Mobile device

Abstract

The present application provides a mobile device that can absorb the speed difference between the boarding place (F1) and the step (Q) of an escalator (E) and between the alighting place (F2) and the step (Q) and go up and down the escalator (E) in a state of placing a mobile object (X). The mobile device of the present application moves in a state of placing a mobile object (X), wherein two leg portions (10) having end portion wheels (14) and intermediate wheels (13), a placing portion (20) supported by the two leg portions (10), and a control portion (30) that controls the two leg portions (10) are provided, and in a state of four-wheel grounding of the end portion wheels (14) and the intermediate wheels (13), the wheel speed of the end portion wheels (14) is controlled by the control portion (30) when the end portion wheels (14) move from the boarding place (F1) of the escalator (E) to the step (Q) and / or when the end portion wheels (14) move from the step (Q) of the escalator (E) to the alighting place (F2).

Description

TECHNICAL FIELD

[0001] The present application relates to a moving device on which a person or an object or the like is placed and moved, and more particularly to a moving device capable of ascending and descending stairs (including steps. The same applies hereinafter.) or escalators while an object is placed thereon. BACKGROUND

[0002] Among the elderly and the disabled, there are persons who have difficulty in moving in a place. In particular, ascending and descending stairs places a large burden on the body. In the past, as a device on which a person is placed and moved, for example, a stair-ascending and descending type moving vehicle (Patent Literature 1) having a pair of left and right wheel supporting bodies composed of four connecting rods on one side and four wheels, a two-leg type moving device (Patent Literature 2) having two legs and a hip portion that rotatably supports the joints of the roots of the two legs, and a two-foot type moving mechanism (Patent Literature 3) having two legs having wheels at the ends have been known.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent No. 5555953

[0006] Patent Literature 2: Japanese Patent Application Laid-Open No. 2011-255426

[0007] Patent Literature 3: Japanese Patent Application Laid-Open No. 2007-290054 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] Further, there is a speed difference at the boundary of the steps of an escalator and the boarding and alighting place, and thus, in order to be able to ascend and descend an escalator using a moving device, measures need to be taken so that a moving object does not fall or tumble due to vibration or impact caused by the speed difference.

[0010] However, the existing various moving devices do not assume the ascending and descending of an escalator, and neither disclose nor suggest the problem caused by the speed difference and the means for solving the problem.

[0011] The present application is made in view of this situation, and the problem to be solved is to provide a moving device capable of absorbing the speed difference and safely ascending and descending an escalator while an object is placed thereon.

[0012] MEANS FOR SOLVING THE PROBLEM

[0013] The mobile device of the present application is a device that moves while placing a mobile object, and includes two leg portions having end portion wheels and middle wheels, a placement portion supported by the two leg portions, and a control portion that controls the two leg portions. The control portion controls the wheel speed of the end portion wheels while the end portion wheels are in contact with the ground and the end portion wheels move from a boarding place to a step of an escalator and / or the end portion wheels move from the step to a disembarking place.

[0014] The mobile device of the present application can also be a device that controls the translation speed of the mobile device while the end portion wheels are in contact with the ground and the end portion wheels move from a boarding place to a step of an escalator and / or the end portion wheels move from the step to a disembarking place.

[0015] Effects of the Invention

[0016] The mobile device of the present application can absorb the speed difference between a boarding place and a step or between a disembarking place and a step by controlling the wheel speed of the end portion wheels while the end portion wheels move from a boarding place to a step of an escalator and / or the end portion wheels move from the step to a disembarking place, and can safely go up and down an escalator while placing a mobile object. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 (a) is a front view showing one example of the mobile device of the present application, and (b) is a side view showing the state after going up one step of a staircase.

[0018] Figure 2 is a functional block diagram showing one example of the mobile device of the present application.

[0019] Figure 3 is a flowchart showing one example of the determination step of whether or not to go up and down a staircase.

[0020] Figure 4 is a flowchart showing one example of the step of path generation in the path generation portion.

[0021] Figure 5 (a) of is an explanatory diagram of the width of the mobile device, the width direction of the space above the staircase, the one-side allowance, and the width of the space above each step, and (b) is an explanatory diagram of the center position and the center position deviation.

[0022] Figure 6 (a) to (c) of is a control explanatory diagram of the posture in the front-rear direction when going up a staircase.

[0023] Figure 7 (a) to (c) of is a control explanatory diagram of the posture in the front-rear direction when going up a staircase.

[0024] Figure 8 (a) to (c) are diagrams illustrating the control of posture in the left and right directions when going up stairs.

[0025] Figure 9 (a) to (d) are diagrams illustrating the control of posture in the left and right directions when going up stairs.

[0026] Figure 10 This is a flowchart illustrating an example of motion control in response to external disturbances.

[0027] Figure 11 (a) to (d) are action illustration diagrams illustrating an example of the transition from four-wheel grounding to two-wheel grounding.

[0028] Figure 12 (a) to (e) are illustration diagrams illustrating another example of the transition from four-wheel grounding to two-wheel grounding.

[0029] Figure 13 (a) to (e) are illustration diagrams illustrating an example of the transition from two-wheel grounding to four-wheel grounding.

[0030] Figure 14 This is a side view showing an example of an escalator.

[0031] Figure 15 This is a flowchart illustrating an example of the procedures for entering an escalator.

[0032] Figure 16 (a) to (c) are explanatory diagrams of the accessible left and right ranges that can be entered into the escalator.

[0033] Figure 17 This is a flowchart illustrating an example of the processing steps when exiting an escalator.

[0034] Figure 18 (a) to (c) are diagrams illustrating the control of posture when entering an escalator.

[0035] Figure 19 (a) to (c) are diagrams illustrating the control of the posture when exiting the escalator. Detailed Implementation

[0036] <Implementation Method>

[0037] An example of a mobile device of the present application will be described with reference to the drawings. The mobile device of the present application is a device that moves while placing a person or an object (hereinafter referred to as "mobile object") X and the like. Here, a mobile device that moves while placing a person (chair-type mobile device) will be described as an example. Further, in the present application, the front side of the traveling direction of the mobile device will be expressed as front, the rear side will be expressed as rear, the left side will be expressed as left, the right side will be expressed as right, the upper side will be expressed as up, and the lower side will be expressed as down.

[0038] Further, in the present application, the "synthetic center of gravity position" refers to a center of gravity position after the center of gravity position of the mobile device and the center of gravity position of the mobile object X are synthesized. The center of gravity position of the mobile object X can be set, for example, by the center of gravity position estimation section 32 Figure 2 The center of gravity position of the mobile device is calculated based on the center of gravity position estimated from the load of the mobile object X applied to the seat surface sensor 24 provided to the seating portion 20.

[0039] The center of gravity position of the mobile device can be calculated based on the center of gravity positions of the respective parts constituting the mobile device (by synthesizing the center of gravity positions of the respective parts). Among the respective parts constituting the mobile device, the upper link 11, the lower link 12, the intermediate wheel 13, the end portion wheel 14, the first joint actuator 15, the second joint actuator 16, the third joint actuator 17, and the end portion wheel actuator 18 of the leg portion 10 described later are included.

[0040] Specifically, the center of gravity position of the mobile device can be calculated in the following manner. Since the weights and the center of gravity positions of the respective parts constituting the mobile device and the moments of inertia are known, the center of gravity position of the mobile device can be calculated by determining the relative positional relationship of the respective parts from the rotation angles of the respective actuators 15 to 18, calculating the center of gravity positions of the respective parts from the determined positional relationship, and synthesizing the center of gravity positions of the respective parts.

[0041] Further, in the present application, the "end portion wheel ground contact position" refers to the contact position between the end portion wheel 14 and the ground or the floor surface (hereinafter referred to as "ground contact surface"). The end portion wheel ground contact position is set for each of the end portion wheels 14 of the respective leg portions 10. In the case where the end portion wheels 14 of the two leg portions 10 are not staggered in the front-rear direction, the end portion wheel ground contact positions of the two leg portions 10 are positions that are laterally side by side. In the case where the end portion wheels 14 of the two leg portions 10 are staggered in the front-rear direction, the end portion wheel ground contact positions of the two leg portions 10 are positions that are staggered in the front-rear direction.

[0042] In the following description, boarding the escalator E is referred to as "entry", and alighting from the escalator E is referred to as "exit". In addition, the entry side of the escalator E in the boarding and alighting place F in front of the escalator E is referred to as "boarding place Fl", and the exit side is referred to as "alighting place F2". Furthermore, "boarding place Fl" and "alighting place F2" are relative concepts, and in the escalator E going up, the lower boarding and alighting place F is the boarding place Fl, and the upper boarding and alighting place F is the alighting place F2, while in the escalator E going down, the upper boarding and alighting place F is the boarding place Fl, and the lower boarding and alighting place F is the alighting place F2.

[0043] Hereinafter, the mobile device of the present embodiment will be described in detail. As one example, Figure 1 The mobile device shown in (a) and (b) is provided with a leg portion 10, a seat portion (hereinafter referred to as "chair portion") 20 coupled to the leg portion 10, and a control portion 30 (see FIG. 2) that controls the leg portion 10. Figure 2 ).

[0044] The leg portion 10 supports the chair portion 20. As shown in (a) and (b) of FIG. 1, the leg portion 10 is provided with a left leg portion 10a, a right leg portion 10b, a left upper link 11a, a left lower link 12a, a left intermediate wheel 13a, a left end portion wheel 14a, a left first joint actuator 15a, a left second joint actuator 16a, a left third joint actuator 17a, a left end portion wheel actuator 18a, a right upper link 11b, a right lower link 12b, a right intermediate wheel 13b, a right end portion wheel 14b, a right first joint actuator 15b, a right second joint actuator 16b, a right third joint actuator 17b, and a right end portion wheel actuator 18b. Figure 1 The left upper link 11a is rotatably coupled to a left bracket 23a provided on the bottom surface of the chair portion 20, and the upper end side of the left lower link 12a is rotatably coupled to the left upper link 11a.

[0045] The left intermediate wheel 13a is disposed at the coupling position of the left upper link 11a and the left lower link 12a, and is rotatably coupled by a coupling member for coupling the left upper link 11a and the left lower link 12a. The left intermediate wheel 13a can be disposed at a position on the left upper link 11a side of the left lower link 12a, a position on the left lower link 12a side of the left upper link 11a, or another position, in addition to the coupling position of the left upper link 11a and the left lower link 12a.

[0046] The left end portion wheel 14a is rotatably coupled to the lower end side of the left lower link 12a. The left end portion wheel 14a is protrusively disposed with its bottom surface toward a position lower than the lower end of the left lower link 12a, so as to be in contact with the ground (floor surface).

[0047]

[0048] ​The left first joint actuator 15a is a driving unit that drives the left upper link 11a in the front-rear direction, and is provided at a joint portion of the left upper link 11a and the left bracket 23a. The left upper link 11a is rotated in the front-rear direction by the operation of the left first joint actuator 15a.

[0049] The left second joint actuator 16a is a driving unit that drives the left lower link 12a in the front-rear direction, and is provided at a joint portion of the left upper link 11a and the left lower link 12a. The left lower link 12a is rotated in the front-rear direction by the operation of the left second joint actuator 16a.

[0050] The left third joint actuator 17a is a driving unit that drives the left upper link 11a in the left-right direction (the inner-outer direction), and is provided at a joint portion of the left upper link 11a and the left bracket 23a. The left upper link 11a is rotated in the left-right direction by the operation of the left third joint actuator 17a.

[0051] The left end portion wheel actuator 18a is a driving unit that drives the left end portion wheel 14a in the forward-reverse direction (the front-rear direction), and is provided at a joint portion of the left lower link 12a and the left end portion wheel 14a. The left end portion wheel 14a is rotated in the forward-reverse direction by the operation of the left end portion wheel actuator 18a. Further, the left intermediate wheel 13a of this embodiment is provided in a free state in which the left intermediate wheel 13a is rotatable in the forward-reverse direction without an actuator.

[0052] The leg portion on the right side in the advancing direction (hereinafter referred to as "right leg portion") 10b is provided with a right upper link 11b, a right lower link 12b, a right intermediate wheel 13b, a right end portion wheel 14b, a right first joint actuator 15b, a right second joint actuator 16b, a right third joint actuator 17b, and a right end portion wheel actuator 18b.

[0053] The right upper link 11b is rotatably connected at the upper end side to a right bracket 23b provided on the bottom surface of the chair portion 20, and the right lower link 12b is rotatably connected at the upper end side to the right upper link 11b.

[0054] The right intermediate wheel 13b is disposed at the joint portion of the right upper link 11b and the right lower link 12b, and is rotatably connected by a joint member for connecting the right upper link 11b and the right lower link 12b. The right intermediate wheel 13b can be provided at a position on the right upper link 11b side of the right lower link 12b, a position on the right lower link 12b side of the right upper link 11b, or another position, in addition to the joint portion of the right upper link 11b and the right lower link 12b.

[0055] At the lower end side of the right lower link 12b, a right end portion wheel 14b is rotatably coupled. The right end portion wheel 14b is provided so as to protrude from the bottom surface thereof to a position lower than the lower end of the right lower link 12b, so as to be in contact with the ground (floor surface).

[0056] The right first joint actuator 15b is a driving unit that drives the right upper link 11b in the front-rear direction, and is provided at the coupling portion of the right upper link 11b and the right bracket 23b. The right upper link 11b is rotated in the front-rear direction by the operation of the right first joint actuator 15b.

[0057] The right second joint actuator 16b is a driving unit that drives the right lower link 12b in the front-rear direction, and is provided at the coupling portion of the right upper link 11b and the right lower link 12b. The right lower link 12b is rotated in the front-rear direction by the operation of the right second joint actuator 16b.

[0058] The right third joint actuator 17b is a driving unit that drives the right upper link 11b in the left-right direction (medial-lateral direction), and is provided at the coupling portion of the right upper link 11b and the right bracket 23b. The right upper link 11b is rotated in the left-right direction by the operation of the right third joint actuator 17b.

[0059] The right end portion wheel actuator 18b is a driving unit that drives the right end portion wheel 14b in the forward-reverse direction (front-rear direction), and is provided at the coupling portion of the right lower link 12b and the right end portion wheel 14b. The right end portion wheel 14b is rotated in the forward-reverse direction by the operation of the right end portion wheel actuator 18b. Further, the right intermediate wheel 13b of this embodiment is provided in a free state in which it is free to rotate in the forward-reverse direction without an actuator.

[0060] The two first joint actuators 15, the two second joint actuators 16, the two third joint actuators 17, and the two end portion wheel actuators 18 can use existing actuators that include a motor, a speed reducer, an encoder, a brake, and the like.

[0061] The chair portion 20 is a portion in which a person sits, and includes a seating portion 21 in which a person sits, an instruction operation portion 22 in which a person inputs a control signal, and a coupling portion 23 that is coupled to the leg portion 10.

[0062] The seating portion 21 includes a seat surface 21a and a backrest 21b. The structure of the seating portion 21 can also be other than this, and for example, can be provided as a structure that includes the seat surface 21a, the backrest 21b, and a footrest that is not shown, or a structure that does not include the backrest 21b and only includes the seat surface 21a, or a structure that is constituted only of the seat surface 21a and the footrest, and the like.

[0063] In the seating portion 21, a seat surface sensor 24 that detects a load of a person on the seat surface 21a, an external recognition sensor 25 that recognizes an external condition around the moving device (for example, the presence or absence of a stairway and escalator, an obstacle, and the like), and an inertial sensor 26 that detects a translational motion and a rotational motion in orthogonal three-axis directions are provided.

[0064] The seat surface sensor 24 is provided on the surface side of the seat surface 21a, and the external recognition sensor 25 and the inertial sensor 26 are provided on the front and side surfaces of the seat surface 21a. The provided positions of the respective sensors are one example, and the sensors can be provided at other positions.

[0065] The seat surface sensor 24 can use, for example, a pressure sensor. The seat surface sensor 24 is preferably provided in a plurality on the seat surface 21a. A detection signal of the seat surface sensor 24 is sent to a center-of-gravity position estimation section 32 (described later) of a control section 30, and a center-of-gravity position of a person is estimated by the center-of-gravity position estimation section 32 on the basis of the detection signal. Figure 2

[0066] The external recognition sensor 25 can use, for example, a laser range finder that irradiates a laser light and measures a distance to an object on the basis of reflected light. A device other than the laser range finder can also be used for the external recognition sensor 25. In the external recognition sensor 25, for example, the presence or absence of a stairway, an escalator, an obstacle (a wall, a column, a door, furniture, a person, and the like) is recognized. A detection signal of the external recognition sensor 25 is sent to a determination section 34 (described later) of the control section 30, and it is determined on the basis of the detection signal whether or not the stairway is passable, whether or not the escalator is enterable, and the like. Figure 2

[0067] The inertial sensor 26 can use, for example, a gyro sensor and an acceleration sensor. In the inertial sensor 26, for example, an actual motion (a moving speed, a tilt, and the like) of the moving device is detected. A detection signal of the inertial sensor 26 is sent to a motion estimation section 37 (described later) of the control section 30, and an actual motion (hereinafter referred to as "actual motion") is estimated by the motion estimation section 37 on the basis of the detection signal. A sensor other than the gyro sensor and the acceleration sensor can also be used for the inertial sensor 26. Figure 2

[0068] The instruction operation section 22 is a unit for a person to input a control signal to the control section 30. The instruction operation section 22 can use a conventional input device such as a lever and a touch panel. In this embodiment, with the instruction operation section 22, it is possible to input a control signal of a motion such as forward movement, backward movement, turning, movement on a stairway, entry into an escalator, and exit from the escalator. The input control signal is sent to the control section 30. Details of the motion in the case where each control signal is sent will be described later.

[0069] ​​​The link portion 23 is a portion that links the two leg portions 10. As one example, Figure 1 The link portion 23 shown in (a) and (b) is provided with a left bracket 23a and a right bracket 23b that are protrusively provided on the back side of the seat surface 21a. The left bracket 23a links the left leg portion 10a, and the right bracket 23b links the right leg portion 10b. Here, an example is shown, but the structure of the link portion 23 is not particularly limited as long as it can rotatably link the two leg portions 10.

[0070] The control portion 30 is a unit for controlling each actuator 15 to 18 that constitutes the leg portion 10, the two intermediate wheels 13, and the two end portion wheels 14. The control portion 30 can be constituted by a computer that is provided with a processor, a memory, and the like as main structures.

[0071] The control portion 30 of this embodiment is provided with a movement control portion 31 that controls the movements of the two leg portions 10, a center of gravity position estimation portion 32 that estimates the center of gravity position from the load applied to the seat surface sensor 24, a synthesized center of gravity calculation portion 33 that calculates the synthesized center of gravity position, a determination portion 34 that determines whether or not it is possible to go up or down stairs or whether or not it is possible to enter an escalator or the like based on the detection signal of the external recognition sensor 25, a path generation portion 35 that generates a movement path (track) before going up or down stairs or before entering an escalator or before exiting from an escalator, and the like, a theoretical movement calculation portion 36 that calculates the theoretical movement (hereinafter referred to as "theoretical movement") that is generated when each actuator 15 to 18 is driven, based on the synthesized center of gravity position, a movement estimation portion 37 that estimates the actual movement from the actual movement obtained by the inertial sensor 26, an external disturbance quantity estimation portion 38 that estimates the external disturbance quantity based on the difference between the actual movement and the theoretical movement when there is a difference between the actual movement and the theoretical movement, and a correction drive quantity calculation portion 39 that calculates the correction drive quantity of each actuator 15 to 18 based on the estimated external disturbance quantity.

[0072] In this embodiment, the track of the mobile device is generated by the control portion 30. The track is information that is determined by a coordinate value and time, and the track is continuously generated with the current position as a reference during the movement of the mobile device. The mobile device moves in such a manner as to follow the generated track based on the instruction input from the instruction operation portion 22.

[0073] In the control portion 30 of this embodiment, control in a stationary state, control when advancing, control when retreating, control when turning, control of the posture in the front-rear direction when going up or down stairs, control of the posture in the left-right direction when going up or down stairs, control of the movement against external disturbance, posture control when entering an escalator, posture control when exiting from an escalator, posture control on an escalator, switching control from four wheels to two wheels, switching control from two wheels to four wheels, and the like are performed. Hereinafter, these controls are specifically described.

[0074] First, the control in the stationary state, the control at the time of forward movement, the control at the time of backward movement, and the control at the time of turning are described.

[0075] [Control in the stationary state]

[0076] In a case where the command operation is not performed by the operation of the command operation section 22, the left and right end wheels 14 are driven so that the position in the front-rear direction of the synthetic center of gravity position coincides with the position in the front-rear direction of the end wheel grounding positions of the left and right end wheels 14. The rotational angular velocity is controlled in such a manner that the rotational angular velocity of the left and right end wheels 14 converges to zero finally after the driving.

[0077] [Control at the time of forward movement]

[0078] In a case where the command operation of forward movement is performed by the operation of the command operation section 22, the end wheels 14 are driven so that the position in the front-rear direction of the synthetic center of gravity position is located at a position more forward than the positions in the front-rear direction of the end wheel grounding positions of the left and right end wheels 14, and a difference is generated between the synthetic center of gravity position and the end wheel grounding positions of the left and right end wheels 14. The magnitude of the difference is set to a value proportional to the magnitude of the command operation.

[0079] After the command operation of forward movement is performed by the operation of the command operation section 22, in a case where the command operation is discontinued, the moving device drives the end wheels 14 so that the position in the front-rear direction of the synthetic center of gravity position is located at a position more rearward than the positions in the front-rear direction of the end wheel grounding positions of the left and right end wheels 14, and a difference is generated between the synthetic center of gravity position and the end wheel grounding positions of the left and right end wheels 14. The rotational angular velocity is controlled in such a manner that the rotational angular velocity of the end wheels 14 converges to zero finally after the driving, and the control in the stationary state is performed after the rotational angular velocity of the end wheels 14 approaches the vicinity of zero.

[0080] [Control at the time of backward movement]

[0081] In a case where the command operation of backward movement is performed by the operation of the command operation section 22, the end wheels 14 are driven so that the position in the front-rear direction of the synthetic center of gravity position is located at a position more rearward than the positions in the front-rear direction of the end wheel grounding positions of the left and right end wheels 14, and a difference is generated between the synthetic center of gravity position and the end wheel grounding positions of the left and right end wheels 14. The magnitude of the difference is set to a value proportional to the magnitude of the command operation.

[0082] After the instruction operation of going backward by the operation of the instruction operation section 22, in the case where the instruction operation is suspended, the mobile device driving end portion wheels 14 are driven so that the position of the front-rear direction of the synthetic center of gravity position is located at a position more forward than the end portion wheel ground positions of the two end portion wheels 14, and a difference is generated between the synthetic center of gravity position and the end portion wheel ground positions of the two end portion wheels 14. The rotational angular velocity of the end portion wheels 14 is controlled in such a manner that the rotational angular velocity eventually converges to zero after driving, and after the rotational angular velocity of the end portion wheels 14 approaches the vicinity of zero, control in a stationary state is performed.

[0083] [Control at the time of turning]

[0084] In the case where the instruction operation of turning is performed by the operation of the instruction operation section 22, the two end portion wheels 14 are driven so that the rotational speeds of the left and right end portion wheels 14 are made to differ. The size of the difference is set to a value that is proportional to the size of the instruction operation of turning.

[0085] Specifically, in the case where the instruction operation of right turning is performed, the rotational speed of the left end portion wheel 14a is made to be greater than the rotational speed of the right end portion wheel 14b, and in the case where the instruction operation of left turning is performed, the rotational speed of the right end portion wheel 14b is made to be greater than the rotational speed of the left end portion wheel 14a.

[0086] The average of the rotational speeds of the left and right end portion wheels 14 is made to coincide with the rotational speed of the end portion wheels 14 at the time of the instruction operation of going forward or backward when a person performs the instruction operation of turning. Further, in the case where the instruction operation of turning is performed by the operation of the instruction operation section 22 without performing the instruction operation of going forward or backward, the average of the rotational speeds of the left and right end portion wheels 14 is set to zero.

[0087] Next, the control of the front-rear direction posture at the time of ascending or descending stairs, and the control of the left-right direction posture at the time of ascending or descending stairs will be described. In the present embodiment, before ascending or descending stairs, determination of whether or not to start ascending or descending stairs is performed. Specifically, when the stairs are recognized by the external recognition sensor 25 and a movement instruction to the stairs is input by the operation of the instruction operation section 22, determination of whether or not to start ascending or descending stairs (whether or not it is possible to ascend or descend stairs) is performed. The determination is performed, for example, in the steps shown in FIG. 8. Figure 3

[0088] [Determination of whether or not it is possible to pass through stairs]

[0089] (1) The external shape is acquired by the external recognition sensor 25 (S001). The acquisition of the external shape by the external recognition sensor 25 is continuously performed, and the acquired external shape is transmitted to the control section 30.

[0090] (2) It is determined whether or not there are stairs based on the external shape acquired by the external recognition sensor 25 (S002).

[0091] ​(3) If the result of the determination in (2) is that there is no staircase, the moving device continues to move in the plane (S003).

[0092] (4) If the result of the determination in (2) is that there is a staircase, the shape of the staircase (hereinafter referred to as "staircase shape") is obtained by using the external identification sensor 25 (S004).

[0093] (5) Based on the shape of the stairs obtained by the external identification sensor 25, the path generation unit 35 generates a path for going up and down the stairs (e.g., the shortest path or the best path) (S005).

[0094] (6) After the path generation unit 35 generates the path, it is determined whether the path is passable (S006).

[0095] (7) If the result of the determination in (6) is that passage is not possible, the mobile device stops in front of the stairs (S007). In this case, the person riding the stairs can also be informed that passage is not possible through an information display unit, notification unit, etc. (not shown).

[0096] (8) If the result of the determination in (6) is that it is passable, the mobile device begins to move (up and down) on the stairs (S008).

[0097] (9) After that, repeat (2) to (8) and go up and down the stairs in turn.

[0098] [Steps for path generation]

[0099] The path generation in (5) is, for example, using Figure 4 Perform the steps shown.

[0100] (1) Set the width W of the moving device b The width margin on one side of the space above the stairs (hereinafter referred to as "width margin on one side") W m ( Figure 5 (a) and the allowable deviation of the center position of each step relative to the center position of the next step in the width direction (hereinafter referred to as "allowable center deviation") d th (S101).

[0101] (2) Based on the shape of the staircase obtained by the external identification sensor 25, measure the width W of the space above each step. s ( Figure 5 (a))(S102).

[0102] (3) Based on whether W is satisfied s ≥W b +2W m(Form 1), and it is determined whether the mobile device can pass through the space of each step (S103).

[0103] (4) In a case where the Form 1 is not satisfied in the (3), it is determined that the passing is not possible, and the meaning of the impossibility of the passing is notified to the passenger by an information display unit or the like not shown (S104).

[0104] (5) In a case where the Form 1 is satisfied in the (3), the center positions C si , C si+1 … of each step are calculated on the basis of the stair shape obtained by the outside recognition sensor 25 (S105). Specifically, as shown in (b) of FIG. 10, the center positions C si , C si+1 … of each step are calculated from the distance between the reference line RL commonly used for each step and the center line L1, L2… that bisects each step in the width direction, which is set in advance. Figure 5

[0105] (6) After the center positions C si of each step are calculated in the (5), the center position deviation d si = |C si+1 - C si | (Form 2) is calculated for each group of adjacent steps (for example, the first step and the second step, the second step and the third step) (S106).

[0106] (7) It is determined whether the center deviation allowable value d th set in the (1) and the center position deviation d si calculated in the (6) satisfy the Form 3 d th ≥ d si (S107).

[0107] (8) In a case where the Form 3 is not satisfied in the (7) (in a case where the center position deviation d th is lower than the center deviation allowable value d si ), it is determined that the passing is not possible, and the meaning of the impossibility of the passing is notified to the passenger by an information display unit or the like not shown (S104).

[0108] (9) In a case where the Form 3 is satisfied in the (7) (in a case where the center position deviation d th exceeds the center deviation allowable value d si ), the grounding positions of each step are set to the center positions C si of each step (S108).

[0109] (10) In the (9), the grounding positions of each step are set to the center positions C si ​After that, the meaning of the passable is notified to the passenger by an information display unit or the like not shown (S109).

[0110] Further, the ground contact positions of the steps can be set to have the smallest width direction variation within a range in which a width direction allowance can be ensured. In this case, the ground contact positions of the steps are calculated in such a manner that the sum of the center position deviations of the steps is minimized.

[0111] In the case where the steps are started in the order shown in Figure 3 and Figure 4 The posture of the moving device is controlled in the following manner in the case where the steps are started in the order shown in

[0112] [Posture control in the front-rear direction when ascending / descending the steps]

[0113] The control section 30 determines which of the two leg sections 10 (a) is to be lifted up in accordance with the path generated by the path generation section 35. Here, the case where the right leg section 10b is to be lifted up after the left leg section 10a is lifted up is taken as an example. Figure 6

[0114] The left first joint actuator 15a and the left second joint actuator 16a are driven to move the left end portion wheel 14a of the lifted left leg section 10a to the next end portion wheel ground contact position (b) of Figure 6 The next end portion wheel ground contact position mentioned here refers to the ground contact position of the left end portion wheel 14a of the left leg section 10a in the tread surface of the next step of the step on which the device is currently standing.

[0115] At this time, the synthesized center of gravity position is moved forward by the movement of the lifted left leg section 10a in the forward direction, and therefore the right first joint actuator 15b and the right second joint actuator 16b of the unlifted right leg section 10b are driven to make the end portion wheel ground contact position of the unlifted right leg section 10b coincide with the position of the synthesized center of gravity position in the front-rear direction after the movement.

[0116] After confirming that the left end portion wheel 14a of the lifted left leg section 10a has contacted the next end portion wheel ground contact position, the two first joint actuators 15 and the two second joint actuators 16 of the two leg sections 10 are driven to make the end portion wheel ground contact position of the left leg section 10a coincide with the position of the synthesized center of gravity position in the front-rear direction (c) of Figure 6 and (a) of Figure 7

[0117] ​​Subsequently, based on the height difference between the ground contact positions of the front and rear end wheels (the ground contact position of the end wheel of the left end wheel 14a and the ground contact position of the end wheel of the right end wheel 14b), each actuator 15-18 is driven to simultaneously change the height of the chair portion 20 and the end wheels 14 (the ground contact positions of the end wheels) by the amount of that height. Figure 7 (b) and (c)). In addition, the heights of the two do not necessarily need to change simultaneously, and there can be some error.

[0118] During the stage when the end wheel 14 becomes a single wheel grounded when going up or down stairs, the end wheel 14 is driven so that the grounded end wheel 14 and the combined center of gravity are aligned in the front-back direction, thereby performing attitude control.

[0119] In addition to using the reaction force when moving heavy objects such as batteries in the forward and backward directions, the attitude control of the mobile device in the forward and backward directions can also be achieved by using gyroscopic torque through a flywheel installed in the chair part 20.

[0120] This example illustrates the action of lifting the left leg 10a and then the right leg 10b to climb the stairs, but the same action applies to the case where the right leg 10b is lifted and then the left leg 10a is lifted to climb the stairs.

[0121] [Left and right posture control when going up and down stairs]

[0122] The control unit 30 determines which of the two legs 10 to lift based on the path generated by the path generation unit 35. Figure 8 (a)). Here, we will take the case of raising the right leg 10b and then raising the left leg 10a as an example.

[0123] The left third joint actuator 17a of the unraised left leg 10a is driven so that the ground position of the unraised left leg 10a is aligned with the left-right position of the combined center of gravity. Figure 8 (b)

[0124] Drive the right first joint actuator 15b and the right second joint actuator 16b to move the right end wheel 14b of the raised right leg 10b to the next end wheel contact position (the contact position of the right end wheel 14b of the right leg 10b in the tread surface of the next step of the currently standing step). Figure 8 (c) and Figure 9 (a) At this time, in order to prevent the position of the composite center of gravity from shifting to the left and right due to the lifting of the right leg 10b, the right third joint actuator 17b of the right leg 10b on the lifted side is driven to compensate for the change in the position of the composite center of gravity.

[0125] Based on the height difference between the front and rear end wheel ground contact positions (the end wheel ground contact position of the right end wheel 14b and the end wheel ground contact position of the left end wheel 14a), each actuator 15-18 is driven to simultaneously change the height of the chair part 20 and the end wheel 14 (end wheel ground contact position) by that amount. Figure 9 (b)). Furthermore, the heights of both do not necessarily need to change simultaneously, and some error is possible. Drive the two third joint actuators 17 so that the combined center of gravity is located at the center of the two legs 10 at the end of the stair climb ( Figure 9 (b) and (c)).

[0126] Similar to the forward and backward attitude control of the mobile device, the left and right attitude control of the mobile device can be achieved by using the reaction force when a heavy object such as a battery moves in the left and right directions, or by using gyroscopic torque through a flywheel installed in the chair part 20.

[0127] Here, we will take the case of lifting the right leg 10b and then lifting the left leg 10a to climb the stairs as an example, but the action is the same in the case of lifting the left leg 10a and then lifting the right leg 10b to climb the stairs.

[0128] In the posture control in the forward and backward directions when going up and down stairs, and the posture control in the left and right directions when going up and down stairs, the posture control in the case of going up stairs is taken as an example. In the case of going down stairs, except that the legs 10 are reversed up and down, the posture control is performed in the same way as in the case of going up stairs.

[0129] [Motion control in response to external interference]

[0130] Next, an example of motion control in response to external disturbances will be described. In the mobile device of this embodiment, in response to external disturbances, the motion control is... Figure 10 The steps shown are controlled.

[0131] (1) Based on the detection signal obtained by the seat sensor 24, the position of the center of gravity of the moving object (person) X is estimated (S201).

[0132] (2) Based on the calculation unit 33 of the composite centroid ( Figure 2 The calculated center of gravity position drives each actuator 15-18 (S202).

[0133] (3) Based on the composite center of gravity position, the theoretical motion calculation unit 36 ​​( Figure 2 )Calculate the theoretical motion caused by driving each actuator for 15-18 (S203).

[0134] (4) Based on the information obtained from the inertial sensor 26, the motion estimation unit 37 ( Figure 2) the actual movement is estimated (S204).

[0135] (5) the estimated actual movement in (4) and the theoretical movement calculated in (3) are compared, and it is determined whether there is a difference between them (S205).

[0136] (6) in the case where it is determined in (5) that there is no difference between the actual movement and the theoretical movement, it is determined that there is no external disturbance, and the movement control against the external disturbance is not performed.

[0137] (7) in the case where it is determined in (5) that there is a difference between the actual movement and the theoretical movement, it is determined that there is an external disturbance of the amount of the difference, and based on the amount of the difference, the external disturbance amount is estimated by the external disturbance amount estimation section 38 (S206).

[0138] (8) after the external disturbance amount is estimated in (7), based on the estimated external disturbance amount, the correction drive amount of each actuator 15 to 18 is calculated by the correction drive amount calculation section 39 (S207).

[0139] (9) based on the correction drive amount calculated in (8), each actuator 15 to 18 is driven by the movement control section 31, and the movement against the external disturbance is controlled (S208).

[0140] Further, the estimation of the actual movement by the movement estimation section 37 in (4) can also use the change in the estimated value of the center of gravity position of the person by the seat surface sensor 24 and the drive torque of each actuator 15 to 18.

[0141] Next, the control of the posture at the time of entering the escalator E, the control of the posture at the time of exiting the escalator E, and the control of the posture on the escalator E will be described. The escalator E has various structures of escalators, and here, the case where the escalator E is an escalator E having a gradient region E3 in which the steps Q on the front and the back have a difference in height between the step regions (for the sake of convenience of explanation, the step region on the entrance side will be referred to as "entrance side step region El", and the step region on the exit side will be referred to as "exit side step region E2") provided on the front and the back of the entrance side and the exit side as shown in FIG. 1 will be described as an example. First, the processing at the time of entering the escalator E will be described with reference to FIG. 2. Figure 14 The processing at the time of entering the escalator E will be described. Figure 15

[0142] [Processing at the time of entering the escalator]

[0143] (1) the outside situation is recognized by the outside recognition sensor 25 (S301). The recognition of the outside situation by the outside recognition sensor 25 is an action that is performed all the time during the movement by the moving device.

[0144] ​(2) Based on information acquired by the outside recognition sensor 25, it is determined whether or not the escalator E is present (S302).

[0145] (3) In a case where the determination result of the determination of (2) is that the escalator E is not present, the moving device continues the planar movement (S311).

[0146] (4) In a case where the determination result of the determination of (2) is that the escalator E is present, the shape of the escalator E (hereinafter referred to as "escalator shape") is acquired by the outside recognition sensor 25 (S303). The escalator shape includes, for example, the height and width of the steps Q, the width between the left and right handrail portions of the escalator E, the distance in the front-back direction of the stepless movement region, and the like.

[0147] (5) If the escalator shape is acquired in (4), it is determined whether or not it is possible to enter the escalator E (S304). In this embodiment, it is determined to be "possible to enter" in a case where the escalator shape is successfully recognized by the outside recognition sensor 25, and it is determined to be "not possible to enter" in a case where the escalator shape is not recognized.

[0148] (6) In a case where it is determined to be not possible to enter the escalator E in (5), the planar movement is continued (S311).

[0149] (7) In a case where it is determined to be possible to enter the escalator E in (5), the escalator shape is transmitted to the motion control section 31, and the meaning that it is possible to enter the escalator E is displayed in the display screen of the instruction operation section 22. As one example of the display, a button such as "ride escalator" or the like can be cited.

[0150] (8) After the display in (7), it is determined whether or not there is an instruction from the instruction operation section 22 to enter the escalator E (S306).

[0151] (9) In (8), in a case where there is no instruction from the instruction operation section 22 to enter the escalator E for a certain period of time, the moving device continues the planar movement (S311).

[0152] (10) In (8), in a case where there is an instruction from the instruction operation section 22 to enter the escalator E for a certain period of time, a movement path for entering the escalator E (hereinafter referred to as "entry path") is generated by the route generation section 35 (S307). Specifically, a track from the boarding place Fl in front of the escalator E to the first step Q is generated as the entry path. The entry path can be generated in only one pattern, but in this embodiment, two or more patterns are generated.

[0153] (11) After the entry path in (10) is generated, the left and right positions that can be entered into the escalator E are displayed on the display screen of the instruction operation unit 22 (S308). The display screen displays selection buttons such as "left", "center" and "right".

[0154] (12) After displaying the left and right positions of the entry path in (11), it is determined whether there is an instruction from the instruction operation unit 22 to enter the left or right position of the escalator E (S309). For example, if the display screen shows selection buttons for "left", "center", and "right", if any selection button is pressed within a certain period of time, it can be determined that there is an instruction; if no selection button is pressed within a certain period of time, it can be determined that there is no instruction.

[0155] (13) In (12), if there is no instruction from the command operation unit 22 to enter the left or right position of the escalator E within a certain period of time, the moving device continues to move in a plane (S311).

[0156] (14) In (12), when there is an instruction from the instruction operation unit 22 to enter the left or right position of the escalator E within a certain period of time, the entry path closest to the instruction is selected from the multiple entry paths generated in (10), and the moving device enters the escalator E according to the entry path (S310).

[0157] Furthermore, in this embodiment, the range (hereinafter referred to as the "accessible left and right range") of the moving device in the left and right directions to enter the escalator E is determined. a It can fall from the center of the moving device in the width direction and enter the left and right range W. a Enter escalator E from the inner position.

[0158] For example, Figure 16 As shown in (a) to (c), the range W that can be entered is left and right. a Able to adjust according to the lateral width W of the mobile device i The width W of the escalator tread Q of escalator E s and left and right margins W m Confirmed. Specifically, taking the left end of the tread Q of the escalator E as a reference, the escalator can enter the left and right range W. a It can be set to pass through (left margin W) m )+(Horizontal width W of the mobile device i The distance from the location calculated to the width W of the escalator step Q is (E) / 2. s ) - (Right residual W) m )-((Horizontal width W of the mobile device i () / 2) The range of locations calculated.

[0159] The enterable left-right range W a The determination method shown here is an example, and the enterable left-right range W a It can also be determined by a method other than this.

[0160] [Control for absorbing the speed difference at the time of entering the escalator]

[0161] In this embodiment, in order to absorb the speed difference between the boarding place Fl and the step Q, the following control is performed at the time of entering the escalator E.

[0162] In the case of four-wheel grounding, the two intermediate wheels 13 first enter the escalator E, and then the two end wheels 14 enter the escalator E. In this embodiment, first, the shape of the escalator E and the moving speed of the step Q are acquired by the external recognition sensor 25, and the moving device is caused to move at a speed equal to the moving speed (forward translation speed) of the step Q.

[0163] The two intermediate wheels 13 of this embodiment are driven wheels (free rollers that rotate following the driving of the two end wheels 14), and therefore if the moving device that moves at a speed equal to the forward translation speed of the step Q moves (enters) from the boarding place Fl to the step Q of the escalator E, the wheel speed of the two intermediate wheels 13 becomes zero at the instant of boarding the step Q. At this time, the position and time at which the wheel speed of the two intermediate wheels 13 becomes zero are determined as the boundary of the boarding place Fl and the step Q, and the coordinate value thereof (hereinafter referred to as the "boarding place side boundary coordinate value") and the time of arrival at the boarding place side boundary coordinate value are acquired.

[0164] After the two intermediate wheels 13 enter, the two end wheels 14, which are drive wheels, enter the escalator E. At this time, when the two end wheels 14 reach the boundary of the boarding place Fl and the step Q (the position determined by the boarding place side boundary coordinate value), the two end wheel actuators 18 are controlled so that the driving torque of the two end wheels 14 becomes zero. Furthermore, the arrival here is a concept that allows a certain degree of time width, such as just before arrival, the instant of arrival, immediately after arrival, and the like (the same applies hereinafter).

[0165] In this way, the two end wheels 14 maintain a wheel speed that is approximately equal to the forward translation speed of the step Q in a state of contact with the boarding place Fl, and after coming into contact with the step Q, the wheel speed becomes zero, and it is possible to absorb the speed difference between the boarding place Fl and the step Q. After the two end wheels 14 come into contact with the step Q, by rapidly performing control so that the wheel speed of the two end wheels 14 remains zero, it is possible to cause the moving device to move at a speed equal to the forward translation speed of the step Q.

[0166] The contact between the two end wheels 14 and the pedal Q can be determined by reaching the coordinate value of the side boundary of the boarding point, or by detecting the change in the wheel speed of the two end wheels 14, and can be performed by other appropriate units. In addition, sometimes the boarding may enter the platform with the left and right legs 10, or more specifically the two end wheels 14, staggered in the front-rear direction, so the control can be performed on the left and right legs 10 (two end wheels 14) separately.

[0167] As mentioned earlier, in this embodiment, when entering the escalator E, the forward translational speed of the pedal Q is estimated using the external identification sensor 25, and the moving device enters the escalator E at this forward translational speed. However, the estimated value of the external identification sensor 25 may not be accurate, and there may be a situation where the wheel speed of the two intermediate wheels 13 entering the pedal Q remains unchanged at zero.

[0168] When the wheel speeds of the two intermediate wheels 13 entering pedal Q remain constant at zero, an error occurs between the estimated forward translational speed of pedal Q and the actual forward translational speed of pedal Q. In this case, by adjusting the translational speed of the moving device based on this error so that the wheel speeds of the two intermediate wheels 13 become zero, it is possible to make the forward translational speed of the moving device consistent with the translational speed of pedal Q.

[0169] Next, refer to Figure 17 An example of the process for exiting escalator E is illustrated.

[0170] [Handling when exiting an escalator]

[0171] (1) The external conditions are identified by the external identification sensor 25, and the shape of the escalator is obtained (S401). The identification of the external conditions by the external identification sensor 25 is an action that is always performed during the movement using the moving device.

[0172] (2) If the shape of the escalator is obtained by the external identification sensor 25, it is determined whether the exit of the escalator E is identified (S402).

[0173] (3) If the exit of the escalator E is not detected by the external identification sensor 25 in (2), the posture control when riding the escalator E as described later continues (S405).

[0174] (4) In the case where the exit of the escalator E is recognized by the outside recognition sensor 25 in the (2), a moving path at the time of exiting from the escalator E (hereinafter referred to as "exit path") is generated by the path generation section 35 (S403). Specifically, a track from the positions of the two intermediate wheels 13 and the two end wheels 14 of the moving device to the landing F2 is generated as the exit path. The exit path can be generated in only one pattern, but in this embodiment, two or more patterns are generated.

[0175] (5) If the exit path from the escalator E is generated in the (4), the moving device exits from the escalator E according to the exit path (S404).

[0176] [Control for absorbing a speed difference at the time of exiting from the escalator]

[0177] In this embodiment, in order to absorb the speed difference between the step Q and the landing F2, the following control is performed at the time of exiting from the escalator E.

[0178] The two intermediate wheels 13 of this embodiment are driven wheels, and therefore if the two intermediate wheels 13 move (exit) from the step Q to the landing F2, the wheel speed of the two intermediate wheels 13 accelerates at the instant of reaching the landing F2. At this time, the position and the time at which the wheel speed of the two intermediate wheels 13 accelerates are determined as the boundary between the step Q and the landing F2, and the coordinate value thereof (hereinafter referred to as "landing side boundary coordinate value") and the time at which the landing side boundary coordinate value is reached are acquired.

[0179] After the two intermediate wheels 13 exit from the escalator E, the two end wheels 14 as the driven wheels exit from the escalator E. At this time, when the two end wheels 14 reach the boundary between the step Q and the landing F2 (the position at which the landing side boundary coordinate value is determined), the driving torque is controlled by the two end wheel actuators 18 so that the wheel speed of the two end wheels 14 becomes equal to the wheel speed of the two intermediate wheels 13. In this way, the speed difference between the step Q and the landing F2 can be absorbed.

[0180] The control method at the time of absorbing the speed difference explained here is one example, and the speed difference between the landing F1 and the step Q or the speed difference between the step Q and the landing F2 can also be absorbed by a control method other than this.

[0181] Further, as in the case of entering the escalator E, at the time of exiting from the escalator E, the left and right leg portions 10, more specifically, the positions of the two end wheels 14 in the front-rear direction of each other, are sometimes misaligned, and therefore the control can be performed on the left and right leg portions 10 (the two end wheels 14) respectively.

[0182] [Posture control on the escalator]

[0183] Next, the posture control on the escalator E will be explained. Here, the posture control is taken as an example when the two middle wheels 13 and the two end wheels 14 of the left and right legs 10 are grounded, and the front-back positions of the two middle wheels 13 and the two end wheels 14 are the same.

[0184] First, refer to Figure 18 Sections (a) to (c) describe the attitude control of the moving device when it transitions from the stepless moving area E1 on the entrance side to the gradient area E3 on the upward escalator E.

[0185] Figure 18 (a) indicates that the moving device is located in the stepless moving area E1 on the entrance side of the upward escalator E. The moving device is in a state where the two intermediate wheels 13 and the two end wheels 14 span two steps Q, specifically, the two intermediate wheels 13 are in contact with the step Q (hereinafter referred to as "first step Q1") in the direction of travel and the two end wheels 14 are in contact with the step Q (hereinafter referred to as "second step Q2") behind the first step Q1.

[0186] In this state, there is no height difference between the two intermediate wheels 13 and the two end wheels 14 (hereinafter referred to as "height difference"). Thus, when there is no height difference between the two intermediate wheels 13 and the two end wheels 14, the actuators 18 of the two end wheels are driven to control the two end wheels 14 so that the ground contact positions of the two intermediate wheels 13 and the two end wheels 14 on each pedal Q do not move.

[0187] If the moving device moves from the stepless moving area E1 at the entrance to the gradient area E3 and the first pedal Q1 starts to rise, then as follows: Figure 18 (b) The two middle wheels 13 are higher than the two end wheels 14, creating a height difference between the two middle wheels 13 and the two end wheels 14.

[0188] In this embodiment, when a height difference is created between the two intermediate wheels 13 and the two end wheels 14 due to the rise of the first pedal Q1, the two first joint actuators 15 and the two second joint actuators 16 are driven in a manner that maintains the level of the mounting section 20 and places the position of the combined center of gravity in the longitudinal direction between the end wheel contact position and the intermediate wheel contact position. This driving action maintains the level of the mounting section 20. Furthermore, the term "level" in this application is not limited to a strict sense of level, but includes the concept of some degree of error.

[0189] Specifically, the angle θ formed by the upper link 11 and the lower link 12 increases as the first pedal Q1 rises, thereby driving the two first joint actuators 15 and the two second joint actuators 16 to maintain the horizontal position of the mounting section 20.

[0190] If the first pedal Q1 is from Figure 18 If state (b) rises further and reaches the highest position, then as Figure 18 (c) The height difference between the two middle wheels 13 and the two end wheels 14 becomes the greatest. In this embodiment, from Figure 18 The state of (b) to Figure 18 During the period of state (c), the level of the mounting part 20 is also maintained by the driving of the first joint actuator 15 and the second joint actuator 16.

[0191] Next, refer to Figure 19 Sections (a) to (c) describe the attitude control of the moving device during the transition from the stepless moving area E1 on the entrance side to the gradient area E3 on the descending escalator E.

[0192] Figure 19 (a) indicates that the moving device is in the stepless moving area E1 on the entrance side. Similar to the case of riding the upward escalator E, the moving device is in the state where the two intermediate wheels 13 and the two end wheels 14 span the two steps Q, specifically, the two intermediate wheels 13 are in contact with the first step Q1 and the two end wheels 14 are in contact with the second step Q2.

[0193] In this state, no height difference is generated between the two intermediate wheels 13 and the two end wheels 14. Thus, when no height difference is generated between the two intermediate wheels 13 and the two end wheels 14, the actuators 18 of the two end wheels are driven, and the two end wheels 14 are controlled by this drive so that the ground positions of the two intermediate wheels 13 and the two end wheels 14 on each pedal Q do not move.

[0194] If the moving device moves from the stepless moving area E1 at the entrance to the gradient area E3 and the first pedal Q begins to descend, then as follows: Figure 19 (b) The two middle wheels 13 are lower than the two end wheels 14, creating a height difference between the two middle wheels 13 and the two end wheels 14.

[0195] In this embodiment, when a height difference is generated between the two intermediate wheels 13 and the two end wheels 14 due to the descent of the first pedal Q1, the two first joint actuators 15 and the two second joint actuators 16 are driven in such a way that the position of the composite center of gravity in the front-rear direction is between the end wheel ground position and the intermediate wheel ground position, thereby maintaining the level of the mounting part 20.

[0196] Specifically, the angle Θ formed by the upper link 11 and the lower link 12 is made smaller as the first step plate Q1 is lowered, and the two first joint actuators 15 and the two second joint actuators 16 are driven in such a manner as to maintain the horizontality of the load placement portion 20.

[0197] If the first step plate Q1 is further lowered from the state of (b) to the lowermost position, as in (c) of FIG. 6, the difference in height between the two intermediate wheels 13 and the two end wheels 14 becomes the largest. In this embodiment, the attitude of the load placement portion 20 is controlled by the driving of the two first joint actuators 15 and the two second joint actuators 16 from the state of (b) to the state of (c). Figure 19 Figure 19 If the first step plate Q1 is further lowered from the state of (b) to the lowermost position, as in (c) of FIG. 6, the difference in height between the two intermediate wheels 13 and the two end wheels 14 becomes the largest. In this embodiment, the attitude of the load placement portion 20 is controlled by the driving of the two first joint actuators 15 and the two second joint actuators 16 from the state of (b) to the state of (c). Figure 19 Figure 19

[0198] Further, if the mobile device has reached the exit side stepless moving region E2, as in the case where the mobile device has reached the exit side stepless moving region E2, the state becomes a state in which planar movement is possible, or in other words, a state in which the difference in height (difference in relative position) between the two intermediate wheels 13 and the two end wheels 14 is infinitesimally small, it is determined that the mobile device can exit from the escalator E, and the mobile device exits from the escalator E.

[0199] For example, it is possible to determine whether the difference in height (difference in relative position) between the two intermediate wheels 13 and the two end wheels 14 has become infinitesimally small (whether the axis connecting the intermediate wheels 13 and the end wheels 14 has become horizontal) based on the current joint angle calculated based on the vertical direction detection signal acquired by the inertial sensor 26.

[0200] Finally, the attitude control of the mobile device common to the case of boarding the upward escalator E and the case of boarding the downward escalator E will be described.

[0201] In this embodiment, on the escalator E, the two end wheels 14 are controlled by the two end wheel actuators 18 in such a manner that the two intermediate wheels 13 and the two end wheels 14 are always fixed at the prescribed positions of the step plates Q.

[0202] The fixing referred to here means that the four wheels of the two intermediate wheels 13 and the two end wheels 14 are positioned within the prescribed range of each step plate Q, and the wheel speeds of the two intermediate wheels 13 and the two end wheels 14 fixed to the step plates Q are zero.

[0203] In addition, in this embodiment, on the escalator E, the two first joint actuators 15 and the two second joint actuators 16 are controlled in such a manner that the position in the front-rear direction of the center of gravity of the mobile device is always positioned at the middle of the end wheel ground contact position and the intermediate wheel ground contact position.

[0204] ​​​Specifically, the synthetic center of gravity position is calculated by the synthetic center of gravity calculation section 33 Figure 2 ) from the detection signal obtained by the seat surface sensor 24, and the two first joint actuators 15 and the two second joint actuators 16 are driven based on the calculated synthetic center of gravity position, whereby the position of the center of gravity of the mobile device in the front-rear direction is controlled to always be in the middle of the end wheel grounding position and the middle wheel grounding position.

[0205] The control method in the case where the synthetic center of gravity position changes can also be a method other than this, and for example, the position of the synthetic center of gravity position in the front-rear direction can be changed by moving a weight such as a battery in the front-rear direction to compensate for a change in the center of gravity position of a passenger.

[0206] [Switching from four-wheel grounding to two-wheel grounding]

[0207] Next, one example of control at the time of switching from the state of four-wheel grounding to the state of two-wheel grounding will be described. The mobile device of the present embodiment is capable of switching from the state of four-wheel grounding to the state of two-wheel grounding. Switching from four-wheel grounding to two-wheel grounding can be performed, for example, in the steps shown in (a) to (d) of FIG. 10. Figure 11

[0208] (1) Figure 11 (a) of FIG. 10 indicates a state in which the four wheels of the two end wheels 14 and the two middle wheels 13 are in contact with the ground surface.

[0209] (2) The two end wheels 14 are driven in the backward direction of retreat in the state of (a) of FIG. 10, and the mobile device is translated in the rear direction (arrow direction of (a) of FIG. 10). Figure 11 Figure 11 (3) After the mobile device is translated in the rear direction as in (2), a driving torque in the forward direction is applied to the two end wheels 14. At this time, the two first joint actuators 15 and the two second joint actuators 16 are driven in such a manner that the chair portion 20 moves in the rear direction by inertial force and in such a manner that the height and attitude angle of the chair portion 20 do not change, whereby the two middle wheels 13 are lifted from the ground surface (b) of FIG. 10).

[0210] (4) In the state of (3), the two end wheels 14, the two first joint actuators 15, and the two second joint actuators 16 are driven, and the two end wheels 14 are relatively moved in the forward direction with respect to the chair portion 20. Figure 11

[0211] (5) In the state of (4), the two end wheels 14 are driven in such a manner that the rearward speed of the chair portion 20 becomes zero while the end wheel grounding position of the two end wheels 14 coincides with the position of the synthetic center of gravity in the front-rear direction (a) of FIG. 11).

[0212] Figure 11 ​​​​(c) of FIG. 6.

[0213] (6) In the state of (5), after becoming a state in which only the end wheels 14 of the left and right two wheels are in contact with the ground, the height of the chair portion 20 is changed based on the operation of the instruction operation portion 22 by the person Figure 11 (d) of FIG. 6.

[0214] The switching of the mobile device of the present embodiment from four-wheel contact to two-wheel contact can also be performed in the steps shown in (a) to (e) of FIG. 6. Figure 12

[0215] (1) Figure 12 (a) of FIG. 6 indicates a state in which the four wheels of the two end wheels 14 and the two intermediate wheels 13 are in contact with the ground.

[0216] (2) In the state of (1), the two second joint actuators 16 are driven so that the position of the synthesized center of gravity in the front-rear direction moves forward within a range between the ground contact positions of the two intermediate wheels 13 (intermediate wheel ground contact positions) and the end wheel ground contact positions of the two end wheels 14 Figure 12 (a) of FIG. 6.

[0217] (3) In order to move the chair portion 20 rearward while maintaining the chair portion 20 horizontal, the two first joint actuators 15 and the two second joint actuators 16 are driven. By this, the synthesized center of gravity in the front-rear direction moves rearward Figure 12 (b) of FIG. 6.

[0218] (4) During the movement of the chair portion 20 rearward, the two end wheels 14 are driven in a manner to cancel the movement rearward, and the two first joint actuators 15 and the two second joint actuators 16 are driven, whereby the two intermediate wheels 13 are lifted from the ground Figure 12 (c) of FIG. 6.

[0219] (5) The two end wheels 14, the two first joint actuators 15, and the two second joint actuators 16 are driven in a manner that the rearward speed of the chair portion 20 becomes zero at the same time as the end wheel ground contact positions of the two end wheels 14 coincide with the front-rear direction of the synthesized center of gravity Figure 12 (d) of FIG. 6.

[0220] (6) After becoming a state in which only the two end wheels 14 are in contact with the ground, the height of the chair portion 20 is changed based on the operation of the instruction operation portion 22 by the person Figure 12 (e) of FIG. 6.

[0221] [Switching from two-wheel contact to four-wheel contact]

[0222] ​The mobile device of the present embodiment can switch from a two-wheel ground contact state to a four-wheel ground contact state. The switching from the two-wheel ground contact to the four-wheel ground contact can be performed, for example, in the steps shown in (a) to (e) of FIG. 10. Figure 13

[0223] (1) Figure 13 (a) of FIG. 10 indicates a state in which the mobile device stands (stands alone) in a state in which the both end wheels 14 are in contact with the ground surface.

[0224] (2) In the state of (1), the both first joint actuators 15 and the both second joint actuators 16 are driven to set the height of the chair portion 20 to a height close to that of the four-wheel ground contact state (a, b) of FIG. 10. Figure 13

[0225] (3) In the state of (2), the both end wheels 14 are driven to translate the mobile device rearward (arrow direction of (c) of FIG. 10) (c) of FIG. 10. Figure 13 Figure 13

[0226] (4) In the state of (3), the both end wheels 14 are driven in a manner to cancel the inertial force of the mobile device moving rearward, and the both first joint actuators 15 and the both second joint actuators 16 are driven to relatively move the both end wheels 14 rearward with respect to the chair portion 20 (d) of FIG. 10. Figure 13

[0227] (5) In the state of (4), the both first joint actuators 15 and the both second joint actuators 16 are driven to bring the both intermediate wheels 13 into contact with the ground while the translation speed of the mobile device becomes zero (e) of FIG. 10. Figure 13 Figure 13

[0228] The switching control is one example, and the switching from the four-wheel ground contact to the two-wheel ground contact and the switching from the two-wheel ground contact to the four-wheel ground contact can also be controlled by methods other than these.

[0229] The mobile device of the present embodiment can stand on a single tread surface by the control of the control portion 30 over the leg portions 10, and can stand in a state in which the end wheel 14 of one leg portion 10 is in contact with the first tread surface of the stairs and the end wheel 14 of the other leg portion 10 is in contact with the second tread surface behind the first tread surface, and thus can climb the stairs by walking on both feet with an occupation space equivalent to that in the case in which a person climbs the stairs.

[0230] <Other Embodiments>

[0231] ​​​​​​The moving device (chair-type moving device) on which a person is placed is taken as an example in the embodiment, but the moving device of the present application can also be used as a cargo moving device or the like that moves an object other than a person, such as a cargo. In the case of being used as a cargo moving device, a cargo-carrying portion that carries a cargo can be used instead of the chair portion 20 as the placing portion 20.

[0232] In the embodiment, the case where the two end portion wheels 14 are not staggered in the front-rear direction in the state of being stationary or advancing, retreating, turning, switching from four-wheel ground contact to two-wheel ground contact, or switching from two-wheel ground contact to four-wheel ground contact is taken as an example, but these actions can also be performed in the state where the two leg portions 10 (the two end portion wheels 14) are staggered in the front-rear direction.

[0233] In this case, by controlling the rotation of both or one of the two end portion wheels 14 so that the synthetic center of gravity position coincides with the end portion wheel ground contact position of one of the two end portion wheels 14, the posture of the moving device in the front-rear direction and the left-right direction at the time of being stationary or advancing, retreating, turning, switching from four-wheel ground contact to two-wheel ground contact, or switching from two-wheel ground contact to four-wheel ground contact can be controlled.

[0234] Further, in the state where the two end portion wheels 14 are standing, in the case where the end portion wheel ground contact positions of the two end portion wheels 14 are staggered in the front-rear direction, the posture of the moving device can be controlled by locating the synthetic center of gravity position on a straight line that links the two end portion wheel ground contact positions to each other.

[0235] In the embodiment, the case where the escalator E is ascended or descended in the four-wheel ground contact state is taken as an example, but the moving device of the present application can also ascend or descend the escalator E in the two-wheel ground contact state where the two end portion wheels 14a, 14b are in contact with the ground.

[0236] Hereinafter, control for absorbing a speed difference when the escalator E is ascended or descended in the two-wheel ground contact state will be described. Further, the processing flow when the escalator E is ascended or descended in the two-wheel ground contact state is the same as in the case where the escalator E is ascended or descended in the four-wheel ground contact state.

[0237] In the case where the escalator E is entered in the two-wheel ground contact state, if the two end portion wheels 14 are subjected to speed control so as to be at a speed that is substantially equal to the forward translation speed of the step Q, the drive torque of the two end portion wheels 14 decreases at the instant of boarding the step Q. At this time, it is determined that the two end portion wheels 14 have reached the step Q from the boarding place Fl by detecting the change in the drive torque of the two end portion wheels 14 with a torque sensor or the like not shown, and control is performed so that the translation speed of the moving device becomes a speed that is equal to the forward translation speed of the step Q at the time when the two end portion wheels 14 have reached the step Q.

[0238] In the case of two-wheel grounding, since the translation speed of the mobile device and the attitude are controlled at the same time, the translation speed and the wheel speed are not consistent. Therefore, if only the wheel speed is controlled, the speed difference cannot be absorbed, but as described above, by making the translation speed of the mobile device equal to the forward translation speed of the platform Q when the both end wheels 14 reach the platform Q, the mobile device can move in such a manner that the relative speed with respect to the platform Q becomes zero.

[0239] On the other hand, in the case of exiting from the escalator E in the state of two-wheel grounding, the control is performed in the following manner. In the case of exiting from the escalator E in the state of two-wheel grounding, in the state where the both end wheels 14 are on the platform Q, the control is performed in such a manner that the translation speed of the mobile device becomes zero with respect to the forward translation speed of the platform Q. Here, if the both end wheels 14 of the mobile device reach the step-off place F2 of the escalator E, since there is a relative speed difference corresponding to the forward translation speed of the platform Q between the step-off place F2 and the mobile device, the drive torque of the both end wheels 14 for speed control rises.

[0240] At this time, the change in the drive torque of the both end wheels 14 is detected by a torque sensor or the like not shown, and it is determined that the both end wheels 14 have reached the step-off place F2 from the platform Q, and the drive torque of the both end wheels 14 is controlled in such a manner that the translation speed of the mobile device is equal before and after exiting from the platform Q to the step-off place F2.

[0241] Thus, in the mobile device of the present application, whether in the state of four-wheel grounding or in the state of two-wheel grounding, the speed difference between the platform Q and the step-off place F of the escalator E can be absorbed, and the escalator E can be safely used.

[0242] Further, as an advantage of being able to use the escalator E in the state of four-wheel grounding, the following point can be cited: the attitude when using the escalator E is easily stabilized, and the safety is excellent compared to the case of using the escalator E in the state of two-wheel grounding.

[0243] On the other hand, as an advantage of being able to use the escalator E in the state of two-wheel grounding, the following point can be cited: on the escalator E, it does not become a problem to occupy a space beyond the necessary one. In other words, there is an advantage that it is possible to use in the same degree of space as when a person who does not use the mobile device uses the escalator E.

[0244] Further, in the case of two-wheel grounding as well, the escalator E is sometimes entered or exited in a state in which the left and right legs 10, more specifically, the positions of the two end portion wheels 14 in the front-rear direction of each other are misaligned, and thus the control can be performed separately for the left and right legs 10 (the two end portion wheels 14).

[0245] In the embodiment, the case in which the legs 10 are two is taken as an example, but the legs can be at least two, and the case in which the legs 10 are three or more is not excluded.

[0246] The structure of the mobile device of the embodiment is an example, and the structure of the mobile device of the present application can be appropriately omitted, replaced, converted, or the like within a range that does not change the gist thereof.

[0247] Industrial applicability

[0248] The mobile device of the present application can be used not only as a mobile device (chair-type mobile device) on which a person is placed and moved, but also as a mobile device (cargo mobile device) on which a cargo or the like other than a person is placed and moved.

[0249] Explanation of reference signs

[0250] 10 leg

[0251] 10a left leg

[0252] 10b right leg

[0253] 11 upper link

[0254] 11a left upper link

[0255] 11b right upper link

[0256] 12 lower link

[0257] 12a left lower link

[0258] 12b right lower link

[0259] 13 intermediate wheel

[0260] 13a left intermediate wheel

[0261] 13b right intermediate wheel

[0262] 14 end portion wheel

[0263] 14a left end portion wheel

[0264] 14b right end portion wheel

[0265] 15 first joint actuator

[0266] 15a left first joint actuator

[0267] 15b right first joint actuator

[0268] 16 second joint actuator

[0269] 16a left second joint actuator

[0270] 16b right second joint actuator

[0271] 17 third joint actuator

[0272] 17a left third joint actuator

[0273] 17b right third joint actuator

[0274] 18 end wheel actuator

[0275] 18a left end wheel actuator

[0276] 18b right end wheel actuator

[0277] 20 load part (chair part)

[0278] 21 seating part

[0279] 21a seat surface

[0280] 21b backrest

[0281] 22 command operation part

[0282] 23 connecting part

[0283] 23a left bracket

[0284] 23b right bracket

[0285] 24 seat surface sensor

[0286] 25 outside world recognition sensor

[0287] 26 inertial sensor

[0288] 30 control part

[0289] 31 motion control part

[0290] 32 center of gravity position estimation part

[0291] 33 synthetic center of gravity calculation part

[0292] 34 determination part

[0293] 35 path generation part

[0294] 36 theoretical motion calculation section

[0295] 37 motion estimation section

[0296] 38 external disturbance quantity estimation section

[0297] 39 corrected drive quantity calculation section

[0298] E escalator

[0299] E1 entrance-side stepless moving region

[0300] E2 exit-side stepless moving region

[0301] E3 gradient region

[0302] F1 boarding location

[0303] F2 alighting location

[0304] Q step plate

[0305] Q1 first step plate

[0306] Q2 second step plate

[0307] X moving object

Claims

1. A mobile device for carrying a mobile object and moving it, characterized in that, have: It has two legs, which have end wheels and middle wheels; The mounting portion, which is supported by the two legs; and A control unit that controls the two legs; In a four-wheel grounded state where the two end wheels are the rear wheels and the two middle wheels are the front wheels, the control unit controls the wheel speed of the two end wheels that are the rear wheels when the end wheels move from the escalator boarding position to the step and / or when the end wheels move from the escalator step to the descending position. The control unit acquires the coordinate values ​​of the intermediate wheel when it moves from the boarding point to the step or from the step to the descending point, and controls the wheel speed of the end wheel when the end wheel reaches the position determined by the coordinate values.

2. The mobile device according to claim 1, characterized in that, The mobile device includes an end wheel actuator for driving the end wheels. The control unit controls the end wheel actuator in such a way that the wheel speed of the end wheel becomes zero when the end wheel moves from the boarding position to the step.

3. The mobile device according to claim 1, characterized in that, The mobile device includes an end wheel actuator for driving the end wheels. The control unit controls the end wheel actuator in such a way that the wheel speed of the end wheel becomes equal to that of the middle wheel when the end wheel moves from the pedal to the bottom of the ladder.

4. The mobile device according to any one of claims 1 to 3, characterized in that, Each leg includes an upper link, a lower link connected to the upper link, an intermediate wheel, an end wheel located at the lower end of the lower link, a first joint actuator that drives the upper link in the front-rear direction, and a second joint actuator that drives the lower link in the front-rear direction. If a height difference is generated between the end wheel and the middle wheel when the four wheels are in contact with the escalator steps and the end wheel and the middle wheel are in the ground state, the first joint actuator and the second joint actuator will drive in a way that maintains the horizontal position of the mounting part.

5. The mobile device according to claim 4, characterized in that, When all four wheels are in contact with the ground (the middle wheel is in contact with the first pedal and the end wheel is in contact with the second pedal behind the first pedal), the first and second joint actuators are driven when a height difference is generated between the middle wheel and the end wheel.

6. The mobile device according to claim 4, characterized in that, If the rise of the first pedal creates a height difference between the middle wheel and the end wheel, the first and second joint actuators will drive the mechanism in a manner that increases the angle between the upper and lower links.

7. The mobile device according to claim 4, characterized in that, If the drop of the first pedal creates a height difference between the middle wheel and the end wheel, the first and second joint actuators will drive the wheels in a manner that reduces the angle between the upper and lower links.

8. The mobile device according to claim 4, characterized in that, If the position of the composite center of gravity on the escalator changes, the first joint actuator and the second joint actuator will be driven such that the position of the composite center of gravity in the front-rear direction is between the end wheel grounding position and the middle wheel grounding position.

9. The mobile device according to claim 8, characterized in that, When the position of the composite center of gravity changes due to the change in the center of gravity of the moving object and / or moving device on the escalator, the first joint actuator and the second joint actuator are driven.

10. The mobile device according to claim 8, characterized in that, When the position of the composite center of gravity changes due to the change in the height of the escalator steps, the first joint actuator and the second joint actuator are driven.

11. A moving device for carrying a moving object and moving it, characterized in that, have: It has two legs, which have end wheels and middle wheels; The mounting portion is supported by the two legs; Control unit, which controls the two legs; and An end wheel actuator that drives the end wheel; With both end wheels grounded, the translation speed of the moving device is controlled by the control unit when the end wheel moves from the boarding position of the escalator to the step and / or when the end wheel moves from the step of the escalator to the descending position. The control unit performs the following controls: When the end wheel moves from the escalator to the pedal, the end wheel actuator is controlled in such a way that the translational speed of the moving device becomes equal to the forward translational speed of the pedal. And / or, when the end wheels move from the pedal to the lower step, the drive torque of the two end wheels is controlled in such a way that the translational speed of the moving device is equal on the pedal and after exiting the lower step.

Images