WO2023166855A1 - Control device, moving body, and control method of moving body - Google Patents

Abstract

[Problem] To cause a moving body to turn at a low cost and in a small space. [Solution] Provided is a control device comprising a ground contact control unit that carries out control in a series of turning operations while switching between ground contact of a first driving wheel group that can turn around a first turning center and ground contact of a second driving wheel group that can turn around a second turning center different from the first turning center.

Description

CONTROL DEVICE, MOBILE BODY, AND METHOD OF CONTROLLING MOBILE BODY

The present disclosure relates to a control device, a moving body, and a control method for the moving body.

In recent years, there has been progress in the development of legged moving bodies or robots that can walk freely on uneven surfaces such as stairs or unpaved roads with multiple legs. In addition, by providing wheels driven by a motor or the like at the tips of multiple legs, the leg-wheel type robot can walk on uneven surfaces using the legs and can run on flat surfaces such as paved roads. are also attracting attention.

Patent Document 1 below discloses a four-legged wheeled robot having wheels at the tip of each leg. The leg-wheeled robot disclosed in Patent Literature 1 can compactly turn on the spot by controlling the axle direction of the wheel at the tip of the foot around the yaw axis.

JP 2009-6984 A

In the leg-wheeled robot disclosed in Patent Literature 1, each leg wheel is provided with a motor for controlling the axle direction of the wheel around the yaw axis. Therefore, in the leg-wheeled robot disclosed in Patent Document 1, the cost increases due to the motor that controls the axle direction of the wheels around the yaw axis, and the increased weight of the toes increases the consumption for driving the legs. Power consumption will also increase.

Therefore, the present disclosure proposes a new and improved control device, a moving body, and a control method for the moving body that enable the moving body to turn more compactly at a lower cost.

According to the present disclosure, in a series of turning motions, a first drive wheel group capable of turning at a first turning center is grounded, and a second driving wheel group capable of turning at a second turning center different from the first turning center is provided. A control device is provided that includes a grounding control unit that switches and controls the grounding of the drive wheel group.

Further, according to the present disclosure, a first driving wheel group capable of turning about a first turning center, a second driving wheel group capable of turning about a second turning center different from the first turning center, A mobile body is provided, comprising: a ground contact control unit that switches and controls ground contact of the first drive wheel group and ground contact of the second drive wheel group in a series of turning motions.

Furthermore, according to the present disclosure, in a series of turning motions, the computing device determines that a first driving wheel group that is capable of turning at a first turning center touches the ground, and a second turning center different from the first turning center. A moving body control method is provided for switching and controlling a second drive wheel group that can turn with the ground contact.

1 is a perspective view showing an appearance of a moving object to which technology according to the present disclosure is applied; FIG. It is the bottom view which looked at the mobile body shown in FIG. 1 from the running surface side. 1 is a block diagram showing a functional configuration of a mobile body control device according to an embodiment of the present disclosure; FIG. FIG. 2 is an explanatory diagram showing the relationship between the grounding of wheels and the turning center in the mobile body shown in FIG. 1; FIG. 11 is an explanatory diagram showing an example of controlling the average position of the turning center in a series of turning motions by controlling the turning time of each turning with different turning centers. FIG. 2 is a graph showing in chronological order a turning angle, a turning speed, and whether or not a wheel is on the ground when the mobile body shown in FIG. 1 turns; 1 is a schematic cross-sectional view showing a configuration of a moving body according to a first application example to which technology according to the present disclosure is applied; FIG. FIG. 8 is a schematic bottom view of the moving body shown in FIG. 7 as viewed from the running surface side; FIG. 10 is a schematic cross-sectional view showing the configuration of a moving body according to a second application example to which the technology according to the present disclosure is applied; FIG. 10 is a schematic bottom view of the moving body shown in FIG. 9 as seen from the running surface side; FIG. 4 is a schematic cross-sectional view showing the configuration of a moving body according to a first comparative example to which the technology according to the present disclosure is not applied; FIG. 12 is a schematic bottom view of the moving body shown in FIG. 11 as viewed from the running surface side; FIG. 10 is a schematic cross-sectional view showing the configuration of a moving body according to a second comparative example to which the technology according to the present disclosure is not applied; 14 is a schematic bottom view of the moving body shown in FIG. 13 as viewed from the running surface side; FIG.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and drawings, constituent elements having substantially the same functional configuration are denoted by the same reference numerals, thereby omitting redundant description.

Note that the description will be given in the following order.
1. Configuration of moving body 2 . Configuration of control device 3 . 4. Swivel movement of the controller; Application example 4.1. First application example 4.2. Second application example 4.3. Comparative example

<1. Configuration of moving body>
First, with reference to FIGS. 1 and 2, the configuration of a moving object to which the technology according to the present disclosure is applied will be described. FIG. 1 is a perspective view showing the appearance of a moving body 1 to which technology according to the present disclosure is applied. FIG. 2 is a bottom view of the moving body 1 shown in FIG. 1 as viewed from the running surface side.

In this specification, rotation about the yaw axis (that is, the axis perpendicular to the running surface) of the moving body 1 is referred to as "turning". That is, turning the moving body 1 means rotating the traveling direction of the moving body 1 around an axis perpendicular to the running surface.

As shown in FIGS. 1 and 2, the moving body 1 includes a main body 12, a plurality of legs 11A, 11B, 11C, 11D, 11E, and 11F, and wheels 13A, 13B, 13C, 13D, 13E, and 13F. Prepare. The moving body 1 is, for example, a six-legged wheeled robot device.

Hereinafter, when the legs 11A, 11B, 11C, 11D, 11E, and 11F are not distinguished from each other, they are collectively referred to as the leg 11. Moreover, when the wheels 13A, 13B, 13C, 13D, 13E, and 13F are not distinguished from each other, they are collectively referred to as the wheels 13 .

The body part 12 corresponds to the body part of the moving body 1. The main unit 12 includes, for example, a control device that controls the overall operation of the mobile body 1, a sensor device that senses the external environment of the mobile body 1, a power supply device that supplies power to each part of the mobile body 1, and the like.

The leg portion 11 is rotatably attached to the body portion 12 at one end side (hereinafter also referred to as the rear end side). Further, the leg portion 11 supports the body portion 12 by contacting the running surface via the wheel 13 at the other end side (hereinafter also referred to as the tip end side).

Specifically, the leg portion 11 is composed of a plurality of links that are connected to each other so as to be able to move linearly, and is provided rotatably on an axis perpendicular to the traveling direction SD on the rear end side. The leg portion 11 can be expanded and contracted in one direction by expanding and contracting a plurality of connected links. Therefore, the moving body 1 can walk using the legs 11 by alternately rotating and expanding and contracting the plurality of legs 11 that support the main body 12 . According to this, the moving body 1 can walk using the legs 11 on a running surface having unevenness such as stairs or an unpaved road.

The wheels 13 are provided on the tip side of each leg 11 . The wheels 13 are driven by a motor or the like, or rotated by being driven by the movement of the mobile body 1 , so that the mobile body 1 can travel on wheels. According to this, the moving body 1 can run on wheels on a flat running surface such as a paved road by rotating the wheels 13 while maintaining the postures of the legs 11 .

More specifically, on the front facing the moving direction SD side of the moving body 1, there are provided three legs, ie, a leg portion 11A, a leg portion 11B, and a leg portion 11C. In addition, on the rear surface opposite to the front facing the traveling direction SD, there are provided three legs, ie, a leg 11D, a leg 11E, and a leg 11F.

Wheels 13A and 13C (driving wheels) that rotate around fixed axles driven by a motor or the like are provided on the left and right legs 11A and 11C on the front side. A wheel 13B (driven wheel) that rotates as the moving body 1 moves is provided on the leg 11B provided between the leg 11A and the leg 11C.

In addition, the legs 11D and 11F provided on the left and right sides of the back side are provided with wheels 13D and 13F (driving wheels) that rotate around fixed axles driven by a motor or the like. A wheel 13E (driven wheel) that rotates as the moving body 1 moves is provided on the leg 11E provided between the leg 11D and the leg 11F.

It should be noted that the wheels 13B and 13E may be provided as wheels capable of translating in all directions. For example, the wheels 13B and 13E may be provided so as to be translatable in all directions by having pivots for turning the directions of the wheels.

According to such a configuration, the moving body 1 can travel by grounding only the wheels 13B provided on the traveling direction SD side and the wheels 13D and 13F provided on the opposite side to the traveling direction SD side. By doing so, it is possible to turn without a steering mechanism. That is, since the wheel 13B, which is a driven wheel, can turn in all directions, the moving body 1 can turn right or left by varying the number of rotations of the wheels 13D and 13F, which are driving wheels. can be done freely.

Similarly, the moving body 1 performs wheel travel by grounding only the wheels 13E provided on the side opposite to the direction of travel SD and the wheels 13A and 13C provided on the side of the direction of travel SD. It is possible to turn without providing a mechanism. That is, since the wheel 13E, which is the driven wheel, can turn in all directions, the moving body 1 can turn right or left by varying the number of revolutions of the wheels 13A and 13C, which are driving wheels. can be done freely.

In addition, the moving body 1 alternately grounds the wheels 13B, 13D, and 13F, and the wheels 13A, 13C, and 13E, so that the moving body 1 can ascend and descend steps such as stairs by legged walking. It is possible. Specifically, the moving body 1 lifts the three wheels 13B, 13D, and 13F from a state in which the six wheels 13A, 13B, 13C, 13D, 13E, and 13F are grounded, and grounds them on a step. After that, the moving body 1 can climb up the step by lifting the three wheels 13A, 13C, and 13E that are grounded under the step and grounding them on the step.

The three points of wheel 13B, wheel 13D, and wheel 13F and the three points of wheel 13A, wheel 13C, and wheel 13E are the vertices of an isosceles triangle containing the center of gravity of moving body 1. It is possible to stably support the moving body 1 at points. Therefore, the moving body 1 alternately contacts the three points of the wheels 13B, 13D, and 13F and the three points of the wheels 13A, 13C, and 13E, thereby stably performing legged walking. Is possible.

<2. Configuration of Control Device>
Next, with reference to FIG. 3, a control device for the moving body 1 according to an embodiment of the present disclosure will be described. FIG. 3 is a block diagram showing the functional configuration of the control device 100 of the moving body 1 according to this embodiment. The control device 100 is, for example, a control device that controls movement and turning of a leg-wheeled robot device as shown in FIG.

As shown in FIG. 3, the control device 100 includes a self-position estimation unit 101, a route planning unit 102, a drive control unit 103, and a ground control unit 104. The control device 100 can control the drive units 131 provided in each of the legs 11 and each of the wheels 13 based on inputs from the external sensor unit 111 and the internal sensor unit 112 .

The external sensor unit 111 includes, for example, an external sensor that measures the external environment of the mobile object 1, and outputs the sensing result of the external sensor to the self-position estimation unit 101. For example, the external sensor unit 111 may include external sensors such as an imaging device, a range sensor, an atmospheric pressure sensor, a contact sensor, a temperature sensor, a humidity sensor, a geomagnetic sensor, a vibration sensor, an optical sensor, or a sound sensor. Examples of imaging devices included in the external sensor unit 111 include various imaging devices such as an RGB camera, a grayscale camera, an infrared camera, a monocular camera, a stereo camera, and a depth camera. Ranging sensors included in the external sensor unit 111 include various ranging sensors such as a ToF (Time of Flight) sensor, a LiDAR (Light Detection And Ranging) sensor, a Radar (Radio Detecting And Ranging) sensor, an ultrasonic sensor, or a sonar. A sensor can be exemplified. The external sensor unit 111 may also include a GNSS sensor that measures the latitude, longitude, and altitude of the mobile object 1 by receiving GNSS (Global Navigation Satellite System) signals.

The internal sensor unit 112 includes an internal sensor that measures the internal state of the moving body 1 and outputs the sensing result of the internal sensor to the self-position estimation unit 101 . For example, the internal sensor unit 112 may include an internal sensor such as an encoder, voltmeter, ammeter, strain gauge, pressure gauge, gyro sensor, acceleration sensor, or inertial measurement unit (IMU). Information measured by the internal sensor is used, for example, to estimate the position and attitude of the mobile object 1 .

The self-position estimation unit 101 creates a map of the external environment based on the sensing results of the external world sensor unit 111 and the internal world sensor unit 112, and at the same time estimates the position and orientation of the moving body 1 within the created map. Specifically, the self-position estimation unit 101 creates a two-dimensional or three-dimensional environmental map of the external environment based on the sensing result of the external sensor unit 111 . At the same time, the self-position estimation unit 101 sequentially estimates the moving direction and the amount of movement of the moving object 1 based on the sensing results of the internal sensor unit 112, thereby estimating the moving object 1 on the created environment map. Estimate self-location. Performing such environmental mapping and self-localization simultaneously is called SLAM (Simultaneous Localization and Mapping).

The route planning unit 102 plans the movement route of the moving object 1 to the target position specified by the user or to the target position set based on the task. Specifically, based on the environment map created by the self-position estimating unit 101, the route planning unit 102 may plan a movement route for the moving object 1 to reach from the current position to the target position while avoiding obstacles. good. For example, when the environment map is represented by an occupancy grid map, the route planning unit 102 calculates the movement cost of the moving body 1 from the current position to the target position while avoiding grids occupied by obstacles. You may plan the route of movement that minimizes .

In addition, the route planning unit 102 may further plan a target speed and a target gait for movement on the planned movement route. For example, if there is a step on the movement route, the route planning unit 102 may plan the desired gait so that the step is crossed by legged walking. Alternatively, the route planning unit 102 may plan the desired gait so that the vehicle runs on wheels on a flat surface.

The ground control unit 104 controls the turning center position of the mobile body 1 by controlling whether the wheels 13 that support the mobile body 1 are grounded or not grounded when the mobile body 1 is turning. Specifically, in a series of turning motions, the ground contact control unit 104 causes the wheels 13 supporting the moving body 1 to rotate around the first turning center and the wheels 13 capable of turning the moving body 1 around the turning center different from the first turning center. At the second turning center, the moving body 1 is switched to wheels 13 capable of turning. As a result, the ground contact control unit 104 can control the position of the turning center of the moving body 1 in a series of turning operations by mixing turns at different turning centers.

The function of the ground control unit 104 will be further described with reference to FIGS. 4 and 5. FIG. FIG. 4 is an explanatory diagram showing the relationship between the grounding of the wheels 13 and the turning center in the moving body 1 shown in FIG. FIG. 5 is an explanatory diagram showing an example of controlling the average position of the turning center in a series of turning motions by controlling the turning time of each turning with different turning centers.

In the moving body 1 shown in FIG. 1, wheels 13B and 13E are driven wheels, and wheels 13A, 13C, 13D, and 13F are drive wheels. Therefore, as shown on the left side of FIG. 4, when the moving body 1 is in contact with the ground at three points of the wheels 13B, 13D, and 13F, the moving body 1 rotates the wheels 13D and 13F, which are driving wheels, to the ground. By rotating in the direction, it is possible to turn around the middle point TC1 between the wheels 13D and 13F. Also, as shown on the right side of FIG. 4, when the moving body 1 is in contact with the ground at three points of the wheels 13A, 13C, and 13E, the moving body 1 rotates the wheels 13A and 13C, which are driving wheels, in the opposite direction. By rotating in the direction, it is possible to turn around the middle point TC2 between the wheels 13A and 13C.

In the control device 100 according to the present embodiment, the ground contact control unit 104 controls the ground contact at three points of the wheels 13B, 13D, and 13F and the contact at three points of the wheels 13A, 13C, and 13E in a series of turning motions. switch. According to this, in a series of turning motions, the moving body 1 turns centering on the middle point TC1 when the wheels 13B, 13D, and 13F touch the ground, and rotates around the middle point TC2 when the wheels 13A, 13C, and 13E touch the ground. It is possible to turn while switching between turning with the center of turning.

For example, the ground contact control unit 104 causes the moving body 1 to alternately switch between a turn centered at the intermediate point TC1 and a turn centered at the intermediate point TC2 in a short period of time. The center can be controlled to a point between midpoint TC1 and midpoint TC2. Therefore, the moving body 1 can control an arbitrary point on the line segment connecting the intermediate points TC1 and TC2 to be the average center of rotation and perform a series of turning operations.

As shown in FIG. 5, the ground control unit 104 controls the ratio of the turning time by the wheels 13B, 13D, and 13F and the turning time by the wheels 13A, 13C, and 13E in a series of turning motions, thereby achieving an average The position of the center of rotation may be controlled. In FIG. 5, hatched periods indicate non-grounded periods, and non-hatched periods indicate grounded periods.

In FIG. 5, wheels 13B, 13D, and 13F are defined as a first wheel group, and wheels 13A, 13C, and 13E are defined as a second wheel group. Here, when the first wheel group is on the ground and the second wheel group is not on the ground, the moving body 1 can turn around the center point TC1 between the wheels 13D and 13F. On the other hand, when the second wheel group is on the ground and the first wheel group is not on the ground, the moving body 1 can turn around the middle point TC2 between the wheels 13A and 13C.

Therefore, when the turning speed is constant, the ground contact control unit 104 internally divides the turning time by the first wheel group and the turning time by the second wheel group to obtain an average The turning center can be controlled to the internal division point BC between the intermediate points TC1 and TC2. That is, the ground contact control unit 104 divides the ground contact time (turning time) of the first wheel group and the ground contact time (turning time) of the second wheel group in a series of turning motions. can control the position of the average center of rotation in . For example, the ground contact control unit 104 internally divides the ground contact time of the first wheel group and the ground contact time of the second wheel group by a predetermined ratio, thereby setting the average center of turning in a series of turning motions to the middle point. It can be controlled to the internal division point BC of the reciprocal of a predetermined ratio between TC1 and the midpoint TC2.

Further, the ground contact control unit 104 controls the internal ratio between the turning angle of the first wheel group and the turning angle of the second wheel group in a series of turning motions, thereby achieving an average turning angle in the series of turning motions. You may control the position of the center. According to this, even if the turning speed is not constant, the ground contact control unit 104 performs a series of turning operations by dividing the turning by the first wheel group and the turning by the second wheel group. can control the position of the average center of rotation in .

As described above, the ground contact control unit 104 alternately switches between the ground contact turning by the first wheel group and the ground contact turning by the second wheel group in a short period of time, thereby substantially It is possible to control the position of the center of rotation. According to this, the ground contact control unit 104 can, for example, substantially match the center of the average turning center in a series of turning motions with the center of the body part 12 of the moving body 1, so that the moving body 1 can be made smaller. It is possible to swivel on the footprint. Further, the ground contact control unit 104 can turn the moving body 1 around a turning center that makes it easier to avoid obstacles, for example, by referring to information about obstacles in the external environment acquired from the external sensor unit 111 . be.

The grounding/non-grounding switching of the wheels 13 by the grounding control unit 104 may be performed in parallel with the translational movement of the moving body 1 by legged walking or wheel running. In other words, the switching between grounding and non-grounding of the wheels 13 by the grounding control unit 104 can be performed independently of the translational speed of the wheels 13 or the legs 11 at the timing when the turning speed of the wheels 13 is 0. good.

The driving control unit 103 controls the driving unit 131 of the moving body 1 based on the movement route planned by the route planning unit 102 and the grounding control by the grounding control unit 104 . As a result, the moving body 1 can move from the current position to the target position. For example, the drive control unit 103 may control the drive unit 131 to move the moving body 1 along the movement route planned by the route planning unit 102 . Further, the drive control unit 103 may control the turning center of the moving body 1 by controlling the wheels 13 that contact the ground based on the control by the grounding control unit 104 when the moving body 1 turns.

The drive unit 131 is a motor that drives each joint of the leg 11 and a motor that rotates each of the wheels 13 . The drive unit 131 drives based on the control of the drive control unit 103 so that the moving body 1 can perform legged walking using the legs 11 or wheel running using the wheels 13 . In addition, when the mobile body 1 turns, the drive unit 131 can control the grounding or non-grounding of each of the wheels 13 by controlling the attitude of the leg 11 based on the control of the grounding control unit 104 . .

<3. Rotating Operation of Moving Body>
Next, referring to FIG. 6, the turning operation of the moving body 1 by the control device 100 will be described. FIG. 6 is a graph showing in time series the turning angle, turning speed, and whether or not the wheels 13 are on the ground when the mobile body 1 turns. In the graph shown in FIG. 6, "1" indicates that the wheel group is grounded, and "0" indicates that the wheel group is not grounded.

As shown in FIG. 6, the ground contact control unit 104 controls a first wheel group (for example, wheel 13B, wheel 13D, and wheel 13F) and a second wheel group (wheel 13A, wheel 13C, and wheel 13E). is controlled by alternately switching between grounding and non-grounding.

Specifically, the ground contact control unit ¹⁰⁴ calculates the turning speed θ next1 from the current angle θ ^current , the target turning speed ω ^ref , and the contact/non-contact switching time ΔT by “θ ^next1 =θ ^current +ω ^ref ΔT”. decide. Furthermore, the ground contact control unit 104 determines the next turning speed θ ^next2 from the next wheel group that is grounded. For example, if the next wheel group and the current wheel group are the same, the ground contact control unit 104 determines the turning speed θ ^next2 as “θ ^next2 =ω ^ref ”. Further, when the wheel group that will be grounded next time and the wheel group that is currently grounded are different, the ground contact control unit 104 determines the turning speed θ ^next2 to be “θ ^next2 =0”.

According to this, the ground contact control unit 104 can switch between the ground contact of the first wheel group and the contact of the second wheel group at the timing when the turning speed is zero. Therefore, the ground contact control unit 104 can suppress the slippage of the non-driven wheels 13 when the first wheel group and the second wheel group touch the ground at the same time. Damage to the wheel 13 can be suppressed.

Further, the moving body 1 alternately and repeatedly performs turning when the first wheel group touches the ground and turning when the second wheel group touches the ground, so that the moving body 1 turns while monotonically increasing the turning angle as a whole. can be done. The grounding of the first wheel group and the grounding of the second wheel group may be switched, for example, in a period of 0.3 seconds to 1.0 seconds. According to this, the ground contact control unit 104 alternately switches between the ground-contact turning by the first wheel group and the ground-contact turning by the second wheel group in a short period of time, so that the turning center of the moving body 1 is adjusted during the turning operation. can be suppressed from fluctuating greatly.

<4. Application example>
Next, a moving body to which the technology according to the present disclosure is applied will be described in comparison with a comparative example with reference to FIGS. 7 to 14. FIG. The technology according to the present disclosure is not limited to the mobile object 1 shown in FIGS. 1 and 2, and can be applied to mobile objects having various configurations.

(4.1. First application example)
FIG. 7 is a schematic cross-sectional view showing the configuration of the moving body 2 according to the first application example to which the technology according to the present disclosure is applied. FIG. 8 is a schematic bottom view of the moving body 2 shown in FIG. 7 as viewed from the running surface side.

As shown in FIGS. 7 and 8, the moving body 2 includes a main body 22, legs 21A, and wheels 23A, 23B, 23C, 23D, 23E, 23F, and 23G.

The main body part 22 corresponds to the body part of the moving body 2. The main unit 22 includes, for example, a control device that controls the overall operation of the mobile body 2, a sensor device that senses the external environment of the mobile body 2, a power supply device that supplies power to each part of the mobile body 2, and the like.

The leg portion 21A is attached to the main body portion 22 on one end side, and is grounded on the running surface via the wheel 23E, the wheel 23F, and the wheel 23G on the other end side, so that the main body portion 22 support. The leg portion 21A is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 23F and 23G are drive wheels that rotate around fixed axles driven by a motor or the like. The wheels 23E are driven wheels that rotate in accordance with the movement of the moving body 2 and are capable of translating in all directions.

The main body 22 is provided with wheels 23A, 23B, 23C, and 23D. The wheels 23A, 23B, 23C, and 23D support the main body 22 by coming into contact with the running surface when the legs 21A contract. The wheels 23A and 23B are drive wheels that rotate around fixed axles driven by a motor or the like. The wheels 23C and 23D are driven wheels that rotate as the moving body 2 moves and are capable of translating in all directions.

In the moving body 2, when the leg 21A is extended, the wheels 23E, 23F, and 23G are in contact with the running surface, and the wheels 23A, 23B, 23C, and 23D are not in contact with the running surface. In such a case, the moving body 2 can turn about the middle point TC22 of the wheels 23F and 23G by rotating the wheels 23F and 23G, which are driving wheels, in opposite directions.

On the other hand, in the moving body 2, when the leg portion 21A contracts, the wheels 23A, 23B, 23C, and 23D are in contact with the running surface, and the wheels 23E, 23F, and 23G are not in contact with the running surface. Become. In such a case, the moving body 2 can turn about the middle point TC21 of the wheels 23A and 23B by rotating the wheels 23A and 23B, which are driving wheels, in opposite directions.

By extending and contracting the leg portion 21A, the control device 100 causes the wheels 23A, 23B, 23C, and 23D to be grounded at four points and the wheels 23E, 23F, and 23G to be grounded in a series of turning motions. It can switch between grounding at three points. As a result, in a series of turning motions, the moving body 2 turns around the middle point TC21 when the wheels 23A, 23B, 23C, and 23D touch the ground, and rotates the wheels 23E, 23F, and 23G. It is possible to turn while switching between turning centering on the middle point TC22 at the time of ground contact.

Therefore, the control device 100 causes the moving body 2 to alternately switch between turning with the intermediate point TC21 as the turning center and turning with the intermediate point TC22 as the turning center. It can be controlled to a point between TC21 and a midpoint TC22. Therefore, the moving body 2 can perform a series of turning motions with an arbitrary point on the line connecting the middle point TC21 and the middle point TC22 as the average turning center.

(4.2. Second application example)
FIG. 9 is a schematic cross-sectional view showing the configuration of a moving body 3 according to a second application example to which the technology according to the present disclosure is applied. FIG. 10 is a schematic bottom view of the moving body 3 shown in FIG. 9 as viewed from the running surface side.

As shown in FIGS. 9 and 10, the moving body 3 includes a main body 32, legs 31A, 31B, 31C, and wheels 33A, 33B, 33C, 33D, 33E, 33F.

The body part 32 corresponds to the body part of the moving body 3. The main unit 32 includes, for example, a control device that controls the overall operation of the mobile body 3, a sensor device that senses the external environment of the mobile body 3, a power supply device that supplies power to each part of the mobile body 3, and the like.

The leg part 31A is attached to the main body part 32 on one end side, and supports the main body part 32 by being grounded on the running surface via the wheels 33A and 33B on the other end side. The leg portion 31A is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 33A and 33B are drive wheels that rotate around fixed axles driven by a motor or the like. Since the wheels 33A and 33B rotate on the same axle, they rotate in the same direction.

The leg portion 31B is attached to the main body portion 32 at one end side, and supports the main body portion 32 by being grounded on the running surface via the wheels 33C and 33D at the other end side. The leg portion 31B is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 33C and 33D are driving wheels that rotate around fixed axles by being driven by a motor or the like. Since the wheels 33C and 33D rotate on the same axle, they rotate in the same direction.

The leg portion 31C is attached to the main body portion 32 at one end side, and supports the main body portion 32 by being grounded on the running surface via the wheels 33E and 33F at the other end side. The leg portion 31C is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 33E and 33F are drive wheels that rotate around fixed axles driven by a motor or the like. Since the wheels 33E and 33F rotate on the same axle, they rotate in the same direction.

In the moving body 3, when the leg portions 31A and 31B are extended and the leg portion 31C is contracted, the wheels 33A, 33B, 33C, and 33D are in contact with the running surface, and the wheels 33E and 33F are running. It becomes ungrounded on the surface. In such a case, the moving body 3 rotates the wheels 33A and 33B and the wheels 33C and 33D in opposite directions, thereby turning about the intersection point TC31 of the axles of both wheels.

Further, in the moving body 3, when the leg portions 31B and 31C are extended and the leg portion 31A is contracted, the wheels 33C, 33D, 33E, and 33F are in contact with the traveling surface, and the wheels 33A and 33B are grounded. is not grounded on the running surface. In such a case, the moving body 3 rotates the wheels 33C and 33D and the wheels 33E and 33F in opposite directions, thereby turning about the intersection point TC32 of the axles of both wheels.

Furthermore, in the moving body 3, when the leg portions 31A and 31C are extended and the leg portion 31B is contracted, the wheels 33A, 33B, 33E, and 33F are in contact with the running surface, and the wheels 33C and 33D is not grounded on the running surface. In such a case, the moving body 3 rotates the wheels 33A and 33B and the wheels 33E and 33F in opposite directions, thereby turning about the intersection point TC33 of the axles of both wheels.

The control device 100 controls the expansion and contraction of the legs 31A, 31B, and 31C, so that the wheels 33A, 33B, 33C, and 33D are grounded at four points in a series of turning motions. , the wheels 33C, 33D, 33E, and 33F and the four points of the wheels 33A, 33B, 33E, and 33F. As a result, in a series of turning motions, the moving body 3 can turn while switching between turning with the intersection TC31 as the turning center, turning with the intersection TC32 as the turning center, and turning with the intersection TC33 as the turning center. can.

According to this, the control device 100 can control the substantial turning center in a series of turning operations to be a point inside the triangle with the intersection points TC31, TC32, and TC33 as vertices. Therefore, the moving body 3 can perform a series of turning motions with an arbitrary point inside the triangle having the vertexes of the intersection points TC31, TC32, and TC33 as the average turning center.

(4.3. Comparative example)
FIG. 11 is a schematic cross-sectional view showing the configuration of a moving body 4 according to a first comparative example to which the technology according to the present disclosure is not applied. FIG. 12 is a schematic bottom view of the moving body 4 shown in FIG. 11 as viewed from the running surface side.

As shown in FIGS. 11 and 12, the moving body 4 includes a main body 42, legs 41A, and wheels 43A, 43B, 43C, 43D, 43E, and 43F.

The body part 42 corresponds to the body part of the moving body 4 . The main unit 42 includes, for example, a control device that controls the overall operation of the mobile body 4, a sensor device that senses the external environment of the mobile body 4, a power supply device that supplies power to each part of the mobile body 4, and the like.

The leg part 41A is attached to the main body part 42 on one end side, and supports the main body part 42 by being grounded on the running surface via the wheels 43E and 43F on the other end side. The leg portion 41A is composed of a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 43E and 43F are drive wheels that rotate around fixed axles driven by a motor or the like.

The main body 42 is provided with wheels 43A, 43B, 43C, and 43D. The wheels 43A, 43B, 43C, and 43D support the main body 42 by coming into contact with the running surface when the legs 41A contract. Wheel 43A, wheel 43B, wheel 43C, and wheel 43D are driven wheels that rotate in accordance with the movement of mobile body 4 and are capable of translating in all directions.

In the moving body 4, when the leg 41A is extended, the wheels 43E and 43F are in contact with the running surface, and the wheels 43A, 43B, 43C, and 43D are not in contact with the running surface. In such a case, the moving body 4 can turn about the middle point TC42 of the wheels 43E and 43F by rotating the wheels 43E and 43F, which are driving wheels, in opposite directions.

On the other hand, in the mobile body 4, when the leg 41A contracts, the wheels 43A, 43B, 43C, and 43D are in contact with the running surface, and the wheels 43E and 43F are not in contact with the running surface. In such a case, since the wheels 43A, 43B, 43C, and 43D are driven wheels, it is difficult for the moving body 4 to travel on wheels and turn.

By extending and contracting the leg portion 41A, the moving body 4 can switch between grounding at four points, wheels 43A, 43B, 43C, and 43D, and grounding at two points, wheels 43E and 43F. can. However, since the moving body 4 does not have a plurality of turning centers, it is difficult to switch the turning center by expanding and contracting the leg portion 41A. Therefore, it is difficult to control the moving body 4 to an average turning center in a series of turning motions by the technology according to the present disclosure.

FIG. 13 is a schematic cross-sectional view showing the configuration of a moving body 5 according to a second comparative example to which the technology according to the present disclosure is not applied. FIG. 14 is a schematic bottom view of the moving body 5 shown in FIG. 13 as viewed from the running surface side.

As shown in FIGS. 13 and 14, the moving body 5 includes a main body 52, legs 51A and 51B, and wheels 53A, 53B, 53C and 53D.

The main body part 52 corresponds to the body part of the moving body 5 . The main unit 52 includes, for example, a control device that controls the overall operation of the mobile body 5, a sensor device that senses the external environment of the mobile body 5, a power supply device that supplies power to each part of the mobile body 5, and the like.

The leg portion 51A is attached to the body portion 52 on one end side, and supports the body portion 52 by contacting the running surface via the wheels 53A and 53B on the other end side. The leg portion 51A is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 53A and 53B are drive wheels that rotate around fixed axles driven by a motor or the like.

The leg part 51B is attached to the main body part 52 at one end side, and supports the main body part 52 by being grounded on the running surface via the wheels 53C and 53D at the other end side. The leg portion 51B is configured by a plurality of links that are connected to each other so as to be able to move linearly, and can be expanded and contracted in one direction by expanding and contracting the plurality of connected links. The wheels 53C and 53D are driving wheels that rotate around fixed axles by being driven by a motor or the like.

In the moving body 5, when the leg 51A is extended and the leg 51B is contracted, the wheels 53A and 53B are in contact with the running surface, and the wheels 53C and 53D are not in contact with the running surface. In such a case, the moving body 5 can turn about the middle point TC51 of the wheels 53A and 53B by rotating the wheels 53A and 53B, which are driving wheels, in opposite directions.

Also, in the moving body 5, when the leg portion 51B is extended and the leg portion 51A is contracted, the wheels 53C and 53D are in contact with the running surface, and the wheels 53A and 53B are not in contact with the running surface. In such a case, the moving body 5 can turn about the center point TC52 of the wheels 53C and 53D by rotating the wheels 53C and 53D, which are driving wheels, in opposite directions.

By extending and contracting the leg portions 51A and 51B, the moving body 5 can switch between grounding at the two points of the wheels 53A and 53B and grounding at the two points of the wheels 53C and 53D. However, the two points of the wheels 53A and 53B or the two points of the wheels 53C and 53D are far from the center of gravity of the main body 52 of the moving body 5 and are unstable, so that the main body 52 can be stabilized. difficult to support.

In such a case, the moving body 5 performs a turn centered on a midpoint TC51 when the wheels 53A and 53B touch the ground, and a turn centered on a midpoint TC52 when the wheels 53C and 53D touch the ground. Difficult to do independently. Therefore, it is difficult to control the moving body 5 to an average turning center in a series of turning motions by the technology according to the present disclosure.

That is, as can be seen from the above comparative example, the technology according to the present disclosure has a movement wheel group including a plurality of drive wheel groups that have different turning centers and are capable of supporting or not supporting the main body independently of each other. It can be suitably applied to the body.

Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modifications or modifications within the scope of the technical idea described in the claims. are naturally within the technical scope of the present disclosure.

Also, the effects described in this specification are merely descriptive or exemplary, and are not limiting. In other words, the technology according to the present disclosure can produce other effects that are obvious to those skilled in the art from the description of this specification in addition to or instead of the above effects.

Note that the following configuration also belongs to the technical scope of the present disclosure.
(1)
In a series of turning motions, a first driving wheel group capable of turning at a first turning center is grounded and a second driving wheel group capable of turning at a second turning center different from the first turning center is grounded. A control device comprising a ground control unit that switches and controls between and.
(2)
The ground contact control unit controls an internal division ratio between turning by the first drive wheel group and turning by the second drive wheel group in the series of turning movements, so that an average The control device according to (1), which controls the turning center.
(3)
The ground contact control unit controls an average turning center in the series of turning motions by controlling an internal ratio between a ground contact time of the first drive wheel group and a ground contact time of the second drive wheel group. The control device according to (2) above.
(4)
The ground contact control unit switches between the ground contact of the first drive wheel group and the contact contact of the second drive wheel group when the turning speed of the series of turning motions is 0, the above (1) to ( 3) The control device according to any one of items.
(5)
The control according to any one of (1) to (4), wherein the first driving wheel group and the second driving wheel group are respectively provided on support legs that support the main body of the moving body. Device.
(6)
The control device according to (5), wherein the ground contact control unit controls an average turning center in the series of turning operations so as to substantially match the center of the main body.
(7)
The control device according to (5), wherein the ground control unit controls an average turning center in the series of turning motions based on a sensing result of a sensor provided in the moving body.
(8)
Any one of (5) to (7) above, wherein the grounding control unit switches grounding of the first driving wheel group and grounding of the second driving wheel group by switching the support leg to be grounded. or the control device according to claim 1.
(9)
The control device according to any one of (5) to (8), wherein the support leg includes a joint that can be vertically stretched or bent.
(10)
The control device according to any one of (5) to (9), wherein the series of turning motions is performed in parallel with a walking motion by the support legs.
(11)
Any one of (1) to (10) above, wherein each of the drive wheels included in the first drive wheel group and the second drive wheel group is a wheel rotatable around a fixed axle. A control device according to any one of the preceding paragraphs.
(12)
The control device according to any one of (1) to (11), wherein the ground contact control unit further controls ground contact of a driven wheel capable of translational movement in all directions.
(13)
The control according to any one of (1) to (12) above, wherein the series of turning motions is performed in parallel with the translational motion by the first drive wheel group or the second drive wheel group. Device.
(14)
The ground contact control unit controls ground contact of the first drive wheel group, ground contact of the second drive wheel group, the first turning center, and the second turning center in the series of turning operations. The control device according to any one of the above (1) to (13), wherein the third drive wheel group capable of turning at different third turning centers is controlled by switching between grounding and grounding.
(15)
a first driving wheel group capable of turning at a first turning center;
a second drive wheel group capable of turning at a second turning center different from the first turning center;
a grounding control unit that switches and controls grounding of the first driving wheel group and grounding of the second driving wheel group in a series of turning operations;
A moving body comprising:
(16)
In a series of turning motions, the computing device causes a first driving wheel group that can turn at a first turning center to touch the ground and a second drive that can turn at a second turning center that is different from the first turning center. A control method for a moving object that switches between and controls a group of wheels.

1 moving body 11, 11A, 11B, 11C, 11D, 11E, 11F leg 12 main body 13, 13A, 13B, 13C, 13D, 13E, 13F wheel 100 control device 101 self-position estimation unit 102 route planning unit 103 drive control Section 104 Grounding Control Section 111 External Sensor Section 112 Internal Sensor Section 131 Driving Section

Claims (16)

In a series of turning motions, a first driving wheel group capable of turning at a first turning center is grounded and a second driving wheel group capable of turning at a second turning center different from the first turning center is grounded. A control device comprising a ground control unit that switches and controls between and. The ground contact control unit controls an internal division ratio between turning by the first drive wheel group and turning by the second drive wheel group in the series of turning movements, so that an average 2. A controller according to claim 1, which controls the pivot center. The ground contact control unit controls an average turning center in the series of turning motions by controlling an internal ratio between a ground contact time of the first drive wheel group and a ground contact time of the second drive wheel group. 3. The control device of claim 2, wherein: 2. The vehicle according to claim 1, wherein said ground contact control unit switches between ground contact of said first drive wheel group and ground contact of said second drive wheel group when a turning speed of said series of turning motions is zero. Control device. The control device according to claim 1, wherein the first drive wheel group and the second drive wheel group are provided on support legs that support the main body of the moving body. The control device according to claim 5, wherein the ground contact control unit controls an average turning center in the series of turning operations so as to substantially coincide with the center of the main body. The control device according to claim 5, wherein the ground contact control unit controls the average turning center in the series of turning motions based on the sensing result of the sensor provided in the moving body. The control device according to claim 5, wherein the grounding control unit switches between the grounding of the first driving wheel group and the grounding of the second driving wheel group by switching the supporting leg to be grounded. The control device according to claim 5, wherein the support leg includes a joint that can be vertically stretched or bent. The control device according to claim 5, wherein the series of turning motions is performed in parallel with the walking motion by the supporting legs. The control device according to claim 1, wherein each of the driving wheels included in the first driving wheel group and the second driving wheel group is a wheel rotatable around a fixed axle. The control device according to claim 1, wherein the ground contact control unit further controls ground contact of a driven wheel capable of translational movement in all directions. The control device according to claim 1, wherein the series of turning motions are performed in parallel with translational motions by the first driving wheel group or the second driving wheel group. The ground contact control unit controls ground contact of the first drive wheel group, ground contact of the second drive wheel group, the first turning center, and the second turning center in the series of turning operations. 2. The control device according to claim 1, wherein control is performed by switching between contacting and grounding of a third drive wheel group capable of turning at different third turning centers. a first driving wheel group capable of turning at a first turning center;
a second drive wheel group capable of turning at a second turning center different from the first turning center;
a grounding control unit that switches and controls grounding of the first driving wheel group and grounding of the second driving wheel group in a series of turning operations;
A moving body comprising: In a series of turning motions, the computing device causes a first driving wheel group that can turn at a first turning center to touch the ground and a second drive that can turn at a second turning center that is different from the first turning center. A control method for a moving object that switches between and controls a group of wheels.

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