JP2017043222A - Moving device and control method of moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a posture stabilization control device which suppresses a change of a position of the center of gravity in a vertical direction in order to prevent a fall by suppressing load fall-off to wheels which occurs at a change of a posture during traveling, and a serial two-wheel moving mechanism having the posture stabilization control device.SOLUTION: A serial two-wheel moving mechanism system comprises: a traveling drive mechanism which has two pieces of wheels 41, 42, and rotates the wheels to a traveling direction; a steering drive mechanism which steers the wheels; a serial two-wheel moving mechanism having a posture angle detection part 60 which detects a posture angle; a traveling control part 30 which controls the traveling drive mechanism; a steering control part which controls the steering drive mechanism; and a host control part 20 which imparts a command to each control part. The serial two-wheel moving mechanism comprises: an open leg drive part which can change an open leg angle of a leg; an open leg control part which controls the open leg drive part; a posture stabilization control device which controls the open leg angle of the open leg drive part so as to suppress a change of a position of the center of gravity in a vertical direction of the serial two-wheel moving mechanism during traveling; and a control part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a moving device and a method of controlling the moving device, and in particular, the wheels are arranged in a straight line so that the rotation directions coincide with each other as in a bicycle or a motorcycle, and the posture can be changed without falling down during traveling. The present invention relates to a moving apparatus suitable for stable posture control and a method for controlling the moving apparatus.

  There is a moving device (hereinafter referred to as an in-line two-wheel moving mechanism) in which a plurality of wheels are provided and the wheels are arranged in a line such that the rotation directions of the wheels coincide with each other as in a bicycle or a motorcycle. This moving device is used for a mobile robot, for example. The in-line two-wheel moving mechanism requires posture control in the direction perpendicular to the traveling direction (roll direction), and there is a method of steering the traveling wheels as a posture stability control method. In this method, posture stabilization is achieved by using centrifugal force generated in the roll direction of the in-line two-wheel moving mechanism by wheel steering. Therefore, when the in-line two-wheel moving mechanism travels according to a desired route, it always travels while changing the posture in the roll direction. That is, in the case of a gentle route change, the wheel steering angle is small and the posture change in the roll direction is small, but in the case of a sudden route change, the wheel steering angle is large and the posture change in the roll direction is large.

  As described above, it is very important to suppress the change in the center of gravity in order to suppress the load drop caused by the posture change during traveling. Conventionally, the center-of-gravity position adjustment technology and control technology related to such an in-line two-wheel moving mechanism have been proposed as disclosed in, for example, Japanese Patent Laid-Open No. 2005-271815 (Patent Document 2). In this, the front wheel and the rear wheel are connected by a swing arm that can swing in the horizontal direction, and a stable posture control is realized by adjusting the horizontal center of gravity position by the swing arm.

JP 2005-271815 A

  However, although the above-described prior art can control the position of the center of gravity only in the horizontal direction during traveling, the change in the position of the center of gravity in the vertical direction is not taken into consideration.

  In the case of the attitude stabilization control method using wheel steering, it is important that a load is applied to the wheel. However, since the vehicle travels while changing the attitude as described above, the load on the wheel is easily lost. In particular, this is the case of a posture change in the direction of getting up from a state where the vehicle is turning in a posture that falls in the roll direction. Since the center of gravity of the in-line two-wheel moving mechanism moves upward in the vertical direction and the force corresponding to the posture angular acceleration in the roll direction works upward on the in-line two-wheel moving mechanism, the load on the traveling wheel is reduced when the posture changes. At this time, if the unloading load is large, the force due to the wheel steering does not act on the in-line two-wheel moving mechanism, and the in-line two-wheel moving mechanism falls over while traveling.

  It is an object of the present invention to have an open leg portion that can adjust the center of gravity position in the vertical direction in order to prevent a load drop that occurs when the posture changes during running, and to suppress the change in the center of gravity position when the posture changes And a method for controlling the mobile device.

  In order to achieve the above object, according to the first aspect of the present invention, in the moving device having a configuration in which at least two wheels can be arranged in series, a travel drive mechanism that rotationally drives at least one of the wheels in the travel direction. A travel control unit that controls the travel drive mechanism, a steering drive mechanism that steers at least one of the wheels, a steering control unit that controls the steering drive mechanism, and a component in a direction having a vertical component. A center-of-gravity position changing mechanism that changes a center-of-gravity position by moving a part thereof, and a center-of-gravity position control unit that controls the center-of-gravity position changing mechanism; The center-of-gravity position changing mechanism is controlled so that the vertical center-of-gravity position configured in the certain posture approaches the vertical center-of-gravity position configured in the other posture You Configuring the mobile device.

  According to a second aspect of the present invention, the center-of-gravity position changing mechanism is configured as an open leg drive unit capable of changing an open leg angle of a leg connected to the wheel, and the center of gravity position control unit is configured as an open leg control unit. It is characterized by that.

  The invention according to claim 3 is the travel control unit and the steering control unit. The leg opening control unit receives a control command from the control unit.

  According to a fourth aspect of the present invention, there is provided a posture angle detection unit for detecting a posture angle, and the leg opening control unit performs leg opening control based on the posture angle.

  In the fifth aspect of the invention, the target leg opening angle in the leg opening control unit is calculated by the host control unit based on the posture angle perpendicular to the traveling direction detected by the posture angle detection unit. It is calculated so as to suppress the change of the center of gravity position with respect to the center of gravity position in the vertical direction corresponding to the leg angle command.

The invention according to claim 6 is that the method for calculating the target leg angle in the leg opening control unit differs depending on the posture angle, angular velocity, and angular acceleration conditions perpendicular to the traveling direction detected by the posture angle detecting unit, The target leg opening angle is calculated so as to suppress a predetermined change in the center of gravity position.
The invention according to claim 7 includes a body drive unit capable of changing a tilt angle of the body posture in the traveling direction and a body control unit for controlling the body drive unit, and changes in the center of gravity position in the vertical direction during traveling It is characterized by controlling the body angle so as to suppress.

  In the eighth aspect of the invention, the upper body control unit calculates the body target angle in the body control unit based on a posture angle perpendicular to the traveling direction detected by the posture angle detection unit. It is calculated so as to suppress the change of the center of gravity position with respect to the center of gravity position in the vertical direction corresponding to the body angle command.

  In the ninth aspect of the invention, the calculation method of the body target angle in the body control unit differs depending on the posture angle, angular velocity, and angular acceleration conditions perpendicular to the traveling direction detected by the posture angle detecting unit. The body target angle is calculated so as to suppress a predetermined change in the center of gravity position.

  The invention according to claim 10 is characterized in that the target leg angle for the leg control unit and the target body angle for the body control unit are distributed by weighting factors.

  According to the present invention, it is possible to prevent a load drop from occurring on a traveling wheel by suppressing a change in the center of gravity position in the vertical direction accompanying a change in posture. Therefore, it is possible to stabilize the posture even while traveling with a posture change.

1 is a side view of an in-series two-wheel moving mechanism 1 according to a first embodiment. 1 is a simplified model of a series two-wheel moving mechanism 1 according to a first embodiment. 1 is a schematic view of a series two-wheel moving mechanism system according to a first embodiment. FIG. It is the schematic which shows the structure of a front-wheel part and a rear-wheel part. It is the schematic which shows the structure of an open leg part. 3 is a flowchart for calculating a target leg opening angle according to the first embodiment. FIG. 5 is a side view of a series two-wheel moving mechanism 1 according to a second embodiment. 2 is a simplified model of a series two-wheel moving mechanism 1 according to a second embodiment. FIG. 5 is a schematic diagram of a series two-wheel moving mechanism system according to a second embodiment. It is the schematic which shows the structure of an upper body part. 12 is a flowchart for calculating a body target angle according to the second embodiment. 12 is a flowchart for calculating a target leg opening angle and a target body angle according to the second embodiment.

  Embodiments will be described below with reference to the drawings.

  As a first embodiment of the posture stabilization control apparatus according to the present invention, first, FIG. Legs 3a and 3b are arranged below the body 2, and traveling wheels 7a and 7b are attached to the respective leg tips. The traveling wheels 7a and 7b are arranged in a row so that their rotational directions coincide. The traveling wheels 7a and 7b are provided with wheel traveling drive units 6a and 6b, respectively, so that the rotation of the traveling wheels, that is, the traveling speed can be adjusted. Furthermore, wheel steering drive units 4a and 4b are attached to the traveling wheels 7a and 7b, respectively, and the steering angle of the traveling wheels with respect to the traveling direction can be adjusted. Legs 3a and 3b in the figure are interlocked with each other through a connecting portion in the vicinity of the body 2, and the leg is opened by the leg driving unit 8, and the leg angle can be adjusted. Rotation around the x-axis, y-axis, and z-axis is defined as pitch, roll (bank), and yaw, respectively.

  In this embodiment, the traveling wheels 7a and 7b move in the direction of the traveling wheels 7a to 7b or in the direction of the traveling wheels 7b to 7a without steering. The y axis is the direction of movement. The traveling wheels 7a and 7b may always be arranged with an interval in the y-axis direction. Alternatively, the traveling wheels 7a and 7b are aligned in the x-axis direction under a predetermined condition. It may be spread so as to be arranged at intervals.

  In the present embodiment, the traveling wheels 7a and 7b are provided with wheel traveling drives 6a and 6b, respectively. However, only one of the traveling wheels 7a and 7b has one of the wheel traveling drives 6a and 6b. It may be attached. For example, one of the wheel travel drive units 6a and 6b may be attached only to the travel wheels that are not steered of the travel wheels 7a and 7b.

  FIG. 2 shows a simplified model of the in-line two-wheel moving mechanism 1. In the figure, the center of gravity 200 of the in-line two-wheel moving mechanism 1 exists at a distance 202 from the ground contact surface of the traveling wheels 7a and 7b along the airframe, and at the center of gravity position 207 in the vertical direction, and the traveling wheel 7a is in the traveling direction. In contrast, the steering angle 201 is rotated. Further, the legs 3a and 3b are opened by an opening angle 203, and the traveling wheels 7a and 7b are separated by a ground contact distance (wheel base length) 204. Further, the in-line two-wheel moving mechanism 1 is inclined by a bank angle 206 representing an angle inclined in the roll direction.

  An in-line two-wheel moving mechanism system 100 is shown in FIG. In the figure, a series two-wheel moving mechanism system 100 is mainly composed of a host control unit 20, a travel control unit 30, and a series two-wheel moving mechanism 1. The host control unit 20 and the traveling control unit 30 may be integrated with the series two-wheel moving mechanism 1, or the host control unit 20, the traveling control unit 30 and the series two-wheel moving mechanism 1 may be remotely connected by wireless or the like. May be connected. The traveling control unit 30 includes a traveling speed compensator 31, a steering compensator 32, and an open leg compensator 33. Here, the traveling control unit 30 is configured by a computer, and the functions of the traveling speed compensator 31, the steering compensator 32, and the open leg compensator 33 may be calculated as software on the computer.

  The in-line two-wheel moving mechanism 40 includes a front wheel portion including a wheel steering drive unit 4a (wheel steering drive unit 4b), a wheel travel drive unit 6a (wheel travel drive unit 6b), and a travel wheel 7a (traveling wheel 7b). 41, wheel steering drive unit 4b (wheel steering drive unit 4a), wheel drive unit 6b (wheel drive unit 6a) and rear wheel unit 42 consisting of travel wheel 7b (travel wheel 7a), open leg drive It is composed of an opening leg 49 comprising a part 8 and legs 3a, 3b, and a posture angle detector 60 (the description of the trunk 2 is omitted). Further, as shown in FIG. 4, both the front wheel portion 41 and the rear wheel portion 42 are a travel drive device 43, a travel motor 44, a travel encoder 45, a wheel steering as a wheel travel drive portion 6a (wheel travel drive portion 6b). The drive unit 4a (wheel steering drive unit 4b) includes a steering drive unit 46, a steering motor 47, and a steering encoder 48. As shown in FIG. The leg opening device 50, the leg opening motor 51, and the leg opening encoder 52. In this embodiment, the travel encoder 45, the steering encoder 48, and the open leg encoder 52 are used to detect the travel speed, the steering angle, and the open leg angle, respectively, but other detection means may be used. Moreover, you may estimate using a dynamic model.

The host control unit 20 determines a suitable route for the in-line two-wheel moving mechanism 1 to travel based on the detection result of an obstacle detection unit composed of a stereo camera or a laser (not shown), and the traveling speed is determined. The command v _ref , the posture (bank) angle command θ _ref , and the leg opening angle command α ₀ are calculated and output to the traveling speed compensator 31, the steering compensator 32, and the leg opening compensator 33, respectively.

In the traveling speed compensator 31, traveling speed control of the in-line two-wheel moving mechanism 1 is performed. Based on the travel speed command v _ref and the travel speeds v _F and v _R detected by the travel encoders 45 of the front wheel section 41 and the rear wheel section 42, travel output voltages V _vF and V _vR are calculated using the following equations.

In the equation, K _vmn (m = F, R, n = f, p, d, i) represents a traveling control gain. The calculated travel output voltages V _vF and V _vR are input to the travel drive devices 43 of the front wheel portion 41 and the rear wheel portion 42, respectively, and the amplified voltages are applied to the travel motor 44, respectively. That is, the deviation _e vF for traveling velocity command _{v ref,} proportional based on _{e vR,} differentiation, control over the feedback integration. The rotation angle of the travel motor 44 is detected by the travel encoder 45 and fed back to the travel speed compensator 31. The desired follow-up performance can be adjusted with respect to the travel speed command v _ref by adjusting the travel control gain.

In the steering compensator 32, posture control (bank angle control) of the in-line two-wheel moving mechanism 1 is performed. Based on the bank angle command θ _ref and the posture angle (bank angle) θ detected by the posture angle detector 60, the wheel steering angle outputs V _sF and V _sR for stabilizing the posture during traveling are calculated using the following equations. Is done.

In the equation, K _smn (m = F, R, n = f, p, d, i) represents a steering control gain, and V _sF0 and V _sR0 are offset output voltages representing the steering center of the traveling wheels 7a and 7b. . The calculated steering angle outputs are respectively input to the steering drive devices 46 of the front wheel portion 41 and the rear wheel portion 42 shown in FIG. 4, and the amplified wheel steering angle outputs V _sF and V _sR are applied to the steering motor 47. That proportion based on the deviation e _s to the bank angle command theta _ref, differential, control over the feedback integration. The rotation angle of the steering motor 47 is detected by the steering encoder 48 and fed back to the steering compensator. A desired posture angle can be achieved by adjusting the steering control gain expressed in Formula 2. In the present embodiment, as will be described later, since the opening leg angle of the in-line two-wheel moving mechanism changes during traveling, the steering control gain K _smn (m = F, R, n = f, p, d) depends on the opening leg angle. , I) changes. In addition, when the leg opening angle changes, a deviation occurs in the angle at which the rotation directions of the front wheel portion 41 and the rear wheel portion 42 coincide with each other. _However , V _sF0 and V _sR0 can be calculated and adjusted based on the leg angle α. Further, in Equation 2, the rotation angle detected by the steering encoder 48 is not used. However, by performing feedback control on the deviation from the calculated wheel steering angle outputs V _sF and V _sR , the accuracy can be improved. The traveling wheel can be steered.

In the open leg compensator 33, control of the open leg angle formed by the legs 3a and 3b in the in-line two-wheel moving mechanism 1 is performed. In this embodiment, to change the open leg angle as gravity center position 207 is not changed in the vertical direction corresponding to the open leg angle command alpha ₀ calculated in the higher control unit 20. That is, to calculate the gravity center position 207H corresponding to the open leg angle command alpha _0, even as the bank angle θ is varied, and calculates the open leg angle to maintain the center of gravity position 207H as open leg target angle alpha _ref .

A leg opening target angle α _ref is calculated based on the bank angle θ detected by the posture angle detector 60, and the leg opening output voltage is calculated using the following equation based on the leg opening angle α detected by the leg encoder 52. V _C is calculated.

H in the formula is the center of gravity position 207, h ₀ is total distance of the portion that does not change even if the open leg, is L _W is the leg 3a, 3b of length 208. K _cn (n = f, p, d, i) represents an open leg control gain. The calculated open leg output voltage V _C is inputted to the open leg drive unit 50 of open leg part, the amplified output voltage is applied to the open leg motor 51. The leg opening angle α is detected by the leg opening encoder 52 and fed back to the steering compensator 32 and the leg compensator 33. Since the leg opening angle α is changed by the leg compensator 33, the center-of-gravity position deviation dH in the vertical direction is suppressed during traveling, but the wheel base length 204 changes. As described above, the steering compensator 32 calculates the wheel base length 204 based on the leg angle α detected by the leg encoder 52 and changes the travel control gain.

One modification of the open leg compensator 33 of the present embodiment will be described. Since the portion excluding the open leg compensator 33 is the same, the description thereof is omitted. In the modification, the calculation method of the target leg angle α _ref is changed according to the state variable SWc of the leg compensator 33. The initial state variable SWc is OFF. FIG. 6 shows a flowchart for calculating the target leg angle α _ref in the leg compensator 33.

First, in the flow 301, the state variable SWc of the leg compensator 33 is confirmed. The initial value of this state variable SWc is ON, and when it is determined in the previous flow that the absolute value of the bank angular acceleration is larger than the threshold B in the flow 307, the state variable SWc is set to OFF. If it is ON, the flow transits to the flow 307, and if it is OFF, the flow transits to the flow 302. In the flow 302, the product θ × (dθ / dt) of the bank angle θ and the angular velocity (dθ / dt) is calculated, and positive / negative is determined. That is, it is determined whether the posture changes in the direction in which the in-line two-wheel moving mechanism 1 rises from the banked posture or the posture changes in the direction of falling. When the posture changes in the direction of rising (negative), the flow transitions to flow 303, and when the posture changes in the direction of falling (positive), the flow transitions to flow 304. In flow 303, to determine whether it satisfies the two inequalities formula X ₁ shown in FIG simultaneously. F in the formula represents a vertical upward force generated on the body at the time of calculation, F _P represents one sampling before force. That is, it is smaller than the threshold A before one sampling, but it is determined whether or not the threshold A is exceeded at the present time, and the timing at which the vertically upward force generated in the aircraft exceeds the threshold is determined. If satisfying Equation X ₁ transits to the flow 305, if not satisfied transition to flow 304. In the flow 305, the state variable SWc is turned ON, and the flow transitions to the flow 306. In flow 306, the equation X _2, open leg angle alpha _{s (detection} value) to hold, the bank angle theta _{s (detected} value), the gravity center position H _S in the vertical direction is set, the process proceeds to the flow 309. That is, in the modified example, the center of gravity position H _S is calculated based on the detected leg angle α _s (detected value) and the detected bank angle θ _s (detected value), and the calculated center of gravity position H _{S. Is} calculated such that the leg opening target angle α _ref is maintained. In flow 307, it is determined whether or not the absolute value of the bank angular acceleration is larger than the threshold value B. If it is larger, the flow transits to the flow 309, and if it is smaller, the flow transits to the flow 308. In the flow 308, the state variable SWc is set to OFF and the flow transitions to the flow 304.

In flow 304, the open leg target angle alpha _ref is calculated according to equation _{Y 1.} Here, since it is determined that the center of gravity position change dH by the leg compensator 33 is small and the influence on the posture stabilization is small, the leg target angle α _ref is the leg angle command α ₀ output from the host controller 20. The same. In the flow 309, the center-of-gravity position change dH by the open leg compensator 33 is large and has a great influence on the posture stabilization, and therefore must be suppressed. Here, open leg target angle alpha _ref is calculated according to equation _{Y 2.} Based on the calculated leg opening target angle α _ref and the leg opening angle α detected by the leg opening encoder 52, the leg opening output voltage V _c is calculated. The calculation method is the same as the method described above.

  As described above, by controlling the leg angle according to the bank angle of the in-line two-wheel moving mechanism 1 during running and suppressing the change in the center of gravity position in the vertical direction, it is possible to prevent the vehicle from falling due to load loss on the running wheel. It becomes. Therefore, stable posture control can be realized by traveling wheel steering. In this embodiment, each compensator is composed of a basic feedback compensator and a feedforward compensator, but the same result can be obtained even if it is composed of another compensator for state feedback.

  Another embodiment of the posture stabilization control apparatus according to the present invention will be described. This embodiment will be described with respect to differences from the first embodiment. Therefore, the parts not described are basically the same as those in the first embodiment. As a second embodiment, a side view of the in-line two-wheel moving mechanism 1 is shown in FIG. In the figure, a body drive unit 9 is attached to the trunk 2, and the body rotation angle (pitch angle) in the pitch direction can be adjusted. A simplified model of FIG. 7 is shown in FIG. In the figure, the center of gravity 200 exists at the center of gravity position 207 in the vertical direction from the ground contact surface of the wheels 7a, 7b, and the center of gravity 200 is inclined by the body rotation angle 209 in the pitch direction. 7 and 8, the other parts are the same as those in the first embodiment, and thus the description thereof is omitted.

  A serial two-wheel moving mechanism system 101 in this embodiment is shown in FIG. The main difference from the first embodiment is that the upper body compensator 34 is present in the travel control unit 30 and the upper body portion 53 is present in the series two-wheel moving mechanism 1. As shown in FIG. 10, the body part 53 includes a body drive device 54, a body motor 55, and a body encoder 56. Since other parts in FIG. 9 are the same, description thereof is omitted here.

The host controller 20 calculates a suitable travel route for the in-line two-wheel moving mechanism 1 based on the detection result of the obstacle detector (not shown), and the body angle command (pitch angle command) φ ₀ is Output to the compensator.

The body compensator 34 constituting the travel control unit 30 performs pitch angle control during travel. Adjusting the body angle so the change in position of the gravity center position 207 in the vertical direction corresponding to the upper body angle command phi ₀ calculated in the higher control unit 20 can be suppressed. That is, the body target angle φ _ref is calculated based on the bank angle θ detected by the posture angle detection unit 60, and the body body is calculated using the following equation based on the pitch angle φ detected by the posture angle detection unit 60. An output voltage V _u is calculated.

H in the formula is the center of gravity position 207, h ₁ is total distance of the portion that does not change regardless of the pitch angle, the L _u is the length of the upper body. K _un (n = f, p, d, i) represents the body control gain. The calculated body output voltage V _u is input to the body drive unit 54 of the body part, and the amplified output voltage is applied to the body motor 55. The body angle is detected by the body encoder 56 and fed back to the body compensator 34. The desired pitch angle can be achieved by adjusting the body control gain of Equation 4. Although the vertical position of the center of gravity can be changed regardless of which side of the traveling wheels 7a and 7b is tilted, it is desirable that the upper body be tilted to the side where the wheels are steered. If tilted to the opposite side, load loss of the traveling wheel may be induced.

  In Equation 4, the body angle detected by the body encoder 56 is not used, but may be used as a substitute for the pitch angle detected by the posture angle detection unit 60. Since the pitch angle φ is changed by the upper body compensator 34, the center-of-gravity position deviation dH in the vertical direction is suppressed during traveling.

A first modification of the body compensator 34 of the present embodiment will be described.
In the first modification, the calculation method of the body target angle φ _ref is changed according to the state variable SWu of the body compensator 34. The initial state variable SWu is OFF. FIG. 11 shows a flowchart for calculating the body target angle φ _ref in the body compensator 34.

First, in flow 401, the state variable SWu of the leg compensator 34 is confirmed. If it is ON, the flow transitions to the flow 407, and if it is OFF, the flow transitions to the flow 402. In the flow, the bank angle θ, the angular velocity (dθ / dt), and the bank angular acceleration (d ² θ / dt ² ) are detected and calculated, and the flow transitions according to each posture condition. In flow 404, the upper body target angle phi _ref is calculated according to equation _{Y 3.} In this flow, it is the same as the body command angle φ ₀ calculated by the host controller 20. In the flow 406, the pitch angle φ _S , the bank angle θ _s and the barycentric position H _s in the vertical direction when the state variable SWu is set to ON are held, and the flow transitions to the flow 409. In flow 409, the upper body target angle phi _ref is calculated according to equation _{Y 4.} The body output voltage V _u is calculated based on the body target angle φ _ref calculated according to the flowchart shown in FIG. 11 and the pitch angle φ detected by the posture angle detector 60. The calculation method is the same as the method described above.

Subsequently, a second modification will be described. Here, only the changes to the first modification will be described. In the second modification, both the leg compensator 33 and the upper body compensator 34 are used to suppress the change in the center of gravity position in the vertical direction. The target leg opening angle α _ref and the body target angle φ _ref are calculated by the following equations.

数式中のＰは開脚目標角度と上体目標角度の重み付け係数であり，実現できる姿勢の範囲内において任意に設定可能である。Ｐ＝０の時，第1の変形例と同じである。

P in the numerical formula is a weighting coefficient for the target leg opening angle and the body target angle, and can be arbitrarily set within the range of postures that can be realized. When P = 0, it is the same as the first modification.

FIG. 12 shows a calculation flowchart in the case where the calculation method of the target leg opening angle α _ref and the upper body target angle φ _ref is changed according to each posture state. Flow 504,506,509 are different, the flow 504, the open leg target angle alpha _ref and the body target angle phi _ref is calculated according to equation _{Y 5.} In this flow, the leg angle command α ₀ and the body command angle φ ₀ calculated by the host controller 20 are the same. In flow 506, the open leg angle alpha _s when the state variable SWu is set to _ON, the pitch angle phi _s, is gravity center position H _S in the bank angle theta _s and vertical retention, the transition to the flow 509. In flow 509, the open leg target angle alpha _ref and the body target angle phi _ref is calculated according to equation _{Y 6.}

  As described above, by controlling the body angle or both the leg angle and the body angle according to the bank angle of the in-line two-wheel moving mechanism 1 while traveling, It is possible to prevent the load from being lost to the wheel. That is, it is possible to prevent the vehicle from falling when the posture changes during traveling. Therefore, stable posture control can be realized by traveling wheel steering. In this embodiment, each compensator is composed of a basic feedback compensator and a feedforward compensator, but the same result can be expected even if it is composed of another compensator for state feedback.

1 ... Series 2-wheel moving mechanism
2 ... trunk
3a, 3b ... Leg
4a, 4b ... Wheel steering drive
6a, 6b ... Wheel drive unit
7a, 7b ... traveling wheels
8 ... Leg drive unit
9 ... Upper body drive
20 ... Host control unit
30 ... Running control unit
31 ... Running speed compensator
32 ... Steering compensator
33 ・ ・ ・ Leg compensator
34 ... Upper body compensator
41 ・ ・ ・ Front wheel
42 ... Rear wheel
43 ・ ・ ・ Travel drive device
44 ・ ・ ・ Travel motor
45 ・ ・ ・ travel encoder
46 ... Steering drive
47 ... Steering motor
48 ・ ・ ・ Steering encoder
49 ... Open leg
50 ・ ・ ・ Leg driving device
51 ・ ・ ・ Leged motor
52 ・ ・ ・ Leg encoder
53 ... Upper body
54 ... Upper body drive device
55 ・ ・ ・ Upper motor
56 ・ ・ ・ Upper encoder
60 ... Attitude angle detector
200: Center of gravity of mechanism 1
201 ・ ・ ・ Wheel steering angle
202 ・ ・ ・ Distance between the ground plane and the center of gravity along the mechanism
203 ・ ・ ・ Leg angle
204 ・ ・ ・ Wheelbase length
206 ・ ・ ・ Bank angle
207 ... Vertical center of gravity
208 ・ ・ ・ Leg length
209 ... Body angle (pitch angle)
301 to 309... Each flow of one modification of the first embodiment
401 to 409 ... each flow of the first modification of the second embodiment
501 to 509: Each flow of the second modification of the second embodiment

Claims (11)

  In a moving device having a configuration in which at least two wheels can be arranged in series, a travel drive mechanism that rotationally drives at least one of the wheels in a travel direction, a travel control unit that controls the travel drive mechanism, and the wheels A steering drive mechanism that steers at least one of the above, a steering control unit that controls the steering drive mechanism, and a centroid position changing mechanism that changes a centroid position by moving a part of the component in a direction having a vertical component. , A center of gravity position control unit for controlling the center of gravity position changing mechanism, and the center of gravity position changing mechanism is a vertical direction configured by the certain posture when the posture is changed from one posture to another posture. The center of gravity position changing mechanism is controlled so as to bring the center of gravity position in the vertical direction constituted by the other posture closer to the center of gravity position.   2. The moving device according to claim 1, wherein the center-of-gravity position changing mechanism is configured as an opening leg driving unit capable of changing an opening angle of a leg connected to the wheel, and the center-of-gravity position control unit is configured as an opening leg control unit. A moving device.   The mobile device according to claim 2, wherein the travel control unit and the steering control unit. The moving device characterized in that the leg opening control unit receives a control command from the control unit.   3. The moving device according to claim 2, further comprising a posture angle detecting unit that detects a posture angle, wherein the leg opening control unit performs leg opening control based on the posture angle.   5. The moving device according to claim 4, wherein the target leg opening angle in the leg opening control unit is calculated by the host control unit based on a posture angle perpendicular to a traveling direction detected by the posture angle detection unit. A moving device that is calculated so as to suppress a change in the center of gravity position with respect to the center of gravity position in the vertical direction corresponding to the leg opening angle command.   The moving device according to claim 1, wherein a calculation method of a target leg angle in the leg control unit is based on a condition of a posture angle, an angular velocity, and an angular acceleration perpendicular to a traveling direction detected by the posture angle detection unit. The moving device is characterized in that the target leg opening angle is calculated so as to suppress a predetermined change in the center of gravity.   2. The mobile device according to claim 1, further comprising a body drive unit capable of changing a tilt angle of the body posture in the traveling direction and a body control unit for controlling the body drive unit, and the center of gravity position in the vertical direction during traveling. A moving device characterized by controlling an upper body angle so as to suppress a change.   5. The mobile device according to claim 4, wherein the upper body control unit calculates a body target angle in the body control unit based on a posture angle perpendicular to a traveling direction detected by the posture angle detection unit. The moving device is calculated so as to suppress a change in the center of gravity position with respect to the center of gravity position in the vertical direction corresponding to the body angle command to be performed.   5. The mobile device according to claim 4, wherein a calculation method of a body target angle in the body control unit is based on conditions of a posture angle, an angular velocity, and an angular acceleration perpendicular to a traveling direction detected by the posture angle detection unit. The moving device is characterized in that the body target angle is calculated so as to suppress a predetermined change in the center of gravity position.   5. The moving apparatus according to claim 4, wherein an opening leg target angle in the leg control unit and a body target angle in the body control unit are distributed by weighting factors.   When at least two wheels that can be arranged in series in the running direction are rotated in the running direction, and at least one of the wheels is steered, and the posture changes from one posture to another. In addition, the predetermined structure is moved so as to have the movement of the vertical component so that the vertical gravity center position constituted by the other posture approaches the vertical gravity center position constituted by the certain posture. The control method of the moving device that changes the center of gravity position.

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