WO2015092913A1 - Objet mobile à deux roues, et procédé de commande associé - Google Patents

Objet mobile à deux roues, et procédé de commande associé Download PDF

Info

Publication number
WO2015092913A1
WO2015092913A1 PCT/JP2013/084220 JP2013084220W WO2015092913A1 WO 2015092913 A1 WO2015092913 A1 WO 2015092913A1 JP 2013084220 W JP2013084220 W JP 2013084220W WO 2015092913 A1 WO2015092913 A1 WO 2015092913A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
control
wheels
mode
feedback gain
Prior art date
Application number
PCT/JP2013/084220
Other languages
English (en)
Japanese (ja)
Inventor
亮介 中村
梓 網野
泰士 上田
Original Assignee
株式会社日立製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2013/084220 priority Critical patent/WO2015092913A1/fr
Publication of WO2015092913A1 publication Critical patent/WO2015092913A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Definitions

  • the present invention relates to a two-wheeled vehicle and a control method thereof.
  • a two-wheel moving body that has two wheels and moves by rotating each wheel is known.
  • the two-wheel moving body has an advantage that the area when viewed in plan can be reduced as compared with a moving body including three or more wheels.
  • Patent Document 1 describes a standing two-wheeled parallel two-wheeled vehicle on which a person rides.
  • the parallel two-wheeled vehicle with a pedal is configured to be switchable between a parallel two-wheel mode in which axles of two wheels are arranged on the same straight line and a bicycle mode in which two wheels are shifted and arranged like a bicycle.
  • Patent Document 2 describes a control method for stabilizing the movement in the parallel two-wheel mode described above. That is, Patent Document 2 describes that the wheel driving motor is controlled based on the inclination angle of the vehicle body detected by the angle detecting means to stabilize the attitude of the coaxial two-wheeled vehicle.
  • Patent Document 3 describes a two-wheel moving body that stabilizes the posture by adjusting the degree of opening of two legs, the steering angle of wheels, and the like.
  • the parallel two-wheel mode described in Patent Documents 1 and 2 is effective during low-speed movement, but when one wheel contacts an obstacle (for example, a step) during high-speed movement, a large overturning force is generated. There is a problem that it is easy to fall.
  • the bicycle mode described in Patent Documents 1 and 2 is effective during high-speed movement, there is a problem in that it cannot be stabilized by steering in a stopped state and is likely to fall over.
  • Patent Document 3 proposes a two-wheel moving body that overcomes the two conflicting disadvantages described above by transitioning the parallel two-wheel mode and the bicycle mode via the oblique two-wheel mode. However, there is room for further improvement in the stabilization of the oblique two-wheel mode when transitioning from one of the parallel two-wheel mode and the bicycle mode to the other.
  • an object of the present invention is to provide a two-wheeled moving body that stabilizes the posture during movement and a control method thereof.
  • the two-wheel moving body when shifting from one of the parallel two-wheel mode and the bicycle mode to the other, the first control that stabilizes the posture by accelerating and decelerating the wheel drive motor;
  • the weighting of the feedback gain used for the first control and the second control is made according to the rotational speed of the wheel. An intermediate mode for smoothly changing is executed.
  • FIG.1 (a) is a right view of a two-wheeled mobile body
  • FIG.1 (b) is a front view
  • FIG.1 (c) is a top view.
  • the two legs 5R and 5L are shown open, but the legs 5R and 5L can be opened and closed as will be described later.
  • the two-wheel moving body M is a moving body that moves by rotating the wheels 1R and 1L installed on the distal ends of the two legs 5R and 5L, and is used for, for example, a service robot.
  • the two-wheel moving body M includes wheels 1R, 1L, wheel drive motors 2R, 2L, steer portions 3R, 3L, steer drive motors 4R, 4L, legs 5R, 5L, leg drive motor 6, and upper body 7.
  • the right wheel 1R is installed on the lower side of the leg 5R (on the side opposite to the rotation axis of the leg 5R), and its steer angle ⁇ R by the steer portion 3R. (See FIG. 6A) is adjusted. Note that the center of gravity X G (see FIG. 6B) of the two-wheel moving body M is located above the wheels 1R and 1L.
  • the wheel drive motor 2R shown in FIGS. 1B and 1C is a motor that rotates the wheel 1R in response to a command from the control unit 9, and is accommodated in the steering unit 3R while being connected to the axle of the wheel 1R.
  • the wheel drive motor 2R includes an encoder (not shown) that detects a rotation angle ⁇ R of the wheel 1R (see FIG. 6B) and a rotation speed d ⁇ R indicating a temporal change of the rotation angle ⁇ R. Is installed.
  • the steer portion 3R adjusts the steer angle ⁇ R (see FIG. 6A) of the wheel 1R, and is installed near the lower end of the leg 5R.
  • the steer portion 3R is disposed on the inner side of the wheel 1R in the left-right direction (see FIG. 1B), and accommodates the wheel drive motor 2R therein. Note that the steer portion 3R may be disposed outside the wheel 1R in the left-right direction.
  • the steer drive motor 4R is a motor that adjusts the steer angle ⁇ R (see FIG. 6A) of the wheel 1R in accordance with a command from the control unit 9.
  • the steer drive motor 4R is housed in the lower portion of the leg 5R (see FIG. 1B), and the rotation shaft thereof is installed in the steer portion 3R.
  • the steer drive motor 4R is provided with an encoder (not shown) that detects the steer angle ⁇ R of the wheel 1R.
  • the right wheel 1R is rotated by the wheel drive motor 2R
  • the steering angle [delta] R is adjusted by a steering drive motor 4R
  • the left wheel 1L is rotated by a wheel drive motor 2L different from the right side
  • the steering angle ⁇ L is adjusted by the steering drive motor 4L. Since the left wheel 1L, the wheel drive motor 2L, the steer portion 3L, and the steer drive motor 4L are the same as those on the right side, description thereof is omitted.
  • the legs 5 ⁇ / b> R are installed so as to be rotatable (open / closed legs) in the front-rear direction around a shaft (not shown) disposed inside the upper body 7.
  • the leg 5R has an upper end portion (rotating shaft) installed on the upper body 7 and a lower end portion installed on the steer portion 3R.
  • the left leg 5L has the same configuration as the right leg 5R. In this way, the pair of legs 5R and 5L are installed on the upper body 7, and are configured to be rotatable about the upper end thereof.
  • the leg drive motor 6 is a motor that rotates (opens / closes) the legs 5R and 5L in response to a command from the control unit 9, and is accommodated in the upper body 7.
  • the right leg 5R and the left leg 5L are rotated by one leg drive motor 6.
  • the legs 5R and 5L may be rotated by separate leg drive motors.
  • the leg drive motor 6 is provided with an encoder (not shown) that detects an open leg angle ⁇ of the legs 5R and 5L and an open leg angular velocity d ⁇ that is a temporal change of the open leg angle ⁇ .
  • the upper body 7 is a housing that houses equipment including the leg drive motor 6, the posture detection unit 8, and the control unit 9. As described above, the rotation shafts (not shown) of the legs 5R and 5L are disposed inside the upper body 7.
  • the posture detection unit 8 is, for example, a gyroscope, and is a sensor that acquires information related to the posture of the two-wheel moving body M.
  • the information described above includes the inclination angle ⁇ in the traveling direction of the two-wheeled moving body M (see FIG. 6B), the inclination angular velocity d ⁇ indicating the temporal change of the inclination angle ⁇ , and the inclination of the two-wheeled moving body M in the left-right direction.
  • the posture detection unit 8 outputs each detection result to the control unit 9.
  • the control unit 9 executes arithmetic processing in accordance with information input from the posture detection unit 8, an operation by an operator, and the like, and the wheel drive motors 2R and 2L, the steer drive motors 4R and 4L, and the leg drive motor 6 are operated. Control.
  • the control unit 9 is, for example, a microcomputer (not shown), reads a program stored in a ROM (Read Only Memory), develops it in a RAM (Random Access Memory), and a CPU (Central Processing Unit) performs various processes. Is supposed to run.
  • FIG. 2 is a configuration diagram of a control unit included in the two-wheel moving body.
  • the control unit 9 includes a target value generation unit 91, a leg control unit 92, a mechanism information calculation unit 93, and a moving system control unit 94.
  • the target value generating unit 91 moves the two-wheeled mobile body M based on the current position / orientation of the two-wheeled mobile body M, the coordinates of the target position that is the destination, the speed upper limit value, the acceleration upper limit value, etc. 0t , y0t , ⁇ 0t ) and the target moving speed v0t .
  • x 0t and y 0t are the coordinates of the center of gravity X G (see FIG. 6) of the two-wheel moving body M
  • ⁇ 0t is an angle representing the turning direction of the two-wheel moving body M.
  • the aforementioned target position, speed upper limit value, and acceleration upper limit value are stored in advance in a storage unit (not shown).
  • the current position and direction of the two-wheeled moving body M may be calculated based on the past movement history, or may be input from the outside and stored in the storage unit.
  • the target value generation unit 91 sets the trajectory described above based on a plurality of times (current time + k ⁇ t: ⁇ t is a control cycle, k is a natural number) and the coordinates of the two-wheeled moving body M at each time.
  • the target moving speed v 0t is set similarly.
  • the target value generation unit 91 outputs the calculated target movement speed v 0t to the leg control unit 92. Further, the target value generation unit 91 outputs the trajectory (x 0t , y 0t , ⁇ 0t ) and the target moving speed v 0t to the moving system control unit 94.
  • the leg control unit 92 calculates the target leg opening angle ⁇ 0 of the legs 5R and 5L corresponding to the target moving speed v 0t input from the target value generating unit 91.
  • the target leg opening angle ⁇ 0 is a target angle when the legs 5R and 5L are rotated (see FIG. 1A).
  • Leg control unit 92 controls the leg drive motor 6 according to the target open leg angle [psi 0 calculated, and outputs the target open leg angle [psi 0 to mechanism information calculation section 93.
  • the mechanism information calculation unit 93 is information indicating the positional relationship of the wheels 1R, 1L with respect to the upper body 7 (distance h, displacement q described later: FIG. 6). (See (a) and (b)) and the center of gravity X G (see FIGS. 6A and 6B) of the two-wheeled moving body M excluding the wheels 1R and 1L. Further, the mechanism information calculation unit 93 calculates the distance h (see FIG. 6B) between the line segment T (see FIG. 6A) connecting the centers of the wheels 1R and 1L and the center of gravity X G and the center of gravity X G. moment of inertia I G about the axis perpendicular to the street travel direction, is calculated. The mechanism information calculation unit 93 outputs the calculated values to the moving system control unit 94.
  • the moving system control unit 94 is based on the information input from the target value generation unit 91 and the mechanism information calculation unit 93 and the information input from the encoders (not shown) and the attitude detection unit 8 described above. Wheel drive motors 2R and 2L and steer drive motors 4R and 4L are controlled.
  • FIG. 3 is a configuration diagram of a mobile system control unit included in the control unit.
  • the moving system control unit 94 includes a speed / position calculation unit 941, a travel mode determination unit 942, a parallel two-wheel mode execution unit 943, a bicycle mode execution unit 944, and an intermediate mode execution unit 945.
  • the speed / position calculation unit 941 moves based on information input from the posture detection unit 8 and the mechanism information calculation unit 93 and information input from an encoder (not shown) installed in each motor.
  • the actual velocity (dx c , dy c ) and position (x c , y c ) of the body M are calculated.
  • the travel mode determination unit 942 determines a travel mode to be executed in the next control cycle based on information input from the mechanism information calculation unit 93.
  • This traveling mode includes a parallel two-wheel mode, an intermediate mode, and a bicycle mode. Each travel mode will be described later.
  • the parallel two-wheel mode execution unit 943 executes the two-wheel parallel mode so that the current position (x, y, ⁇ ) approaches the trajectory (x 0t , y 0t , ⁇ 0t ) input from the target value generation unit 91.
  • the two-wheel parallel mode is a travel mode in which the inverted pendulum control is executed in a state where the wheels 1R and 1L are positioned substantially coaxially (that is, the legs 5R and 5L are closed).
  • the above-described inverted pendulum control is control that stabilizes the posture of the two-wheeled moving body M by using the inertial force generated in association with the acceleration / deceleration of the wheel drive motors 2R and 2L.
  • the inverted pendulum control for example, a method described in Japanese Patent Application Laid-Open No. 2007-319991 can be used.
  • the bicycle mode execution unit 944 executes the bicycle mode so that the current position (x, y, ⁇ ) approaches the trajectory (x 0t , y 0t , ⁇ 0t ) input from the target value generation unit 91.
  • the bicycle mode is a traveling mode in which the axles of the wheels 1R and 1L are shifted and the surface directions thereof are substantially matched, and the posture is stabilized using centrifugal force.
  • the bicycle mode for example, Marumo et al., “Research on collision avoidance system for motorcycles”, Transactions of the Japan Society of Mechanical Engineers (C), September 2011, Vol. 77, No. 781, p.
  • the method described in 3300-3331 can be used.
  • the intermediate mode execution unit 945 executes the intermediate mode so that the current position (x, y, ⁇ ) approaches the trajectory (x 0t , y 0t , ⁇ 0t ) input from the target value generation unit 91.
  • the intermediate mode is an intermediate running mode that is executed when shifting from one of the parallel two-wheel mode and the bicycle mode to the other mode.
  • the intermediate mode execution unit 945 includes a weight calculation unit 945a, an inverted pendulum control execution unit 945b, and an attitude stabilization control execution unit 945c. The configuration of the intermediate mode execution unit 945 will be described later.
  • FIG. 4 is a flowchart illustrating processing executed by the control unit. Note that the series of processing shown in FIG. 4 is executed in one control cycle of the control unit 9.
  • the control unit 9 causes the target value generation unit 91 to calculate the trajectory (x 0t , y 0t , ⁇ 0t ) and the target moving speed v 0t of the two-wheel moving body M. For example, when the current position (x, y, ⁇ ) and the target position (x 0 , y 0 , ⁇ 0 ) of the movement destination are given, the target value generation unit 91 creates a straight line connecting these two points. A trajectory of the two-wheeled moving body M is assumed.
  • the target value generation unit 91 determines a target moving speed v 0t at each time in the future based on, for example, a trapezoidal speed pattern (acceleration ⁇ constant speed ⁇ deceleration). Note that the method of calculating the trajectory (x 0t , y 0t , ⁇ 0t ) and the target moving speed v 0t is not limited to the above example.
  • step S102 the control unit 9 causes the leg control unit 92 to calculate a target leg opening angle ⁇ 0 corresponding to the target moving speed v 0t based on the following (Equation 1).
  • the speed thresholds v ra and v rb and the upper limit value ⁇ max of the target leg opening angle ⁇ 0 are preset constants.
  • FIG. 5 is an explanatory diagram showing the relationship between the target moving speed and the target leg opening angle.
  • the broken line shown in FIG. 5 corresponds to (Formula 1).
  • the leg control unit 92 sets the target leg opening angle ⁇ 0 to zero (that is, closes the legs 5R and 5L).
  • the leg control unit 92 sets the target leg opening angle ⁇ 0 so that the legs 5R and 5L are opened wider as the target moving speed v 0t increases.
  • the leg control unit 92 drives the leg drive motor 6 so as to open the legs 5R and 5L by the angle ⁇ max (that is, maximize the legs 5R and 5L). open). In this manner, the leg control unit 92 changes the positional relationship between the wheels 1R and 1L according to the target moving speed v 0t of the two-wheel moving body M.
  • step S ⁇ b> 103 the control unit 9 uses the mechanism information calculation unit 93 to calculate the center of gravity X G and the moment of inertia I G of the two-wheel moving body M. That is, mechanism information calculation unit 93, shown below, based on the (Equation 2), calculates the position vector of the center of gravity X G in a two-wheeled mobile M (excluding the wheels 1R, and 1L).
  • a vector X i shown in (Expression 2) is a position vector of the devices (the steer portions 3R and 3L, the legs 5R and 5L, the upper body 7 and the like) constituting the two-wheeled moving body M.
  • the vector X i is based on the connection relationship and shape of the devices described above, the target leg opening angle ⁇ 0 input from the leg control unit 92, information input from the attitude detection unit 8 and encoders (not shown) of each motor, and the like. Calculated based on The mass W i shown in (Formula 2) is the mass of each device described above, and is stored in advance in a storage unit (not shown).
  • FIGS. 6A and 6B are explanatory views schematically showing the positional relationship of each component of the two-wheel moving body, where FIG. 6A is a plan view and FIG. 6B is a side view.
  • FIG. 6 the simplified as a point mass located the body 7 to the center of gravity X G.
  • the XY plane shown in FIG. 6 is along the horizontal direction
  • the Z axis is along the vertical direction.
  • the mechanism information calculation unit 93 calculates the distance h between the line segment T connecting the centers of the left and right wheels 1R and 1L and the center of gravity X G of the two-wheel moving body M based on the following (Formula 3).
  • the vector a shown in (Formula 3) is a position vector of the center of the wheel 1R
  • the vector b is a position vector of the center of the wheel 1L.
  • the mechanism information calculation unit 93 determines the displacement q () of the wheels 1R and 1L based on the state in which the wheels 1R and 1L are coaxially positioned and the steering angles ⁇ R and ⁇ L (see FIG. 6A) are zero.
  • the front-rear direction) and the width w (left-right direction) are calculated.
  • the displacement q and the width w are obtained from the geometric positional relationship shown in FIG. 6 based on the target leg opening angle ⁇ 0 or the like input from the leg control unit 92.
  • the mechanism information calculation unit 93 calculates information (displacement q, distance h, width w) indicating the positional relationship between the body 7 and the wheels, and 1R and 1L.
  • the mechanism information calculation unit 93 calculates the moment of inertia I G around the center of gravity X G (around the axis parallel to the line segment T shown in FIG. 6A).
  • the inertia moment IG is calculated based on the positional relationship and mass of the devices (the steer portions 3R, 3L, the legs 5R, 5L, the upper body 7, etc.) constituting the two-wheeled moving body M.
  • control unit 9 calculates the speed v and the position (x, y, z) of the two-wheeled moving body M by the speed / position calculation unit 941.
  • the distance h, the displacement q, information input from the attitude detection unit 8 and each encoder are used.
  • the speed / position calculation unit 941 calculates the speed (dx R , dy R ) of the wheel 1R on the XY plane based on (Formula 4) using each acquired information, and the wheel based on (Formula 5).
  • the speed (dx L , dy L ) of 1 L is calculated.
  • r is the radius of the wheels 1R, 1L
  • ⁇ R is the rotation angle of the wheel 1R
  • ⁇ is the inclination angle in the traveling direction of the two-wheel moving body M
  • ⁇ is the angle indicating the turning direction
  • [delta] R is steering angle of the wheel 1R.
  • the speed / position calculation unit 941 calculates the center of gravity X G of the body 7 by the following (Formula 6) based on the speeds (dx R , dy R ), (dx L , dy L ) of the wheels 1R, 1L.
  • the speed (dx C , dy C ) is calculated.
  • the speed / position calculation unit 941 calculates the height z C of the center of gravity XG in the z direction (vertical direction) based on the following (Formula 7).
  • the speed / position calculation unit 941 integrates (dx R + dx L ) / 2 and (dy R + dy L ) / 2 with time, and calculates the current position (x, y) of the center of gravity X G. .
  • the speed-position calculating unit 941 described below on the basis of (Equation 8), to calculate the velocity v of the center of gravity X G.
  • the current position (x, y) and speed v of the two-wheeled moving body M calculated in this way are used for controlling the wheel drive motors 2R, 2L and the steer drive motors 4R, 4L based on feedback control.
  • step S104 of FIG. 4 the control unit 9 determines whether or not the displacement q (see FIG. 6A) is less than the threshold value D1 by the travel mode determination unit 942.
  • the threshold value D1 is a value that serves as a criterion for determining whether or not the posture can be sufficiently stabilized only in the parallel two-wheel mode, and is set in advance.
  • the traveling mode determination unit 942 determines to execute the parallel two-wheel mode.
  • step S ⁇ b> 105 the control unit 9 controls the posture of the two-wheel moving body M by the parallel two-wheel mode execution unit 943.
  • the parallel two-wheel mode execution unit 943 provides predetermined feedback gains K1, K2, K3, and K4 for the rotation angle ⁇ , the rotation speed d ⁇ , the inclination angle ⁇ in the traveling direction, and the inclination angular velocity d ⁇ of the wheels 1R and 1L, respectively.
  • a value obtained by multiplication and addition is set as a target value of the average torque ⁇ c of the wheel drive motors 2R and 2L.
  • the parallel two-wheel mode execution unit 943 calculates the turning torque ⁇ d based on the following (Equation 9).
  • K d is a turning gain set in advance
  • ⁇ ot is a target value indicating the turning direction
  • ⁇ is an angle indicating the current turning direction.
  • the parallel two-wheel mode execution unit 943 outputs the target torque ( ⁇ c ⁇ d ) to the right wheel drive motor 2R and outputs the target torque ( ⁇ c + ⁇ d ) to the left wheel drive motor 2L.
  • ⁇ c is a target value of the average torque of the wheels 1R and 1L.
  • the parallel two-wheel mode execution unit 943 sets the target steer angle of the steer drive motors 4R and 4L to zero.
  • the parallel two-wheel mode execution unit 943 uses the inertial force generated with the acceleration / deceleration of the wheel drive motors 2R and 2L, and stabilizes the posture of the two-wheel moving body M by the inverted pendulum control.
  • step S106 the control unit 9 determines whether the displacement q is less than the threshold value D2 by the travel mode determination unit 942.
  • the threshold value D2 is a value that serves as a criterion for determining whether or not the posture stability can be sufficiently secured only in the bicycle mode, and is set in advance.
  • the control unit 9 outputs a command signal to the intermediate mode execution unit 945.
  • step S107 the control unit 9 determines to execute the intermediate mode.
  • the intermediate mode is a travel mode that is executed when transitioning from one of the parallel two-wheel mode and the bicycle mode to the other.
  • the control of the wheel drive motors 2R and 2L based on the inverted pendulum control and the control of the steer drive motors 4R and 4L based on the posture stability control are executed together.
  • the inverted pendulum control (first control) is based on the inertial force (acting in a direction perpendicular to the line segment T: see FIG. 6A) accompanying acceleration / deceleration of the wheel drive motors 2R and 2L. This is control that stabilizes the posture of the two-wheeled moving body M by using it.
  • the posture stabilization control acts in a direction parallel to the line segment T generated by the two-wheel moving body M turning with the rotation of the steering drive motors 4R and 4L: 6 (a)) is used to stabilize the posture of the two-wheeled moving body M.
  • the transition from one of the parallel two-wheel mode and the bicycle mode to the other is smoothly performed by smoothly changing the weight of the gain used for the inverted pendulum control and the posture stabilization control.
  • FIG. 7 is a flowchart showing a flow of processing when the intermediate mode execution unit executes the intermediate mode.
  • the intermediate mode execution unit 945 calculates the ratio (that is, the division weight of each control) between the gain used in the inverted pendulum control and the gain used in the posture stabilization control by the weight calculation unit 945a (see FIG. 3). .
  • Weight calculator 945a uses the following (Equation 10), calculates a weighting factor E 1 which focuses on torque efficiency of the inverted pendulum control.
  • K shown in (Expression 10) is a coefficient for adjusting the ratio between E 1 and E 2 and is set in advance.
  • ⁇ is an angle formed by a line segment T (see FIG. 6) connecting the centers of the wheels 1R and 1L and the front direction of the upper body 7 (forward direction in FIG. 6).
  • ⁇ is an angle indicating the current turning direction, and is an average value of the steer angles ⁇ R and ⁇ L. As described above, when the inverted pendulum control is performed, since the steer portions 3R and 3L are not rotated (the steer is not cut), the angle ⁇ is constant.
  • the weight calculation section 945a uses the following (Equation 11), calculates a weighting factor E 2 which focuses on the centrifugal force generation efficiency of the posture stabilization control.
  • M 1 shown in (Formula 11) is the mass of the two-wheel moving body M excluding the wheels 1R and 1L, and r is the radius of the wheels 1R and 1L.
  • h is the distance between the line segment T connecting the centers of the wheels 1R and 1L and the center of gravity X G
  • ⁇ is the rotation angle of the wheel 1R
  • L is the length of the line segment T (between the centers of the wheels 1R and 1L) Distance) (see FIG. 6A).
  • the weighting element E 2 is proportional to the square of the rotational speed of the wheels 1R, 1L (d ⁇ / dt) 2 , and the centrifugal force generation efficiency increases as the weighting element E 2 increases.
  • the square of the speed v of the two-wheel moving body M may be used.
  • the angle ⁇ included in the weighting elements E 1 and E 2 , the distance h included in the weighting element E 2 , the rotational speed (d ⁇ / dt), and the length L change continuously over time. Accordingly, the magnitudes of the weighting elements E 1 and E 2 also change continuously with the passage of time.
  • the weight calculation section 945a when the length L than a predetermined value set in advance is small, the weight calculation section 945a, it is preferable to set the value of weighting factor E 2 to zero. Thus, it is possible to avoid a situation that there is no solution for the weighting factor E 2.
  • the weight calculation unit 945a outputs the weighting elements E 1 and E 2 to the inverted pendulum control execution unit 945b and outputs the weighting elements E 1 and E 2 to the posture stabilization control execution unit 945c.
  • the intermediate mode execution unit 945 calculates the target torque ⁇ 0 of the wheel drive motors 2R and 2L by the inverted pendulum control execution unit 945b. That is, the inverted pendulum control execution unit 945b calculates a feedback gain when controlling the wheel drive motors 2R and 2L using the first weight value (1 / E 1 + E 2 ) input from the weight calculation unit 945a. .
  • the inverted pendulum control execution unit 945b uses the first weight value (1 / E as the feedback gain used in the parallel two-wheel mode execution unit 943 as the feedback gain of the inclination angle ⁇ and the inclination angular velocity d ⁇ of the body 7 along the traveling direction. 1 + E 2 ) is used.
  • the feedback gain a value obtained by multiplying the first weighting value (1 / E 1 + E 2 ) by a predetermined constant may be used.
  • the inverted pendulum control execution unit 945b performs gain scheduling based on the already calculated distance h (see FIG. 6), inertia moment I G , mass of each device, and the like, and target torques of the wheel drive motors 2R and 2L. ⁇ 0 is calculated.
  • the target torque ⁇ o is calculated based on the following (Equation 12) using the average torque ⁇ c calculated by the parallel two-wheel mode execution unit 943, taking into consideration only the influence of the wheels 1R and 1L not being coaxial. It may be calculated.
  • the intermediate mode execution unit 945 calculates the posture stabilization steer angle ⁇ os by the posture stabilization control execution unit 945c.
  • This steering angle ⁇ os for stabilizing the posture is a steering angle for stabilizing the posture of the two-wheeled moving body M by generating a centrifugal force by cutting the steering.
  • the posture stabilization control execution unit 945c uses the second weighting value (E 2 / E) for the feedback gain used in the bicycle mode execution unit 944 as the feedback gain of the inclination angle ⁇ and the inclination angular velocity d ⁇ of the body 7 along the traveling direction.
  • a steering angle ⁇ os for posture stabilization is calculated using a product of 1 + E 2 ).
  • the posture stabilization control execution unit 945c reverses the sign of each steer angle ⁇ os with respect to the steer drive motors 4R and 4L. As a result, a centrifugal force in the vertical direction is generated with respect to the line segment T connecting the centers of the wheels 1R and 1L, and the posture of the two-wheel moving body M can be stabilized.
  • the posture stabilization control execution unit 945c calculates the follower steering angles ⁇ of and ⁇ oa .
  • the tracking steer angles ⁇ of and ⁇ oa are steer angles for causing the traveling path of the two-wheeled vehicle M to follow the trajectory (x 0t , y 0t , ⁇ 0t ) generated by the target value generation unit 91. It is.
  • the steer angle ⁇ of is calculated by multiplying the distance between the trajectory (x 0t , y 0t , ⁇ 0t ) and the current position of the two-wheel moving body M by the feedback gain K f .
  • the posture stabilization control execution unit 945c makes the positive and negative of the respective steering angles ⁇ of regarding the steering drive motors 4R and 4L.
  • the posture stabilization control executing unit 945C and the angle omega that indicates the current turning direction, an angle omega 0 indicating a target turning direction, the difference a multiplied by the feedback gain K a in the, steering angle for turning [delta] oa Set as.
  • the posture stabilization control execution unit 945c reverses the sign of each steer angle ⁇ oa with respect to the steer drive motors 4R and 4L.
  • step S1075 in FIG. 7 the posture stabilization control execution unit 945c calculates target steer angles ⁇ R and ⁇ L of the steer drive motors 4R and 4L based on the following (Formula 13).
  • the above (Formula 13) is a formula for calculating the target steer angles ⁇ R and ⁇ L when the left leg 5L is ahead of the body 7. Note that when the right leg 5R precedes, the signs of the steer angles ⁇ os and ⁇ oa are opposite to those in (Formula 13).
  • the target torque ⁇ 0 calculated in step S1071 is output to the wheel drive motors 2R and 2L, and the target steer angles ⁇ R and ⁇ L calculated in step S1074 are output to the steer drive motors 4R and 4L.
  • Step S ⁇ b> 108 the control unit 9 executes the bicycle mode by the bicycle mode execution unit 944.
  • the bicycle mode execution unit 944 outputs a target rotational speed d ⁇ 0 obtained by dividing the target moving speed v ot by the radius r of the wheels 1R, 1L to the left and right wheel drive motors 2R, 2L. Further, the bicycle mode execution unit 944 calculates a target steer angle ⁇ ot and drives the left and right steer drive motors 4R and 4L.
  • the posture of the two-wheeled moving body M can be stabilized by executing the bicycle mode with the legs 5R and 5L opened relatively large (q ⁇ D2).
  • description is abbreviate
  • the target torques of the wheel drive motors 2R, 2L and the angles of the steer drive motors 4R, 4L may become discontinuous, Compensation may occur, and the driving mode may not be smoothly shifted and the vehicle may fall over.
  • the ratio of the feedback gain is continuously changed over time while executing the inverted pendulum control and the posture stabilization control together in the intermediate mode. Therefore, as described above, the travel mode can be smoothly shifted.
  • the second embodiment differs from the first embodiment in that the stereo camera 10 is mounted on the upper body 7 and the configuration of the control unit 9, but is otherwise the same as in the first embodiment. It is. Therefore, a different part from 1st Embodiment is demonstrated and description of the overlapping part is abbreviate
  • FIG. 8 is a right side view of the two-wheel moving body according to this embodiment, FIG. 8B is a front view, and FIG. 8C is a plan view.
  • the two-wheeled moving body M includes a stereo camera 10 (imaging unit) that images the outside world including at least a travel destination route.
  • the stereo camera 10 is configured so that an object can be imaged simultaneously from a plurality of different directions.
  • FIG. 9 is a configuration diagram of a control unit included in the two-wheel moving body.
  • the control unit 9 includes an image recognition unit 95, a target value generation unit 91, a leg control unit 92, and a moving system control unit 94.
  • the image recognition unit 95 Based on the image information input from the stereo camera 10, the image recognition unit 95 recognizes the state of the route scheduled to travel (tilt, presence / absence of obstacles, unevenness, etc.). Note that details of the processing executed by the image recognition unit 95 are omitted.
  • the target value generation unit 91 based on information input in advance by the operator and information input from the image recognition unit 95, a trajectory (x 0t , y 0t , ⁇ 0t ) and a target for moving to the destination. A moving speed v 0t is generated.
  • the leg control unit 92 calculates the target leg opening angle ⁇ 0 of the legs 5R and 5L corresponding to the target moving speed v 0t input from the target value generating unit 91
  • the moving system control unit 94 includes the information input from the image recognition unit 95, the trajectory (x 0t , y 0t , ⁇ 0t ) and the target moving speed v 0t input from the target value generation unit 91, and the leg control unit 92. Each motor is controlled on the basis of the target leg opening angle ⁇ 0 of the legs 5R and 5L input from.
  • the configuration of the mobile system control unit 94 is the same as that described in the first embodiment (see FIG. 3).
  • the travel mode determination unit 942 determines the travel mode according to the size of the target leg opening angle ⁇ 0 input from the leg control unit 92, for example.
  • the weighting element E 1 used in the weight calculation unit 945a is a fixed value, and a function that increases in proportion to the square of the rotational speeds (d ⁇ / dt) of the wheels 1R and 1L is used as the weighting element E 2. It may be used. Even in this case, the first weighting value (1 / E 1 + E 2 ) and the second weighting value (E 2 / E 1 + E 2 ) are continuously set according to the rotational speeds (d ⁇ / dt) of the wheels 1R and 1L. Since it changes, the running mode can be smoothly shifted.
  • the moving system control unit 94 When the unevenness is recognized on the path by the image recognition unit 95 during the execution of the intermediate mode, the moving system control unit 94 preferably performs the following process. That is, the mobile system control unit 94 multiplies the first weighting value (1 / E 1 + E 2 ) corresponding to the inverted pendulum control by a predetermined value ⁇ ( ⁇ 1) by the weight calculation unit 945a (see FIG. 3). The first weighting value is made smaller than when there is no unevenness. On the other hand, the weight value for posture stabilization control is divided by the predetermined value ⁇ , and the second weight value is made larger than when there is no unevenness. Thereby, the gain of the inverted pendulum control that is greatly affected by the unevenness of the floor surface is suppressed, and the posture of the two-wheeled moving body M can be stabilized.
  • the target value generation unit 91 outputs the target moving speed v 0t to the leg control unit 92 so as to widen the legs 5R and 5L compared to the normal time without the unevenness. . If the wheel 1R (or wheel 1L) on one side rides on the convex part during execution of the parallel two-wheel mode (that is, the inverted pendulum control), a large overturning force is generated and the posture of the two-wheeled moving body M becomes unstable. Cheap. As described above, the legs 5R and 5L are opened relatively large by the leg control unit 92, whereby the bicycle mode can be quickly shifted from the parallel two-wheel mode to the intermediate mode. Even when riding on the convex part in the bicycle mode, the posture can be quickly stabilized by utilizing the centrifugal force.
  • the weighting elements E 1 and E 2 are calculated based on the rotational speeds (d ⁇ / dt) of the wheels 1R and 1L even if the control unit 9 does not include the mechanism information calculation unit 93. did. Thereby, it is possible to smoothly shift from one of the parallel two-wheel mode and the bicycle mode to the other through the intermediate mode.
  • the control unit 9 suppresses the gain of the inverted pendulum control to increase the gain of the posture stabilization control, Open 5L promptly and shift to bicycle mode. Therefore, even when the floor surface is uneven, the posture of the two-wheel moving body M can be kept stable.
  • the two-wheeled moving body M according to the present invention has been described above, but the present invention is not limited to the above-described embodiments, and can be changed as appropriate.
  • the weighting element E 1 is calculated based on (Formula 10) and the weighting element E 2 is calculated based on (Formula 11) is described, but the present invention is not limited to this. That is, if the weighting of the feedback gain used for the inverted pendulum control (first control) and the posture stability control (second control) can be smoothly changed according to the rotation speed of the wheels 1R and 1L, A functional form may be used.
  • the control part 9 is based on the rotational speed of wheel 1R, 1L and the information (displacement q, distance h, width w) which shows the positional relationship of the upper body 7 and wheel 1R, 1L.
  • the intermediate mode may be executed based only on the rotational speeds of the wheels 1R and 1L. In this case, the wheels 1R, with increasing rotational speed of 1L, a smaller weighting factor E 1 of the inverted pendulum control, increasing the weighting factor E 2 of the posture stabilization control.
  • the imaging unit that images the outside world is the stereo camera 10
  • the present invention is not limited to this.
  • a CCD (Charge-Coupled Device) camera or the like may be used as the “imaging means”.
  • the feedback gain of the inverted pendulum control is calculated by multiplying the feedback gain of the parallel two-wheel mode by the first weighting value (1 / E 1 + E 2 ), and the second weight is assigned to the feedback gain of the bicycle mode.
  • the present invention is not limited to this.
  • each weight value may be set so that the ratio between the first weight value and the second weight value is 1: E 2 . In this case, according to the weighting factor E 2 increases or decreases, it is possible to smoothly change the weighting of the feedback gain used in the inverted pendulum control and posture stabilization control.
  • Control unit 10 Stereo camera (imaging means) 91 Target Value Generation Unit 92 Leg Control Unit 93 Mechanism Information Calculation Unit 94 Moving System Control Unit 95 Image Recognition Unit 941 Speed / Position Calculation Unit 942 Traveling Mode Determination Unit 943 Parallel Two Wheel Mode Execution Unit 944 Bicycle Mode Execution Unit 945 Intermediate Mode Execution Unit 945a Weight calculation unit 945b Inverted pendulum control execution unit 945c Attitude stabilization control execution unit

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La présente invention concerne un objet mobile à deux roues et analogue qui atteint une posture stable pendant un mouvement. L'objet mobile à deux roues comprend : un corps supérieur (7) ; une paire de jambes rotatives (5R, 5L) ; des roues (1R, 1L) montées sur les jambes (5R, 5L) ; des moteurs (2R, 2L) d'entraînement de roue ; des unités de direction (3R, 3L) ; des moteurs (4R, 4L) d'entraînement de direction ; une unité (8) de détection de posture qui détecte des informations de posture du corps supérieur (7) ; et une unité de commande (9). En fonction de la vitesse de rotation des roues (1R, 1L), l'unité de commande (9) met en œuvre un mode intermédiaire dans lequel la pondération pour gain de réaction utilisée pour la première commande et la seconde commande est variée en douceur.
PCT/JP2013/084220 2013-12-20 2013-12-20 Objet mobile à deux roues, et procédé de commande associé WO2015092913A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/084220 WO2015092913A1 (fr) 2013-12-20 2013-12-20 Objet mobile à deux roues, et procédé de commande associé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/084220 WO2015092913A1 (fr) 2013-12-20 2013-12-20 Objet mobile à deux roues, et procédé de commande associé

Publications (1)

Publication Number Publication Date
WO2015092913A1 true WO2015092913A1 (fr) 2015-06-25

Family

ID=53402306

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/084220 WO2015092913A1 (fr) 2013-12-20 2013-12-20 Objet mobile à deux roues, et procédé de commande associé

Country Status (1)

Country Link
WO (1) WO2015092913A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108068938A (zh) * 2016-11-11 2018-05-25 广东高标电子科技有限公司 一种双轮车速度控制方法及系统
CN109693747A (zh) * 2017-10-20 2019-04-30 深圳市亮点智控科技有限公司 一种摆动式平衡机器人以及平衡机器人控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007301654A (ja) * 2006-05-09 2007-11-22 Fujitsu Ltd 複数の車軸を有する移動ロボット
JP2008062769A (ja) * 2006-09-06 2008-03-21 Yoshihiro Suda 乗用移動車両
JP2009220257A (ja) * 2008-03-19 2009-10-01 Hitachi Ltd 脚車輪型移動ロボット
JP2010274715A (ja) * 2009-05-27 2010-12-09 Univ Of Tokyo ペダル付き平行二輪車
WO2011031992A2 (fr) * 2009-09-10 2011-03-17 Bpg Inc. Véhicule de transport personnel

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007301654A (ja) * 2006-05-09 2007-11-22 Fujitsu Ltd 複数の車軸を有する移動ロボット
JP2008062769A (ja) * 2006-09-06 2008-03-21 Yoshihiro Suda 乗用移動車両
JP2009220257A (ja) * 2008-03-19 2009-10-01 Hitachi Ltd 脚車輪型移動ロボット
JP2010274715A (ja) * 2009-05-27 2010-12-09 Univ Of Tokyo ペダル付き平行二輪車
WO2011031992A2 (fr) * 2009-09-10 2011-03-17 Bpg Inc. Véhicule de transport personnel

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108068938A (zh) * 2016-11-11 2018-05-25 广东高标电子科技有限公司 一种双轮车速度控制方法及系统
CN109693747A (zh) * 2017-10-20 2019-04-30 深圳市亮点智控科技有限公司 一种摆动式平衡机器人以及平衡机器人控制方法

Similar Documents

Publication Publication Date Title
JP4956962B2 (ja) 走行装置及びその制御方法
JP7014867B2 (ja) 自転車用制御装置
US7703568B2 (en) Coaxial motorcycle
US20100030442A1 (en) Movable body, travel device, and movable body control method
Jeong et al. Wheeled inverted pendulum type assistant robot: design concept and mobile control
KR101509884B1 (ko) 도립진자형 차량
US9956472B2 (en) Standing-ride type moving device
JP4296852B2 (ja) 同軸二輪車
JP5680325B2 (ja) 車両の路外逸脱防止制御装置
JP6281594B2 (ja) 走行装置、走行装置の制御方法および走行装置の制御プログラム
JP2007011634A (ja) 移動台車の制御方法及び移動台車
JP2008059497A (ja) 移動体及び移動体の制御方法
JP2007219986A (ja) 倒立移動装置及びその制御方法
WO2022059714A1 (fr) Véhicule à deux roues
JP2013212232A (ja) 姿勢制御付き無人二輪車
JP2010082717A (ja) 倒立振子型移動機構
WO2015092913A1 (fr) Objet mobile à deux roues, et procédé de commande associé
JP2010000989A (ja) 二輪自動車
KR101478599B1 (ko) 도립진자형 차량
WO2014087962A1 (fr) Véhicule de transport de personne à deux roues
KR20130105700A (ko) 도립 진자형 이동체
JP6225869B2 (ja) 倒立二輪型移動体システム
KR101465520B1 (ko) 도립진자형 차량
EP2597022B1 (fr) Véhicule à pendule inversé
JP2017169981A (ja) 立ち乗り型移動装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13899444

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13899444

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP