in contact with the floor surface, the inverted state of the base will become unstable due to the third part. Alternatively, because the floor surface force s is tilted, the base body and the floor surface do not become ^ f (ie, the base body body is inverted and the floor surface force s is tilted, so Even if the body and the floor surface are inconsistent with each other, the main body (the standing state becomes unstable).

The present invention has been made in view of the circumstances of ± ζ. An object of the present invention is to provide a technique capable of preventing a moving body (a standing state from becoming unstable when lowering an auxiliary wheel.

The moving body of the present invention includes a rotating body having a circular cross section and a base body that can be tilted around the rotator of the rotating body. This moving body controls the rotating body that has been transversal on the floor surface by controlling it vertically, so that the base φφ: body is turned over in an inverted state. The moving body includes a first auxiliary leg that is extendable from the base body to the floor, a first auxiliary wheel that is rotatably attached to the first auxiliary leg, and a first auxiliary leg. A first auxiliary wheel device having a first telescopic actuator for extending and retracting is disposed on the front side of the carriage body in the moving body traveling direction. Further, the moving body includes a second auxiliary leg that is extendable from the base ΦΦ body toward the floor side, a second auxiliary wheel that is rotatably attached to the second auxiliary leg, and a second auxiliary leg. A second auxiliary wheel device having a second telescopic actuator for extending / contracting the auxiliary leg is disposed on the rear side of the moving body of the body. Then, the first and second auxiliary wheel devices can stand and extend / extend / extend the auxiliary leg. '

This moving body can change the lifting and lowering amounts of the first and second auxiliary wheels and Ζ or ascending ^^ by independently changing the yarn ϋ and Ζ or the extension 聽 of the first and second auxiliary legs. Can be changed. For this reason, this moving body can lift and lower the MTe auxiliary wheel according to the state of the moving body. As a result, this moving body can turn the auxiliary wheel to the floor surface while keeping the main spring body in a stable inverted state. ' As the “rotating body”, one or more ^ s arranged on the same axis can be used, or a sphere can be used. “Rotating body” is a sphere or one ¾: In ¾, auxiliary wheel devices are provided at four locations on the floor of the rotating body around the reversal point in the traveling direction of the moving body. S-preferred. Supporting the main body of the dolly can be supported stably by supporting the main body from four directions. In addition, when the “rotary body” is two or more wheels, at least one auxiliary wheel device is provided before and after the moving body, respectively.

In addition, the “auxiliary wheel” is not limited to the eaves, but may be any device that can move the mortar body with respect to the floor surface in a state of force S contact between the auxiliary wheel and the floor surface. Therefore, even a sphere corresponds to the “auxiliary wheel” described above.

For the “first telescopic actuator” and the “second telescopic actuator”, various types of actuators such as motors, ¾E, and hydraulic actuators can be used.

In the above moving body, the first auxiliary wheel device may further include a first elevation angle actuator that changes the elevation of the first auxiliary leg. The second auxiliary wheel device may further include a second elevation angle actuator that changes the elevation angle of the second auxiliary leg. The first and second auxiliary wheel devices are preferably capable of raising and lowering the angle of the auxiliary leg, respectively.

The moving body can change the elevation angle of the auxiliary wheel by changing the elevation angle of the first and second auxiliary legs. For this reason, it is possible to move the auxiliary wheels to the floor surface by reducing the movement of the auxiliary legs and lowering the auxiliary wheels with a sickle according to the situation of the moving body.

It should be noted that various actuators can be used for the “first elevation angle actuator” and the “second elevation angle actuator”, for example, an actuator using a motor or hydraulic pressure can be used.

The upper moving body further comprises: (1) a platform in the direction of gravity; ^ means for measuring the tilt angle of the body; (2) measuring means for measuring ¾g of the main body of the carriage; and (3) a floor on the base body. And a controller for controlling the first and second auxiliary wheel devices, and at least one of measuring means for measuring the inclination angle of the surface. Then, based on the measurement result measured by the measuring means, the controller determines at least one of the extension amount, extension / contraction and elevation angle of the first auxiliary leg, and at least one of the extension amount, extension / contraction separation and elevation angle of the second auxiliary leg. Control one.

According to such a configuration, based on the result measured by the measuring means (ie, table ^: body condition), the first and second support legs can be expanded or contracted according to either the up-and-down angle. Is done. For this reason, the auxiliary wheel can be lowered in a more stable state.

The upper moving body had the first and second auxiliary legs telescopic. However, the book The invention may be such that only the elevation angle of the first auxiliary leg and the second auxiliary leg is adjusted.

That is, another moving body of the present invention includes a rotating body having a circular cross section and a base body that is supported by tilting around the rotating shaft of the rotating body. This moving body turns the base body upside down by «controlling the rotating body». The moving body includes a first auxiliary leg rotatably attached to the base body, a first auxiliary wheel rotatably attached to the first auxiliary leg, and a first auxiliary leg for rotating the first auxiliary leg. A first auxiliary wheel device having an elevation angle actuator is disposed on the front side of the moving body of the body. In addition, the movable body includes a second auxiliary leg that is rotatably attached to the main spring body, a second auxiliary wheel that is rotatably attached to the second auxiliary leg, and the second auxiliary leg. A second auxiliary wheel device having a second lifting angle actuator to be moved is arranged on the rear side of the moving body of the base body. Each of the first and second auxiliary wheel devices is characterized by being able to stand up and adjust the elevation angle of the auxiliary leg.

This moving object can also be used to support the younger sister's face while keeping the stand body in a stable inverted state. Brief Description of Drawings

FIG. 1 is a front view of the moving body according to the present example.

FIG. 2 is a side view of the moving body according to the present example.

FIG. 3 is an excerpt diagram for explaining the auxiliary wheel device for a moving body according to this example.

FIG. 4 is an excerpt illustrating the auxiliary wheel device for a moving body according to this example.

FIG. 5 is an excerpt illustrating the auxiliary wheel device for a moving body according to the present embodiment.

FIG. 6 is an excerpt illustrating the auxiliary wheel device for a moving body according to the present embodiment.

Figure 7 is a model of the moving body and the auxiliary wheel system.

Figure 8 shows the configuration of the control system of this male example.

Fig. 9 is a flowchart showing the processing procedure of the controller of this example.

FIG. 10 is a diagram for explaining still another example of the auxiliary wheel device. BEST MODE FOR CARRYING OUT THE INVENTION

The main glues for printing techniques described in the examples below are listed.

(Form 1) The controller controls the motor that takes $ ¾. The controller inputs the deviation of the moving object's eye position, the target deviation, and the vertical fungus. The controller outputs a control command value to the motor so as to reduce these deviations and t-tilt angle.

(Form 2) The controller stops the inversion control of the base after the auxiliary wheel contacts the floor. On the other hand, the controller extends and / or rotates the auxiliary legs so that the base body is horizontal with respect to the moving direction. “Horizontal with respect to the moving direction” means a state in which the center of gravity of the base ΦΦ body is positioned in the vertical direction of: and the state where the upper surface force S of the base body is horizontal. That is, after the auxiliary wheel is wormed, it controls the fountain body by controlling the extension / rotation angle of the auxiliary leg.

(Mode 3) The controller controls the motor that operates the auxiliary wheel device so that when the auxiliary wheel is wormed on the floor surface, the controller is moved from the state where it has been lowered to just before and just before reaching the auxiliary wheel force sister surface. Auxiliary wheel force s Extend and retract and Z or rotate the auxiliary leg in two stages until it turns to the floor.

(Example)

An example of the present invention that makes the present invention difficult will be described with reference to the drawings. First, the leakage of the moving body will be described with reference to FIGS. FIG. 2 is a front view of the moving body, and FIG. 2 is a partially broken side view of the moving body. In both figures, the state force S with the auxiliary wheel removed from the floor is shown.

As shown in FIGS. 1 and 2, the moving body 70 includes a base body 10 and supports 14 and 15 attached to the base body 10 so as to be freely rotatable. The carriage 10 is constituted by a carriage upper plate 10 b, a carriage lower plate 10 a, and a carriage side plate 10 c force connecting the carriage upper plate 10 b and the carriage lower plate 10 a. The sensors 40 0, 4 1, which are provided later, are installed on W of the carriage upper plate 10 b. Auxiliary wheel devices 2 1, 2 2, which will be described in detail later, are installed on the bottom plate 10 a of the carriage.

As shown in FIG. 2, bearing portions 1 2 and 13 are disposed at the approximate center on the lower cart plate 10a. ^ ¾ 1 6, 17 are rotatably supported on the bearing portions 1 2, 1 3. A wheel 14 is attached to one end of an axle 16 as ^ "f" in FIG. A motor 18 that can rotate in the forward and reverse directions is attached to the other end of the axle 16. For this reason, when the motor 18 force S rotates in the forward or reverse direction; ^ 1 6 rotates in the forward or reverse direction. As a result, ¾ 14 also rotates in the positive direction or direction. Similarly, ¾¾ 15 is attached to one end of il 7. The other end of il 7 has a motor 19 that can rotate in the IB ^ direction. For this reason, when the motor 19 rotates in the forward direction or the reverse direction, the example 17 force S rotates in the forward direction or the reverse direction. As a result, ^ 15 also rotates in the forward direction or direction (hereinafter, the direction in which both wheels 14 and 15 rotate and move in the forward direction is the front side in the traveling direction of the moving body; The direction in which 4 and 15 both rotate and move in the ^^ direction is called the rear side of the moving body). The moving body 70 is under image control: ^, the motors 18 and 19 are controlled by a controller 50 (shown in FIG. 8). A gyro sensor 20 is attached to the lower surface of the cart lower plate 10 a and is lowered. Jie mouth sensor 2 0 Force S detected tilt spring body 1 0 angle is input to controller 50. The controller 50 controls the motors 18 and 19 so that the itH angle ¾ of the main spring body 10 becomes “0”. As a result, the base body 10 0 force S is in an inverted state. Next, the auxiliary wheel devices 2 1 and 2 2 disposed on the lower cart 10 a will be described. As shown in FIG. 2, the auxiliary wheel device 21 is attached to the main body 10 (at the front side of the moving body 70 in the traveling direction). The auxiliary wheel device 2 2 is attached to the rear of the fountain body 10 (the rear side of the moving body 70 in the traveling direction). First, the auxiliary wheel device 21 will be described.

The auxiliary wheel device 21 is composed of an auxiliary leg 2 1 b and an extension mechanism (2 3, 2 5, 2 7, 2 9) that changes the expansion and contraction 4¾Ό ^ of the auxiliary leg 2 1 b. . A spherical auxiliary wheel 2 1 a is attached to the tip of the auxiliary leg 2 1 b. The base end of the auxiliary leg 2 1 b is connected to the lift (2 3, 2 5, 2 7, 2 9).

The ascending mechanism (2 3, 2 5, 2 7, 2 9) is provided with a motor 23 for changing the elevation angle of the auxiliary leg 2 1 b. The motor 23 is installed on the upper surface of the cart lower plate 10 a. A rotating plate 2 5 is attached to the rotating shaft 2 3 a of the motor 2 3. When the motor 2 3 rotates and the rotary shaft 2 3 a rotates, the rotary plate 2 5 also rotates | ¾1 ". A slider 2 7 is slidably attached to the rotary plate 2 5. Slider 2 7 The bearing part force S is not shown in the figure.The auxiliary part 2 1 b is rotatably supported by this bearing part.For this reason, it is anti-25 force S times »τ The auxiliary leg 2 1 b turns! Rt ". As a result, the elevation of the auxiliary leg 2 1 b can be changed.

The rotation amount of the motor 23 is detected by the encoder 23 3a (shown in FIG. 8). Time 4 detected by the encoder 2 3 a is input to the controller 50. The controller 50 calculates the angle of the auxiliary leg 2 1 b (that is, the elevation angle of the auxiliary leg 2 1 b) over the base unit body 10 from the rotation detected by the encoder 2 3 a. The motor 23 is controlled based on the angle. As a result, the raising / lowering angular force S of the auxiliary leg 21b is controlled.

In addition, as shown in FIG. 1, ί 冓 10 d is formed at the center of the cart lower plate 10 a. This prevents the auxiliary leg 21b from interfering with the cart bottom plate 10a when changing the elevation angle of the auxiliary leg 21b.

In addition, an I thread ^{s is} formed on the outer peripheral surface of the auxiliary leg 21 b. Screws are formed on the support 3 1 fixed to the rotating plate 25. The male screw of the auxiliary leg 2 1 b is screwed with the female screw of the supporting member 3 1. Auxiliary leg 2 1 b Force When S rotates, auxiliary leg 2 1 b slides up and down with respect to support 3 1. For this reason, the auxiliary wheel 2 1 a attached to the tip of the auxiliary leg 21 b also slides up and down.

The auxiliary leg 2 1 b is connected to the motor 2 9! When the motor 29 rotates, the auxiliary leg 2 1 b rotates. When the auxiliary leg 2 1 b force S rotates, the auxiliary leg 2 1 b slides up and down with respect to the support 3 1 (that is, the extension force S of the auxiliary leg 2 1 b changes). As a result, the auxiliary wheel 2 1 a attached to the auxiliary leg 2 1 b also moves up and down SrT. Motor 2 9 rotation and rotation Stlt Detected by DA 29a (shown in Figure 8). The rotation and rotation detected by the encoder 29a are input to the controller 50. The controller 50 calculates the expansion / contraction speed and expansion / contraction speed of the auxiliary leg 21b with respect to the cart body 10 from the rotation 4/3 rotation degree detected by the encoder 29a. The controller 50 controls the motor 29 so that the calculated expansion / contraction amount and expansion / contraction force S have desired values.

Next, the auxiliary wheel device 22 will be described. Auxiliary wheel device 22 is also provided with an auxiliary leg 22 b and an elevating mechanism (24, 26, 28, 30) that changes the expansion and contraction of the auxiliary leg 22 b in the same manner as the auxiliary wheel device 21 that has been adjusted. It is configured. An auxiliary wheel 22a, which is a sphere, is attached to the tip of the auxiliary leg 22b. The base end of the auxiliary leg 22b is connected to the ascending (24, 26, 28, 30).

The lifting rod that changes the lifting and lifting angle of the auxiliary leg 22b includes the motor 24 that changes the lifting angle of the auxiliary leg 22b, the rotation 26 attached to the turn 24a of the motor 24, and the rotating plate 26. A slider 28 that slides upward, a support member 32 fixed on the rotating plate 26, and a motor 30 that changes the amount of expansion / contraction of the auxiliary leg 22b. These motor 24, revolution 526, slider 28, support 32, and motor 30 have the same configuration as the motor 23, rotating plate 25, slider 27, support 31 and motor 29 of the auxiliary wheel device 21 described above. is there. For this reason, further explanation is omitted here.

Next, a description will be given of the measurement of the separation angle of the pedestal main body 10, the inclination angle of the movement direction of the fountain main body 10, and the slope angle of the floor surface relative to the pedestal main body 10.

The wisteria and the force force of the base body 10 are calculated from the rotational speeds of the motors 18 and 19. The number of rotations of the motors 18, 19 is detected by encoders 18a, 19a (shown in FIG. 8). The detected rotational speeds of motors 18, 19 are input to the controller 50. The controller 50 calculates the evacuation and calorie avoidance of the main spring body 10 from the input rotational speeds of the motors 18 and 19.

The angle of inclination in the direction of the trolley body 10 is measured according to the following column. That is, as shown in FIG. 1, the support members 33 and 34 are fixed at the approximate center in the front-rear direction of the cart lower plate 10 a T®. The struts 33 and 34 are rotatably supported by a turn 35. In a state where the rotating shaft 35 is supported by the support members 33 and 34, the rotating shaft 35 is disposed perpendicular to the cores 14 and 15. As well shown in FIG. 2, an eave 36 is fixed at the approximate center of the rotating shaft 35. When the moving body 70 is moving at a constant speed, the pendulum 36 has an appropriate weight so that the pendulum 36 always faces the direction of gravity. An encoder 37 is attached to one end of the rotation ¾35. The encoder 37 measures the rotation angle 0 of the pendulum 36 (that is, the rotation angle of the rotating shaft 35). With encoder 37 36 fresh times detected! ^ θ is input to controller 50.

The oblique angle 0 in the ≤Λ direction of the platform 10 is obtained by the rotation angle Θ i of »36 detected by the encoder 37. That is, trolley body 10 is moving at a constant speed ^, ¾ | ÷ 36 is in the direction of gravity. The rotation Θ i of the pendulum 36 becomes the tilt angle Θ in the direction of the base 10. Therefore, the rotation angle θ ₁ of the pendulum 36 detected by the encoder 37 is in the direction of the cart body 10 {t¾ bevel angle 0. On the other hand, the base; »10 forces ¾t @ X is: ^,» 36 is subject to the inertia ΛΛ. First, the controller 50 calculates the addition / separation of the moving body 70 from the deviation of the rotational speeds of the motors 18, 19 detected by the encoders 18a, 19a. Next, the controller 50 determines the inertia acting on 36 from the calculated correction, and calculates »36 times based on the inertia. The controller 50 calculates the angle of inclination 0 (= θ, −θ ₂ ) of the base body 10 in the £ Λ direction by this time ₂ and the 36 times detected by the encoder 37.

The tilt angle of the floor relative to the main body 10 is measured by sensors 40 and 41 that measure a one-dimensional distance. Sensors 40 and 41 are mounted on the top plate 10b of the carriage. Sensors 40 and 41 measure the distance from the carriage upper plate 10b to the floor in the vehicle longitudinal direction. The sensor 40 detects the distance h from the front lower surface of the carriage upper plate 10b to the floor surface. Sensor 41 detects the Sg¾ h ₂ to the floor from the rear of the TB of the carriage top plate 10 b. Eg hh ₂ detected by the sensors 40 and 41 is input to the controller 50. The controller 50 calculates the jaw beveled floor that from Sgl h have h ₂ is input to the base # 0 (carriage top plate 10 b). When the tilt angle of the floor surface of the basin body 10 and the tilt angle in the direction of the base body 10 are known, the controller 50 calculates the tilt angle that crosses in the direction of the floor surface from both values. be able to.

Next, the configuration of the control system of the moving body 70 configured as described above will be described. FIG. 8 is a block diagram showing the configuration of the control system of the moving body 70.

As shown in FIG. 8, the moving body 70 is controlled by the controller 50. The controller 50 mainly includes (1) inversion control and movement control of the moving body by controlling the motors 18 and 19, and (2) the auxiliary legs 21b and 22b by controlling the motors 23 and 24. The lift angle is controlled and (3) the auxiliary legs 21 b and 22 b are controlled by controlling the motors 29 and 30 and the stretched yarn f * ¾ and the stretched ¾ P are performed.

(1) Inverted control and rare control of moving object 70

A gyro sensor 20 is connected to the controller 50. The controller 50 receives the output of the gyro sensor 20 (the low inclination angle s of the base 10). The motors 18 and 19 that rotate the wheels 14 and 15 are replaced. Further, the controller 50 is provided with encoders 18a, 19 & which detect the rotation amounts of the motors 18 and 19. The rotation amount of the motors 18 and 19 detected by the encoders 18a and 19a is input to the controller 50.

When performing the inversion control and the movement control of the moving body 70, the controller 50 calculates 5¾ of the position of ξ¾ 移動 of the moving body 70 based on the detected values inputted from the encoders 18 a and 19 a forces. The deviation of the target position and the current position given by the position deviation IJ, the deviation of the current deviation, the deviation given by the deviation, the deviation of ¾¾¾¾, and the tilt angle detected by the gyro sensor 20 are “0”. Outputs torque command value to 18, 19 Since the motors 18 and 19 are controlled so that the tilt angle で detected by the jay sensor 20 becomes “0”, the moving body 70 is maintained in an inverted state. In addition, since the control method disclosed in Japanese Patent Application Laid-Open No. 2004-291 799 can be used for the wholesale method of the motors 18 and 19 by the controller 50, more detailed description will be given here. Is omitted.

(2) Control of lifting angle of auxiliary legs 21 b, 22b ''

The controller 50 has motors 23 and 24. Further, the controller 50 is provided with encoders 23 a and 24 a force S for detecting rotations of the motors 23 and 24. The amount of rotation of the motors 23 and 24 detected by the encoders 23a and 24a is input to the controller 50. The controller 50 controls the lifting angle of the 2 lb and 22 b catching feet: ^, the controller 50 first determines the state of the moving body 70 detected by the encoders 18 a and 19 a, the encoder 37 and the sensors 40 and 41, etc. (Base; ^ wisteria of main body 10, tilt angle in the direction of movement of the main body 10 and tilt angle of the floor surface in the base plate body 10) decide. Next, the controller 50 calculates the actual lift angle of the auxiliary legs 2 lb and 22 b based on the rotation amount input from the encoders 23 a and 24 a, and the lift angle (that is, the actual lift angle determined) The torque command value is output to the motors 23 and 24 to achieve the target operation.

(3) Control of extension and contraction of auxiliary legs 21 b and 22 b and shrinkage

The controller 50 has motors 29 and 30. Also, the controller 50 is sold with encoders 29 a and 30 a that detect the rotation amounts of the motors 29 and 30. The amount of rotation of the motors 29 and 30 detected by the encoders 29a and 30a is input to the controller 50. The extension and contraction of the auxiliary legs 21 b and 22 b «I ^ Contract; ^ The controller 50 controls the moving body 70 detected by the encoders 18 a and 19 a, the encoder 37, the sensors 40 and 41, etc. (Tail spring main body 10 heel, stand bundle main body 10 in one force direction Determine the expansion / contraction of the auxiliary legs 2 lb, 22 b 4¾Ό ^ contraction according to the floor surface <¾ {oblique angle) of the body 10. First, the auxiliary wheels 21 a, 22 a force S are applied to the floor surface. Determine the amount of expansion and contraction of the auxiliary leg 2 lb, 22 b and the IK contraction speed immediately before the controller 50. The controller 50 determines the auxiliary leg 21 b '22 b based on the concealment input from the encoders 29 a, 30 a. The controller 50 calculates the actual expansion / contraction tension and the expansion / contraction tension of the motor 29 and 30 so that the actual expansion / contraction force S and the determined expansion / contraction boat (target ίί) are obtained. Next, determine the amount of expansion and contraction of the auxiliary legs 21 b and 22 b from the position immediately before entering the floor to the transversal to the floor, and the controller 50 uses the encoder 29 a, The actual extension and contraction of the auxiliary legs 2 lb and 22 b are calculated based on the times input from 30 a, and the controller so determines the actual extension and contraction MS. The torque command value is output to the motors 29 and 30 so that the contraction contraction ¾ ^ (target value) is obtained.The moving body 70 makes the auxiliary wheels 2 la and 22 a contact the floor surface in two steps. Therefore, it is possible to lower the auxiliary wheels 21a and 22a.Therefore, the time from the start of the auxiliary wheels 2la, 22a to the simulation of the floor surface is reduced by lowering the first stage quickly. In the second stage, the lowering of the second stage is slow, so that the power of the auxiliary wheel 21 a, 22 a is reduced. , 22 a force S It can prevent the moving body 70 from becoming unstable when it touches the floor surface.

Here, the outline of the control example of the expansion / contraction amount and the expansion / contraction speed of the net assist P2 l, 22 b performed by the controller 50 when the auxiliary wheels 2 la, 22 a are turned to the floor surface. Let me explain. 3 to 6 are partial excerpts for explaining the operation of the auxiliary wheel devices 21 and 22. FIG. 3 shows a state where the auxiliary wheels 21 a and 22 a are lifted and the base 10 is traveling while being inverted. FIG. ⁴ shows a state where the auxiliary wheels ² 1 a and 22 a are held on the floor surface which is horizontal in the direction of the platform ^ Φ: body 10 force. FIG. 5 shows a state where the auxiliary wheels 2 la and 22a are in contact with the floor surface horizontal in the ¾Λ direction. Fig. 6 shows the state in which the auxiliary wheels 2la, 22a are turned to the heel slope with the basin body 10 on the slope.

In order to place the auxiliary wheels 21a, 22a on the floor surface, the controller 5 、 uses the input values of the encoders 18a, 19a, encoder 37 and sensors 40, 41 to determine the speed of the truck body 10,

The inclination angle in the moving direction of 10 and the oblique angle of the floor surface from ¾ to r in the platform 10 are calculated. The controller 50 has the calculated tilt of the main body 10 ¾i, base ^: tilt angle and base ¾H in the moving direction of the body 10; W body 1

Determine the torque command value to be output to motors 23, 24, 29, and 30. For example, as shown in Fig. 4, the base body 10 force S the level of the auxiliary wheel 2 la, 22 a on the floor surface that is horizontal in the moving direction and the horizontal direction in the moving direction The elevation angles of 21b and 22b are left at their initial values (that is, as shown in Fig. 3). The controller 50 has a motor so that the expansion / contraction amount of the auxiliary leg 21 b is equal to the expansion f | »of the auxiliary leg 22 b, and the expansion / contraction of the auxiliary leg 21 b is equal to the expansion / contraction of the auxiliary leg 22 b. The torque command value is output to 29 and 30. As the motors 29 and 30 rotate based on the torque command value output from the controller 50, the auxiliary legs 21b and 22b extend and contact wheels 21a and 22a force S contact the floor surface. (The state shown in Figure 4).

On the other hand, as shown in Fig. 5, the base »body 10 forces S is horizontal in the direction of movement, and the auxiliary wheel is flipped to the floor surface in the direction of movement in the state, or on the heel slope as shown in Fig. The base in the ^: body 10 force to rotate the auxiliary wheel to the surface ^ is the controller 50, the boat of the base body 10 calculated, the tilt angle and the base ^ φ body in the direction of movement Determine the expansion / contraction amount of the auxiliary legs 21b and 22b, the expansion / contraction boat and the descending angle from the slant angle (at around ^). Next, the controller 50 motors based on the determined expansion / contraction amount, expansion / contraction ¾g¾ and elevation angle. The torque command value is output to 23, 24, 29, 30 and the auxiliary wheel 21a, 22a is applied to the power plane. For example, in the example shown in Fig. 5 '; On the other hand, the extension is extended and the extension is extended as the extension amount becomes longer, and the extension is increased. ^ On the other hand, for the auxiliary leg 22 b, the extension is increased while the extension amount is reduced and the extension is reduced. As the distance becomes shorter, the expansion and contraction ¾S is reduced, so that the auxiliary wheels 2 la and 22 a can be swung to the floor almost simultaneously, and in the example shown in FIG. Without changing the elevation angle of 21 b, shorten the extension * of the auxiliary leg 21 b, and decrease the expansion / contraction as the expansion / contraction amount decreases, and increase the elevation angle of the auxiliary leg 2 2 b. As the amount of expansion / contraction increases, the expansion / contraction increases as the amount of expansion / contraction increases. Auxiliary wheels 21a, 22a can be imitated almost simultaneously on the heel slope with the horizontal state, and the auxiliary wheels 21a, 22a can be placed in a horizontal state in the horizontal direction of the platform 10 forces S.擲 W ^ (Fig. 5:! ^) Is lifted by the auxiliary leg 2 lb, 22 b! ^ By controlling the amount of contraction, the carriage body 10 can be placed horizontally with respect to the direction of gravity. Status Returned. This Yotsute, the center of gravity 60 of the moving body 70 is positioned vertically in 雜 16, 17, it is possible to maintain a more stable ^^.

That is, as shown in Fig. 7, when the body 10 is in a horizontal state in the horizontal direction, the auxiliary wheels 21a, 22a force S will be transferred to the floor (state of Fig. 7 (a) → state of (b) ), The controller 50 calculates the tilt angle in the moving direction of the body 10 from the h ₂ detected by the sensors 40 and 41. Next, the controller 50 determines the extension H4¾ and the elevation angle of the auxiliary legs 2 lb and 22 b so that the base body 10 becomes horizontal from the calculated oblique angle. Finally, the controller 50 The torque command value is output to the motors 23, 24, 29, and 30 based on the expansion and contraction angles of 21b and 22b. As a result, the motors 23, 24, 29, and 30 are powered, and the main body 10 is returned to 7K flat (state shown in Fig. 7 (c)).

Next, processing that is difficult by the controller 50 when the auxiliary wheels 21a and 22a are controlled to be lifted and lowered will be described with reference to FIG. 'As shown in FIG. 9, the controller 50 first receives an auxiliary wheel device lowering command from an internal or external remote control device (step S 1). When the controller 50 receives the auxiliary wheel device lowering command, the controller 50 tilts the moving body 70 based on the input values of the encoders 18a, 19a, the encoder 37, and the sensors 40, 41 (in the direction of gravity of the carriage body 10). (Tilt angle), the speed of the moving body 70, and the floor surface ¾ ^ the body angle is calculated (step S2). This makes the controller 50 the most stable for the current situation. The position of the auxiliary wheel 2 la, 22 a can be determined (that is, the expansion / contraction angle of the auxiliary leg 21 b, 22 b and the elevation angle can be determined).

Next, the controller ₅ ◦ determines the amount of expansion / contraction of the auxiliary legs 2 lb and 22 b, the elevation angle and the contraction speed until just before the auxiliary wheels 21 a and '22 a hit the floor (step) S 3). Then, the controller 50 outputs torque command values to the motors 23, 24, 29, and 30 (step S4). As a result, the auxiliary legs 2 lb and 22b start to expand and contract and rotate.

When the torque command value is output to the motors 23, 24, 29, and 30 in step S4, the controller 50 determines the lift angle and the lift amount of each auxiliary wheel 21a and 22a in step S3. It is determined whether the force reaches the target amount ^ (Step S5). The lift angle and lift amount are the target amounts: ^ (YES in step S5), go to step S6. On the other hand, when the elevation angle and the elevation amount are not the target amounts (NO in step S5), the process returns to step S2 and the processing from step S2 is repeated. As a result, the auxiliary wheels 21a and 22a are lowered to a position immediately before contacting the floor surface. In step S6, the controller 50 calculates the inclination and speed of the moving body 70 and the inclination angle of the floor surface based on the input values of the encoders 18a and 19a, the encoder 37, and the sensors 40 and 41. . As a result, the controller 50 can determine the positions of the auxiliary wheels 21 a and 22 a that can maintain the most stable ^^ according to the current situation.

Next, the controller 50 determines the expansion / contraction amount, the elevation angle and the expansion / contraction speed of the auxiliary legs 21b, 22b until the auxiliary wheels 2la, 22a are translocated to the floor (step S7). Then, the controller 50 outputs a torque command value to the motors 23, 24, 29, 3 ° (step S8). As a result, the auxiliary legs 21 b and 22 b further extend and rotate and rotate. When the torque command value is output to the motors 23, 24, 29, 30 in step S8, the controller 50 determines whether the lifting angle and the descending amount of each auxiliary wheel 21a, 22a is the target amount. (Step S9). The lift and drop are the target determined in step S7: f ^ (YES in step S9) proceeds to step S10. On the other hand, if the elevation angle and the elevation are not the target amounts (NO in step S9), the process returns to step S6 and the process of step S6 force is repeated. As a result, the auxiliary wheels 2 la and 22 a are lowered to a position where they are in contact with the floor surface.

In step S9, auxiliary wheel 21a, 22a force S When the worm is applied to the floor surface, controller 50 determines the inclination angle of base 10 in the direction of movement and the inclination angle of the floor surface toward base 10 in the moving direction. (Step Next, the controller 50 determines whether or not the tilt angle of ¾ ~ in the moving direction of the base body 10 is “0” (that is, the base body 10 force S is horizontal). Judgment (step S11) When the tilt angle of the main body 10 with respect to the heavy load direction is "0" (YES in step S11), the controller 50 stops the auxiliary wheel devices 21, 22 The tilt angle in the direction of movement of the base 10 does not become “0” (ί in step S11), and go to step S12.

Proceeding to step S12, the controller 50 moves the auxiliary leg 2 lb, 22 b to extend, raise and lower so that the moving body 70 (that is, the base body 10) is horizontal to the direction. The contract is decided (step S12). Then, the controller 50 outputs torque command values to the motors 23, 24, 29, and 30 (step S13). As a result, the auxiliary legs 21b and 22b start to expand and contract, and the base 10 is returned to be horizontal in the direction.

When the torque command value is output to the motors 23, 24, 29, 30 in step S13, the controller 50 raises the auxiliary wheels 21a, 22a! It is determined whether or not the amount of precipitation has reached the target amount determined in step S12 (step S14). When the elevation angle and the elevation amount are the target amounts (YES in step S14), the controller 50 stops the auxiliary wheels 21 and 22. On the other hand, if the elevation angle and the elevation amount are not the target amounts (NO in step S14), the process returns to step S10 and the processing from step S10 is repeated. Accordingly, the assisting wheel devices 21 and 22 are beaten until they become horizontal with respect to the base »body 10 force S moving direction.

As is clear from the above description, in the moving body 70 of the present embodiment, the auxiliary wheel devices 21 and 22 force S are defined independently, and the auxiliary wheel 21 a and 22 a force S are rotated with respect to the moving body 70. Moves and descends to hold insects on the floor. Also, the angle of inclination of the platform 10 and the angle of inclination of the floor relative to the cart body 10 are measured, and the angle of inclination of the auxiliary wheel device 21 '22 is measured based on this measurement. The stretching speed and descending angle are controlled. 'The moving body 70 is in a stable state depending on the floor condition. a, 22 a can be wormed on the floor. In addition, the auxiliary wheels 2 la and 22 a are made to have worms on the floor, the positions of the auxiliary wheels 21 a and 22 a are just before the floor surface is touched, and the two positions from the immediately preceding position to the floor surface are contacted. Lower in stages. In this way, by slowly controlling the wrinkles that turn on the auxiliary wheel 21a, 22a force floor, it is possible to relieve the seed at the time of contact angle Ek "T to the auxiliary wheel 21a, 22a force sister surface. And can prevent instability.

In addition, after the auxiliary wheels 21a and 22a contact the floor, the auxiliary legs 21b and 22b are used to raise the table; ^: the body 10 is returned to the horizontal direction. Mobile body 70 force S Can be in a stable state. For this reason, even when the auxiliary wheels 2 la and 22 a are used, the moving body 70 can be made more stable than before.

Note that the moving body 70 that has been subjected to 6 can also move the floor surface with the auxiliary wheels 2 l a and 22 a being wormed on the floor surface. Thus, the inversion control of the moving body 70 can be stopped, and the auxiliary wheels 21a, 22a can be supported so as to maintain the stand 10: body 10 force S in an inverted state. Thereby, even when the moving body 70 is swelled, the carriage body 10 is kept horizontal with respect to the 10-force S-movement direction, and the tilt of the carriage body 10 can be prevented.

Also, when running on an inclined surface with worms on the auxiliary wheels 21a, 22a, the extension / contraction of the auxiliary legs 21b, 22b is controlled according to the angle of the inclined surface. I prefer it. As a result, the base 10 can be kept horizontal with respect to the moving direction even when the mobile body 70 runs on the slope S.

The male auxiliary wheel device controlled the stretching, stretching and raising / lowering angles of the auxiliary legs. However, in the present invention, only the elevation angle of the auxiliary leg may be controlled by the auxiliary wheel device. An example of such an auxiliary wheel device will be described with reference to FIG. FIG. 10 is an excerpt drawing for explaining the auxiliary wheel devices 101 and 102. In this example, the lifting force of the auxiliary wheel 1 O la, 102 a ^s only by the rotation of the auxiliary legs 101 b, 102 b. »Will be '

FIG. 10 (a) shows a state in which the movable body performs the inversion control by raising the collars 101a and 102a of the auxiliary wheel devices 101 and 102 from the floor force. Figure 10 (b) shows a state in which auxiliary wheels 101a and 102a are placed on a floor surface horizontal in the direction of movement. FIG. 10 (c) shows a state in which the auxiliary wheels 101a and 102a are made to be wormed on the floor surface which is not horizontal in one force direction 110 and which is horizontal in the force direction. Fig. 10 (d) shows a table »body 10 ^ on a slope where auxiliary wheels 101a and 102a are brought into contact! Indicates ^.

As shown in Fig. 10 (a), the moving body does not use the auxiliary wheels 101a, 102a. Raise a from the floor, auxiliary wheel 1 O la, 102 a force S Close to the floor that does not translocate. On the other hand, 'Auxiliary wheel 1 O la, 102 a is wormed on the floor surface. »The rotation and the amount of rotation of the auxiliary legs 101 b, 10 2 b are controlled according to the state of the body 10 and the floor surface. Is done. As a result, the auxiliary wheel 1 Ola, 102a can be transferred to the floor almost simultaneously. Further, the auxiliary wheels 101a and 102a can be lowered to the floor surface while the cart body 10 is in a stable state. '' In this way, if a shelf that raises and lowers the auxiliary wheels 101a and 102a only by turning the auxiliary legs 101b and 102b is adopted, the mechanism for extending and retracting the auxiliary legs 101b and 102b can be omitted. The weight of the moving body can be reduced.

As described above, some specific examples of the present invention have been described in detail, but these are only examples and do not limit the scope of the special fPf blue demand. The technique described in the scope of the special Iff claim includes the force S that is obtained by variously modifying and changing the specific examples illustrated above.

For example, in the embodiment that was _hi, only the inclination of the moving direction of the base was measured. However, for the age of using a sphere instead of, an auxiliary wheel device is provided on the front, back, left and right of the base and the front; Measurement—The front and back, left and right of the body of the dolly (which can be controlled based on the time, the auxiliary wheel device can be controlled. By measuring the inclination of the front and back and left and right of the body, the body is kept in a stable state. The auxiliary wheel can be lowered.

In addition, the number of auxiliary wheels can be determined as appropriate so that the main body can be stably inverted.

In addition to the motor, an actuator that uses hydraulic power or hydraulic pressure can be used as the actuator that changes the extension 1 * of the auxiliary leg. Similarly, an actuator that changes the elevation angle of the auxiliary leg can also be used, such as 1 / £ or an actuator that uses hydraulic pressure.

In addition, the technical elements described in this specification or the drawings may be useful for technical suspension by various combinations, and are limited to the combinations described in the claims at the time of filing. Well then ... In addition, the example illustrated in the present specification or the drawings achieves a plurality of purposes at the same time, and having one of the purposes per se has a technical usefulness.

Claims

The scope of the claims

1. A rotating body having a circular cross section and a base body supported to be rotatable around the rotating body of the rotating body, and the body is inverted by driving and controlling the rotating body held on the floor surface. In a movable body of type

The first auxiliary leg, which is arranged in front of the moving body in the moving direction of the base and can be extended and contracted from the base toward the floor, and the first auxiliary wheel rotatably attached to the first auxiliary leg A first telescopic actuator for extending and contracting the first auxiliary leg, and a first auxiliary wheel device having

The second auxiliary leg, which is arranged on the rear side of the moving body in the moving direction of the carriage and is telescopic from the carriage main body toward the floor, and the second catch attached to the second auxiliary leg rotatably. An auxiliary wheel, a second telescopic actuator for extending and contracting the second auxiliary leg, and a second auxiliary wheel device having the first and second auxiliary wheel devices, respectively Inverted-type moving book that extends leg extension and can yield Z or telescopic boat.

2. The first auxiliary wheel device further includes a first elevation angle actuator that changes the elevation angle of the first auxiliary leg,

The second auxiliary wheel device further includes a second elevation angle actuator for changing the elevation angle of the second auxiliary leg,

The inverted moving body according to claim 1, wherein the first and second auxiliary wheel devices are such that the number of trees is such that they can stand up and encourage the auxiliary leg to be contributed.

3. (1) Measuring means for measuring the inclination angle of the main body in the moving direction; (2) Measuring means for measuring the angle of the main spring body; and (3) Inclination of the floor surface of the main body. At least one of measuring means for measuring the angle, and a controller for controlling the first and second auxiliary wheel devices, the controller measuring the measurement measured by the measuring means; Based on the extension and extension of the first auxiliary leg; to control at least one of US and ascending ^^, extension of the second auxiliary leg i »and extension ¾ ^ and at least one of the elevation angles An inverted i »-type moving body as defined in claim 2 of the claim.

4. A rotating body with a circular cross-section and a base body that is tiltably supported around the rotating body of the rotating body, and the base body is inverted by driving and controlling the rotating body that is wormed on the floor surface. When you touch an inverted fresh type moving body that is in the state, A first auxiliary support leg, which is disposed on the front side of the main body in the moving direction of the moving body and is rotatably attached to the main body; and a first auxiliary wheel which is rotatably attached to the first auxiliary leg. A first rotation angle actuator for rotating the first auxiliary leg, and a first auxiliary wheel device having:

Base: ^ Located on the rear side of the moving body of the body, base: ^: Second auxiliary leg pivotally attached to the body, and second auxiliary leg rotatably attached to the second auxiliary leg An auxiliary wheel, a second rotation angle actuator for rotating the second auxiliary leg, and a second auxiliary wheel device having:

Each of the first and second auxiliary wheel devices is an inverted fresh type moving body on which the insects can stand and the rotation angle of the auxiliary leg can be reduced.