Mobile device

Abstract

Provided is a moving device capable of going up and down on stairs in a limited place. This mobile device is provided with: two leg parts; and a placement part which is supported by the two leg parts and on which a moving object is placed. Each leg is provided with an upper link, a lower link connected to the upper link, an end wheel provided at the lower end of the lower link, a first joint actuator for driving the upper link in the front-rear direction, a second joint actuator for driving the lower link in the front-rear direction, and a third joint actuator for driving the upper link in the left-right direction. The first joint actuator, the second joint actuator, and the third joint actuator are driven to change the height of the mounting portion by the amount of the height difference between the ground contact positions of the end wheels of the two legs when there is a height difference between the ground contact positions of the end wheels of the two legs.

Description

[0001] This application is a divisional application of the original application filed on January 13, 2022, with application number 202280007587.1 and invention title "Mobile Device". Technical Field

[0002] This invention relates to a mobile device for moving a person or object, and more specifically, to a mobile device capable of moving up and down stairs (including steps, hereinafter the same) or escalators while carrying an object. Background Technology

[0003] Among the elderly and disabled, there are those who have difficulty moving around. In particular, going up and down stairs puts a great strain on the body. In the past, as a device for carrying people to move around, there are, for example, known stair-climbing mobile vehicles (Patent Document 1), which have a pair of wheel supports consisting of four connecting rods on one side and four wheels on the left and right; two-legged mobile devices (Patent Document 2), which have two legs and hip joints that can rotate freely to support the roots of the two legs; and two-footed mobile mechanisms (Patent Document 3), which have two legs with wheels at the ends.

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent No. 5555953 Patent Document 2: Japanese Patent Application Publication No. 2011-255426 Patent Document 3: Japanese Patent Application Publication No. 2007-290054 Summary of the Invention

[0005] The problem that the invention aims to solve Furthermore, there is a speed difference at the boundary between the steps and the exit of the escalator. Therefore, in order to use a moving device to go up and down the escalator, countermeasures need to be taken to prevent the moving object from falling or dropping due to vibration or impact caused by the speed difference.

[0006] However, existing mobile devices do not assume the use of escalators for going up and down, and neither disclose nor suggest the problems caused by the speed difference nor the means to solve them.

[0007] The present invention was made in view of this situation, and its solution is to provide a moving device capable of absorbing the speed difference and safely moving up and down an escalator while carrying a moving object.

[0008] Methods for solving problems The mobile device of the present invention is a device for moving a mobile object, comprising: two legs having end wheels and a middle wheel; a mounting part supported by the two legs; and a control part for controlling the two legs; wherein, in a four-wheel grounded state with the end wheels and the middle wheel grounded, the control part controls the wheel speed of the end wheels when the end wheels move from the boarding point of the escalator to the step and / or when the end wheels move from the step of the escalator to the descending point.

[0009] The moving device of the present invention may also be configured such that, when both wheels are grounded and the end wheels are in a grounded state, the translation speed of the moving device is controlled by the control unit when the end wheels move from the boarding position of the escalator to the step and / or when the end wheels move from the step of the escalator to the descending position.

[0010] Invention Effects The moving device of the present invention controls the wheel speed of the end wheel when the end wheel moves from the boarding point of the escalator to the step and / or when the end wheel moves from the step to the descending point, thereby absorbing the speed difference between the boarding point and the step or between the descending point and the step, and enabling safe ascent and descent of the escalator while carrying a moving object. Attached Figure Description

[0011] Figure 1 (a) is a front view showing an example of the mobile device of the present invention, and (b) is a side view of the state after ascending one step of stairs.

[0012] Figure 2 This is a functional block diagram illustrating an example of the mobile device of the present invention.

[0013] Figure 3 This is a flowchart illustrating an example of the steps involved in determining whether someone can go up or down a staircase.

[0014] Figure 4 This is a flowchart illustrating an example of the path generation steps in the path generation section.

[0015] Figure 5 (a) is an explanatory diagram of the width of the moving device, the one-sided margin in the width direction of the space above the stairs, and the width of the space above each step; (b) is an explanatory diagram of the center position and the deviation of the center position.

[0016] Figure 6 (a) to (c) are diagrams illustrating the control of posture in the forward and backward directions when going up stairs.

[0017] Figure 7 (a) to (c) are diagrams illustrating the control of posture in the forward and backward directions when going up stairs.

[0018] Figure 8(a) to (c) are diagrams illustrating the control of posture in the left and right directions when going up stairs.

[0019] Figure 9 (a) to (d) are diagrams illustrating the control of posture in the left and right directions when going up stairs.

[0020] Figure 10 This is a flowchart illustrating an example of motion control in response to external disturbances.

[0021] Figure 11 (a) to (d) are action illustration diagrams illustrating an example of the transition from four-wheel grounding to two-wheel grounding.

[0022] Figure 12 (a) to (e) are action illustration diagrams illustrating another example of the transition from four-wheel grounding to two-wheel grounding.

[0023] Figure 13 (a) to (e) are action illustration diagrams illustrating an example of the transition from two-wheel grounding to four-wheel grounding.

[0024] Figure 14 This is a side view showing an example of an escalator.

[0025] Figure 15 This is a flowchart illustrating an example of the procedures for entering an escalator.

[0026] Figure 16 (a) to (c) are explanatory diagrams of the accessible left and right ranges that can be entered into the escalator.

[0027] Figure 17 This is a flowchart illustrating an example of the processing steps when exiting an escalator.

[0028] Figure 18 (a) to (c) are diagrams illustrating the control of posture when entering an escalator.

[0029] Figure 19 (a) to (c) are diagrams illustrating the control of the posture when exiting the escalator.

[0030] Explanation of reference numerals in the attached figures 10. Legs 10a Left leg 10b Right leg 11 Upper Linkage 11a Upper left link 11b Upper right link 12 Lower Linkage 12a Lower left link 12b Lower right linkage 13. Intermediate wheel 13a Left middle wheel 13b Right middle wheel 14 End wheels 14a Left end wheel 14b Right end wheel 15 First joint actuator 15a Left first joint actuator 15b Right first joint actuator 16 Second joint actuator 16a Left second joint actuator 16b Right second joint actuator 17 Third joint actuator 17a Left third joint actuator 17b Right third joint actuator 18. End wheel actuator 18a Left end wheel actuator 18b Right end wheel actuator 20. Seating section (chair section) 21 Seating area 21a seat 21b Backrest 22. Instruction Operation Unit 23 Connecting parts 23a Left bracket 23b Right bracket 24 seat surface sensors 25 External Identification Sensors 26 Inertial Sensors 30 Control Department 31 Motion Control Department 32. Center of gravity position estimation section 33 Composite Center of Gravity Calculation Unit 34 Judgment Department 35 Path Generation Department 36 Theoretical Motion Calculation Department 37. Motion Prediction Section 38. Estimation of External Interference Quantity 39. Correction of driving quantity calculation unit E Escalator E1 Entrance Side Stepless Movement Area E2 Exit Side Stepless Movement Area E3 gradient region F1 Elevator Area F2 Descend the stairs Q pedal Q1 First pedal Q2 Second pedal X Move Object Detailed Implementation

[0031] <Implementation Method> An example of the moving device of the present invention will be described with reference to the accompanying drawings. The moving device of the present invention is a device for moving a person or object (hereinafter referred to as "moving object") X, etc. Here, a moving device for moving a person (chair-type moving device) will be used as an example. In addition, in this application, the forward side of the moving device is referred to as "front", the rear side as "rear", the left side as "left", the right side as "right", the upper side as "up", and the lower side as "down".

[0032] Furthermore, in this application, "composite center of gravity position" refers to the center of gravity position obtained by combining the center of gravity position of the moving device and the center of gravity position of the moving object X. The center of gravity position of the moving object X can, for example, be set by the center of gravity position estimation unit 32 ( Figure 2 The center of gravity position is estimated based on the load applied to the moving object X by the seat sensor 24 installed on the mounting part 20.

[0033] The center of gravity of the mobile device can be calculated based on the center of gravity of each component constituting the mobile device (by combining the center of gravity of each component). The components constituting the mobile device mentioned here include the upper link 11, lower link 12, intermediate wheel 13, end wheel 14, first joint actuator 15, second joint actuator 16, third joint actuator 17 and end wheel actuator 18 of the leg 10, which will be described later.

[0034] Specifically, the center of gravity of the moving device can be calculated in the following way. Since the weight, center of gravity, and moment of inertia of each component constituting the moving device are known, the relative positional relationship of each component can be determined based on the rotation angles of each actuator from 15 to 18. The center of gravity of each component can be calculated based on the determined positional relationship, and the center of gravity of each component can be combined to calculate the center of gravity of the moving device.

[0035] Furthermore, in this application, "end wheel ground contact position" refers to the contact position between the end wheel 14 and the ground or floor surface (hereinafter referred to as "ground contact surface"). The end wheel ground contact position is set separately for each end wheel 14 of each leg 10. When the end wheels 14 of the two legs 10 are not separated in the front-to-back direction, the end wheel ground contact positions of the two legs 10 are in a laterally side-by-side position; when the end wheels 14 of the two legs 10 are staggered in the front-to-back direction, the end wheel ground contact positions of the two legs 10 are in a staggered position in the front-to-back direction.

[0036] In the following explanation, boarding escalator E is referred to as "entering," and disembarking from escalator E is referred to as "exiting." Furthermore, the boarding / disembarking point F on the entrance side of escalator E is referred to as "boarding point F1," and the boarding / disembarking point F on the exit side is referred to as "disembarking point F2." In addition, "boarding point F1" and "disembarking point F2" are relative concepts. On an upward-moving escalator E, the lower boarding / disembarking point F is boarding point F1, and the upper boarding / disembarking point F is disembarking point F2. On a downward-moving escalator E, the upper boarding / disembarking point F is boarding point F1, and the lower boarding / disembarking point F is disembarking point F2.

[0037] The mobile device of this embodiment will now be described in detail. As an example, Figure 1 The mobile device shown in (a) and (b) includes a leg 10, a mounting portion (hereinafter referred to as "chair portion") 20 connected to the leg 10, and a control portion 30 for controlling the leg 10. Figure 2 ).

[0038] The legs 10 support the chair portion 20. For example... Figure 1 As shown in (a) and (b), the left leg (hereinafter referred to as "left leg") 10a in the forward direction has a left upper link 11a, a left lower link 12a, a left middle wheel 13a, a left end wheel 14a, a left first joint actuator 15a, a left second joint actuator 16a, a left third joint actuator 17a and a left end wheel actuator 18a.

[0039] The upper end of the upper left connecting rod 11a is rotatably connected to the left bracket 23a disposed on the bottom surface of the chair part 20, and the upper end of the lower left connecting rod 12a is rotatably connected to the upper left connecting rod 11a.

[0040] A left middle wheel 13a is disposed at the connection position between the upper left link 11a and the lower left link 12a, and is rotatably connected to the upper left link 11a and the lower left link 12a by a connecting member. In addition to being disposed at the connection position between the upper left link 11a and the lower left link 12a, the left middle wheel 13a can also be disposed at a position on the left side of the lower left link 12a, on the left side of the upper left link 11a, or at other positions.

[0041] A left end wheel 14a is rotatably connected to the lower end of the left lower link 12a. The left end wheel 14a is positioned so that its bottom surface protrudes further down than the lower end of the left lower link 12a, so as to contact the ground (floor surface).

[0042] The left first joint actuator 15a is a drive unit that drives the left upper link 11a in the front-back direction, and is located at the connection between the left upper link 11a and the left bracket 23a. The left upper link 11a rotates in the front-back direction due to the action of the left first joint actuator 15a.

[0043] The left second joint actuator 16a is a drive unit that drives the left lower link 12a in the front-back direction, and is located at the connection between the left upper link 11a and the left lower link 12a. The left lower link 12a rotates in the front-back direction due to the action of the left second joint actuator 16a.

[0044] The left third joint actuator 17a is a drive unit that drives the left upper link 11a in the left-right direction (inward-outward direction), and is located at the connection between the left upper link 11a and the left bracket 23a. The left upper link 11a rotates in the left-right direction through the action of the left third joint actuator 17a.

[0045] The left-end wheel actuator 18a is a drive unit that drives the left-end wheel 14a in both forward and reverse directions (front and rear directions), and is located at the connection between the lower left link 12a and the left-end wheel 14a. The left-end wheel 14a rotates in both forward and reverse directions due to the action of the left-end wheel actuator 18a. Furthermore, in this embodiment, the left middle wheel 13a is set to a free state so that it rotates freely in both forward and reverse directions without an actuator.

[0046] The right leg (hereinafter referred to as the "right leg") 10b in the direction of travel is equipped with an upper right link 11b, a lower right link 12b, a right middle wheel 13b, a right end wheel 14b, a right first joint actuator 15b, a right second joint actuator 16b, a right third joint actuator 17b, and a right end wheel actuator 18b.

[0047] The upper end of the upper right connecting rod 11b is rotatably connected to the right bracket 23b located on the bottom surface of the chair part 20, and the upper end of the lower right connecting rod 12b is rotatably connected to the upper right connecting rod 11b.

[0048] A right intermediate wheel 13b is disposed at the connection position between the upper right link 11b and the lower right link 12b, and is rotatably connected to the upper right link 11b and the lower right link 12b by a connecting member. In addition to being disposed at the connection position between the upper right link 11b and the lower right link 12b, the right intermediate wheel 13b can also be disposed at a position on the side of the lower right link 12b next to the upper right link 11b, a position on the side of the lower right link 12b next to the upper right link 11b, or other positions.

[0049] A right end wheel 14b is rotatably connected to the lower end of the lower right link 12b. The bottom surface of the right end wheel 14b is positioned so as to protrude further down than the lower end of the lower right link 12b, so as to contact the ground (floor).

[0050] The right first joint actuator 15b is a drive unit that drives the upper right link 11b in the front-back direction, and is located at the connection between the upper right link 11b and the right bracket 23b. The upper right link 11b rotates in the front-back direction due to the action of the right first joint actuator 15b.

[0051] The right second joint actuator 16b is a drive unit that drives the right lower link 12b in the front-back direction, and is located at the connection between the right upper link 11b and the right lower link 12b. The right lower link 12b rotates in the front-back direction due to the action of the right second joint actuator 16b.

[0052] The right third joint actuator 17b is a drive unit that drives the upper right link 11b in the left-right (inward-outward) direction, and is located at the connection between the upper right link 11b and the right bracket 23b. The upper right link 11b rotates in the left-right direction through the action of the right third joint actuator 17b.

[0053] The right-end wheel actuator 18b is a drive unit that drives the right-end wheel 14b in both forward and reverse directions (front and rear directions), and is located at the connection between the lower right link 12b and the right-end wheel 14b. The right-end wheel 14b rotates in both forward and reverse directions due to the action of the right-end wheel actuator 18b. Furthermore, in this embodiment, the right middle wheel 13b is set to a free state so that it rotates freely in both forward and reverse directions without an actuator.

[0054] The two first joint actuators 15, two second joint actuators 16, two third joint actuators 17, and two end wheel actuators 18 can use existing actuators equipped with motors, reducers, encoders, brakes, etc.

[0055] The chair part 20 is a part for people to sit on, and includes a seat part 21 for people to sit on, an instruction operation part 22 for people to input control signals, and a connecting part 23 connected to the leg part 10.

[0056] 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. For example, it can be a structure that includes a seat surface 21a, a backrest 21b and a footrest (not shown), or a structure that has only a seat surface 21a without a backrest 21b, or a structure consisting only of a seat surface 21a and a footrest, etc.

[0057] The seating section 21 is equipped with a seat sensor 24 for detecting the load of a person on the seat surface 21a, an external identification sensor 25 for identifying the external conditions around the moving device (e.g., the presence or absence of stairs, escalators, obstacles, etc.), and an inertial sensor 26 for detecting translational and rotational motion in the orthogonal three-axis directions.

[0058] The seat sensor 24 is disposed on the surface side of the seat surface 21a, while the external identification sensor 25 and the inertial sensor 26 are disposed on the front and side of the seat surface 21a. The placement of each sensor is an example, and they can also be placed in other locations.

[0059] Seat surface sensor 24 can be, for example, a pressure sensor. It is preferable that multiple seat surface sensors 24 are provided on the seat surface 21a. The detection signals from the seat surface sensors 24 are sent to the center of gravity position estimation unit 32 of the control unit 30, which will be described later. Figure 2 The center of gravity position estimation unit 32 estimates the person's center of gravity position based on the detection signal.

[0060] The external detection sensor 25 can be, for example, a laser rangefinder that illuminates a laser beam and measures the distance to an object based on its reflected light. Other devices besides laser rangefinders can also be used for the external detection sensor 25. The external detection sensor 25 can, for example, detect the presence or absence of stairs, escalators, obstacles (walls, pillars, doors, furniture, people, etc.). The detection signal from the external detection sensor 25 is sent to the determination unit 34 of the control unit 30 (described later). Figure 2 Based on the detection signal, it can determine whether the stairs are passable, whether the escalator is accessible, etc.

[0061] The inertial sensor 26 can be, for example, a gyroscope or an accelerometer. The inertial sensor 26 detects, for example, the actual motion (speed, tilt, etc.) of the moving device. The detection signal from the inertial sensor 26 is sent to the motion estimation unit 37 of the control unit 30, which will be described later. Figure 2 Based on the detected signal, the motion estimation unit 37 estimates the actual motion (hereinafter referred to as "actual motion"). For the inertial sensor 26, sensors other than gyroscope sensors and accelerometer sensors can also be used.

[0062] The command operation unit 22 is a unit for allowing a person to input control signals to the control unit 30. The command operation unit 22 can use existing input devices such as joysticks or touch panels. In this embodiment, the command operation unit 22 can be used to input control signals for actions such as forward, backward, turning, moving up stairs, entering an escalator, and exiting an escalator. The input control signals are sent to the control unit 30. Details regarding the actions when each control signal is sent will be described later.

[0063] The connecting portion 23 is the part that connects the two legs 10. As an example, Figure 1 The connecting part 23 shown in (a) and (b) includes a left bracket 23a and a right bracket 23b protruding from the rear side of the seat surface 21a. The left bracket 23a connects to the left leg 10a, and the right bracket 23b connects to the right leg 10b. This is just one example; the connecting part 23 is not particularly limited in structure as long as it can rotatably connect the two legs 10.

[0064] The control unit 30 is a unit used to control the actuators 15-18 constituting the leg 10, the two intermediate wheels 13, and the two end wheels 14. The control unit 30 can be constructed from a computer with a processor, memory, and other such components as its main structure.

[0065] The control unit 30 of this embodiment includes a motion control unit 31 for controlling the movement of the two legs 10, a center of gravity position estimation unit 32 for estimating the center of gravity position based on the load applied to the seat sensor 24, a composite center of gravity calculation unit 33 for calculating the composite center of gravity position, a determination unit 34 for determining whether it is permissible to go up or down stairs or enter an escalator based on the detection signal of the external identification sensor 25, a path generation unit 35 for generating a movement path (track) before going up or down stairs, before entering an escalator, or before exiting an escalator, a theoretical motion calculation unit 36 ​​for calculating the theoretical motion (hereinafter referred to as "theoretical motion") generated when driving each actuator 15-18 based on the composite center of gravity position, a motion estimation unit 37 for estimating the actual motion based on the actual motion obtained by the inertial sensor 26, an external interference estimation unit 38 for estimating the amount of external interference based on the difference between the actual motion and the theoretical motion, and a correction drive calculation unit 39 for calculating the correction drive amount of each actuator 15-18 based on the estimated external interference amount.

[0066] In this embodiment, the control unit 30 generates a track for the mobile device. The track is determined by coordinate values ​​and time, and is continuously generated based on the current position throughout the movement of the mobile device. The mobile device moves along the generated track according to instructions input from the command operation unit 22.

[0067] In the control unit 30 of this embodiment, control is performed for stationary states, forward movement, backward movement, rotation, forward and backward posture when going up and down stairs, left and right posture when going up and down stairs, movement in response to external disturbances, posture control when entering an escalator, posture control when exiting an escalator, posture control on the escalator, switching control from four wheels to two wheels, and switching control from two wheels to four wheels. These controls will be described in detail below.

[0068] First, the control methods for stationary states, forward movements, backward movements, and turning movements will be explained.

[0069] [Control of the static state] Without performing a command operation through the command operation unit 22, the left and right end wheels 14 are driven so that the position of the combined center of gravity in the front-back direction is aligned with the position of the end wheels 14 in the front-back direction when they touch the ground. The rotational angular velocity is controlled in such a way that the rotational angular velocity of the left and right end wheels 14 eventually converges to zero after driving.

[0070] [Control during forward movement] When a forward movement command is executed via the command operation unit 22, the end wheels 14 are driven so that the position of the combined center of gravity in the longitudinal direction is further forward than the position of the end wheel contact points of both end wheels 14 in the longitudinal direction, creating a difference between the combined center of gravity position and the end wheel contact points of both end wheels 14. The magnitude of this difference is set to a value proportional to the magnitude of the command operation.

[0071] After a forward command is given via the command operation unit 22, if the command operation is aborted, the moving device drives the end wheels 14 so that the position of the combined center of gravity in the longitudinal direction is located further back than the contact point of the end wheels 14, creating a difference between the combined center of gravity position and the contact point of the end wheels 14. The rotational angular velocity is controlled in such a way that the rotational angular velocity of the end wheels 14 eventually converges to zero after driving, and the device is controlled to remain stationary after the rotational angular velocity of the end wheels 14 approaches zero.

[0072] [Control when reversing] When a backward command is executed via the command operation unit 22, the end wheels 14 are driven so that the position of the combined center of gravity in the longitudinal direction is located further back than the position of the end wheel contact points of both end wheels 14 in the longitudinal direction, creating a difference between the combined center of gravity position and the end wheel contact points of both end wheels 14. The magnitude of this difference is set to a value proportional to the magnitude of the command operation.

[0073] After a backward command is executed via the command operation unit 22, if the command operation is aborted, the moving device drives the end wheels 14 to position the combined center of gravity further forward than the point where the end wheels of both end wheels 14 touch the ground, creating a difference between the combined center of gravity position and the point where the end wheels of both end wheels 14 touch the ground. The rotational angular velocity is controlled in such a way that the rotational angular velocity of the end wheels 14 eventually converges to zero after the drive, and the device maintains a stationary state after the rotational angular velocity of the end wheels 14 approaches zero.

[0074] [Control during rotation] When a rotation command is issued via the command operation unit 22, the two end wheels 14 are driven to create a difference in rotational speed between the left and right end wheels 14. The magnitude of this difference is set to a value proportional to the magnitude of the rotation command.

[0075] Specifically, when a right turn command is executed, the rotational speed of the left end wheel 14a is made greater than the rotational speed of the right end wheel 14b; when a left turn command is executed, the rotational speed of the right end wheel 14b is made greater than the rotational speed of the left end wheel 14a.

[0076] The average rotational speed of the left and right end wheels 14 is made consistent with the rotational speed of the end wheels 14 when a person performs a turn command operation, either forward or backward. Furthermore, when a turn command operation is performed via the command operation unit 22 without any forward or backward command operation, the average rotational speed of the left and right end wheels 14 is set to zero.

[0077] Next, the control of posture in the forward and backward directions and the control of posture in the left and right directions when going up and down stairs will be explained. In this embodiment, a determination is made before going up or down the stairs to decide whether to begin. Specifically, when the stairs are detected by the external recognition sensor 25 and a movement command to the stairs is input through the operation of the command operation unit 22, it is determined whether to begin going up or down the stairs (whether it is permissible to go up or down the stairs). This determination is, for example, based on... Figure 3 Perform the steps shown.

[0078] [Determination of whether the staircase is passable] (1) The external shape is acquired using the external identification sensor 25 (S001). The acquisition of the external shape by the external identification sensor 25 is continuous, and the acquired external shape is transmitted to the control unit 30.

[0079] (2) Determine whether there is a staircase based on the external shape obtained by the external identification sensor 25 (S002).

[0080] (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).

[0081] (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).

[0082] (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).

[0083] (6) After the path generation unit 35 generates the path, it determines whether the path is passable (S006).

[0084] (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).

[0085] (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).

[0086] (9) After that, repeat (2) to (8) and go up and down the stairs in turn.

[0087] [Steps for path generation] The path generation in (5) is, for example, using Figure 4 Perform the steps shown.

[0088] (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 in the width direction of the center position of each step relative to the center position of the next step (hereinafter referred to as "allowable center deviation") d th (S101).

[0089] (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).

[0090] (3) Based on whether W is satisfied s ≥W b +2W m(Equation 1) Determine whether the mobile device can pass through the space of each step (S103).

[0091] (4) If the conditions in (3) are not met, it is determined that passage is not allowed, and the passenger is notified of the inability to pass through an information display unit (not shown) (S104).

[0092] (5) If equation 1 is satisfied in (3), the center position C of each step is calculated based on the shape of the staircase obtained by the external identification sensor 25. si C si＋1 …(S105). Specifically, such as Figure 5 As shown in (b), the center position C of each step is calculated based on the distance between the pre-defined baseline RL used by all steps and the center lines L1, L2... that divide each step in the width direction. si C si＋1 …

[0093] (6) Calculate the center position C of each step in (5). si Then, calculate the center position deviation d for each pair of adjacent steps (e.g., the first step and the second step, the second step and the third step). si =|C si＋1 -C si | (Formula 2) (S106).

[0094] (7) Determine the allowable value d of the center deviation set in (1). th and the center position deviation d calculated in (6) si Does d satisfy? th ≥d si (Formula 3) (S107).

[0095] (8) In the case where equation 3 is not satisfied in (7) (within the allowable value of center deviation d) th Below the center position deviation d si In the case of a situation where passage is deemed impossible, the passenger is notified of the impassability via an information display unit (not shown) or similar means (S104).

[0096] (9) In the case that equation 3 is satisfied in (7) (within the allowable value of center deviation d) th Exceeding the center position deviation d si In the case of this, the grounding position of each step is set to the center position C of each step. si (S108).

[0097] (10) In (9), the grounding position of each step is set to the center position C of each step. siThen, the passengers are notified of the passage through an information display unit (not shown) (S109).

[0098] Furthermore, the variation in the width direction of the grounding position of each step can be minimized within a range that ensures a margin in the width direction. In this case, the grounding position of each step is calculated in a way that minimizes the sum of the center position deviations of each step.

[0099] After Figure 3 and Figure 4 When the steps shown begin and the movement of the device starts going up and down the stairs, the attitude of the moving device is controlled as follows. Here, the attitude control in the forward and backward directions and the attitude control in the left and right directions when going up and down the stairs will be explained separately.

[0100] [Posture control in the forward and backward directions when going up and down stairs] 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 6 (a)). Here, we will take the case of raising the left leg 10a and then raising the right leg 10b as an example.

[0101] Drive the left first joint actuator 15a and the left second joint actuator 16a to move the left end wheel 14a of the raised left leg 10a to the next end wheel contact position. Figure 6 (b)). The next end wheel ground position mentioned here refers to the ground position of the left end wheel 14a of the left leg 10a in the tread surface of the step below the currently standing step.

[0102] At this time, by moving the raised left leg 10a in the forward direction, the position of the composite center of gravity also moves forward. Therefore, the right first joint actuator 15b and the right second joint actuator 16b of the unraised right leg 10b are driven so that the position of the end wheel of the unraised right leg 10b in the ground and the position of the composite center of gravity after the movement are aligned in the front-back direction.

[0103] After confirming that the left end wheel 14a of the raised left leg 10a has contacted the next end wheel contact position, the two first joint actuators 15 and the two second joint actuators 16 of the two legs 10 are driven to make the end wheel contact position of the left leg 10a and the composite center of gravity position consistent in the front-rear direction. Figure 6 (c) and Figure 7 (a)).

[0104] 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 part 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] [Left and right posture control when going up and down stairs] 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.

[0109] 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)

[0110] 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 ground position (the ground 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.

[0111] Based on the height difference between the ground contact positions of the front and rear end wheels (the ground contact position of the right end wheel 14b and the 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 wheels 14 (the ground contact positions) 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)).

[0112] 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.

[0113] 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.

[0114] 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.

[0115] [Motion control in response to external disturbances] 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.

[0116] (1) Based on the detection signal obtained by the seat sensor 24, the center of gravity position of the moving object (person) X is estimated (S201).

[0117] (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).

[0118] (3) Based on the position of the composite center of gravity, the theoretical motion calculation unit 36 ​​( Figure 2 ) Calculate the theoretical motion caused by driving each actuator for 15-18 hours (S203).

[0119] (4) Based on the information obtained by the inertial sensor 26, the motion estimation unit 37 ( Figure 2 Predicting actual motion (S204).

[0120] (5) Compare the theoretical motion calculated in (3) and the actual motion estimated in (4) to determine whether there is a difference between the two (S205).

[0121] (6) If it is determined in (5) that there is no difference between the actual motion and the theoretical motion, it is determined that there is no external interference and no motion control is performed for external interference.

[0122] (7) If it is determined in (5) that there is a difference between the actual motion and the theoretical motion, it is determined that there is an external disturbance with such a difference. Based on the difference, the external disturbance amount estimation unit 38 estimates the external disturbance amount (S206).

[0123] (8) After estimating the external interference amount in (7), the correction drive amount calculation unit 39 calculates the correction drive amount of each actuator 15 to 18 based on the estimated external interference amount (S207).

[0124] (9) Based on the corrected drive amount calculated in (8), the motion control unit 31 drives each actuator 15 to 18 to control the motion against external disturbances (S208).

[0125] Furthermore, the estimation of the actual motion performed by the motion estimation unit 37 in (4) can also be achieved by using the driving torque of each actuator 15-18 and the change in the estimated value of the person's center of gravity position by the seat sensor 24.

[0126] Next, the control of posture when entering escalator E, the control of posture when exiting escalator E, and the control of posture on escalator E will be explained. Escalator E has various structures; here, escalator E will be referred to as... Figure 14 As shown, consider an escalator E where, for ease of explanation, the stepless movement areas (hereinafter referred to as "entry-side stepless movement area E1" and "exit-side stepless movement area E2") where the front and rear steps Q do not create a height difference between them, and a gradient area E3 where the front and rear steps Q create a height difference between them. First, refer to... Figure 15 The procedure for entering escalator E is explained.

[0127] [Handling when entering an escalator] (1) External conditions are identified using the external identification sensor 25 (S301). The identification of external conditions by the external identification sensor 25 is an action that is always performed during the movement using the mobile device.

[0128] (2) Based on the information obtained by the external identification sensor 25, determine whether the escalator E exists (S302).

[0129] (3) If the result of the determination in (2) is that there is no escalator E, the moving device continues to move in the plane (S311).

[0130] (4) If the result of the determination in (2) is that there is an escalator E, the shape of the escalator E (hereinafter referred to as "escalator shape") is obtained by using the external identification sensor 25 (S303). The escalator shape mentioned here includes, for example, the height and width of the step Q, the width between the left and right handrails of the escalator E, the front-back distance of the stepless movement area, etc.

[0131] (5) If the shape of the escalator is obtained in (4), it is determined whether it is possible to enter the escalator E (S304). In this embodiment, if the shape of the escalator is successfully identified by the external identification sensor 25, it is determined that "entry is possible", and if the shape of the escalator is not identified, it is determined that "entry is not possible".

[0132] (6) If it is determined in (5) that it is not possible to enter the escalator E, continue to move in a plane (S311).

[0133] (7) If it is determined in (5) that it is possible to enter the escalator E, the shape of the escalator is transmitted to the motion control unit 31, and the meaning that it is possible to enter the escalator E is displayed on the display screen of the instruction operation unit 22. As an example of the display, a button such as "Ride the escalator" can be given.

[0134] (8) After the display in (7), determine whether there is an indication from the instruction operation unit 22 that the intention to enter the escalator E is received (S306). (9) In (8), if there is no instruction to enter the escalator E from the instruction operation unit 22 within a certain period of time, the moving device continues to move in a plane (S311).

[0135] (10) In step (8), when an instruction to enter the escalator E is received from the instruction operation unit 22 within a certain time period, the path generation unit 35 generates a movement path (hereinafter referred to as the "entry path") for entering the escalator E (S307). Specifically, a track from the boarding point F1 in front of the escalator E to the first step Q is generated as the entry path. Although only one pattern of entry path may be generated, in this embodiment, two or more patterns are generated.

[0136] (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".

[0137] (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 for the left or right position of entering 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 time, it can be determined that there is an instruction; if no selection button is pressed within a certain time, it can be determined that there is no instruction.

[0138] (13) In (12), if there is no 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 moving device continues to move in a plane (S311).

[0139] (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).

[0140] 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 that it can 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 the escalator E from the inner position.

[0141] 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 balance W) m ) - ((The lateral width W of the mobile device) i ) / 2)The range of locations calculated.

[0142] The left and right ranges W shown here are accessible. a The method for determining this is illustrated by an example, which allows entry into the left and right ranges W. a It can also be determined by other methods.

[0143] [Control used to absorb speed differences when entering an escalator] In this embodiment, in order to absorb the speed difference between the boarding point F1 and the step Q, the following control is performed when entering the escalator E.

[0144] With all four wheels grounded, the two middle wheels 13 enter the escalator E first, followed by the two end wheels 14. In this embodiment, the shape of the escalator E and the moving speed of the pedal Q are first obtained using the external identification sensor 25, so that the moving device moves at a speed equal to the moving speed (forward translational speed) of the pedal Q.

[0145] In this embodiment, the two intermediate wheels 13 are driven wheels (free rollers that rotate with the drive of the two end wheels 14). Therefore, if a moving device that moves at a speed equal to the forward translational speed of the pedal Q moves (enters) from the boarding point F1 to the pedal Q of the escalator E, the wheel speed of the two intermediate wheels 13 becomes zero at the instant of stepping onto the pedal 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 between the boarding point F1 and the pedal Q, and their coordinate values ​​(hereinafter referred to as "boarding point side boundary coordinate values") and the arrival time towards the boarding point side boundary coordinate values ​​are obtained.

[0146] After the two intermediate wheels 13 enter, the two end wheels 14, which serve as drive wheels, enter the escalator E. At this time, when the two end wheels 14 reach the boundary between the boarding area F1 and the step Q (the position determined by the coordinate values ​​of the side boundary of the boarding area), the actuators 18 of the two end wheels are controlled to make the drive torque of the two end wheels 14 zero. Furthermore, the arrival time mentioned here is a concept that allows for a certain degree of time width, such as just before arrival, the instant of arrival, or immediately after arrival (the same applies below).

[0147] In this way, the wheels 14 at both ends maintain a speed approximately equal to the forward translational speed of the pedal Q while in contact with the boarding area F1. After contacting the pedal Q, the wheel speed becomes zero, thus absorbing the speed difference between the boarding area F1 and the pedal Q. After the wheels 14 at both ends contact the pedal Q, by quickly controlling the movement to keep the wheel speed of the wheels 14 at zero, the moving device can move at a speed equal to the forward translational speed of the pedal Q.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] Next, refer to Figure 17 An example of the process for exiting escalator E is illustrated.

[0152] [Handling when exiting an escalator] (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.

[0153] (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).

[0154] (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 (S405) described later continues.

[0155] (4) If the exit of the escalator E is detected by the external identification sensor 25 as described in (2), the path generation unit 35 generates a movement path (hereinafter referred to as the "exit path") for exiting the escalator E (S403). Specifically, the exit path is generated from the grounding positions of the two intermediate wheels 13 and the two end wheels 14 of the moving device to the lower step F2. Although only one pattern of exit path can be generated, in this embodiment, two or more patterns are generated.

[0156] (5) If an exit path from the escalator E is generated in (4), the moving device exits from the escalator E according to the exit path (S404).

[0157] [Control used to absorb speed differences when exiting an escalator] In this embodiment, in order to absorb the speed difference between the footplate Q and the descending point F2, the following control is performed when exiting the escalator E.

[0158] In this embodiment, the two intermediate wheels 13 are driven wheels. Therefore, if the two intermediate wheels 13 move (retract) from the pedal Q to the lower step F2, the wheel speed of the two intermediate wheels 13 accelerates at the instant they reach the lower step F2. At this time, the position and time of the wheel speed acceleration of the two intermediate wheels 13 are determined as the boundary between the pedal Q and the lower step F2, and their coordinate values ​​(hereinafter referred to as "lower step side boundary coordinate values") and the arrival time of the lower step side boundary coordinate values ​​are obtained.

[0159] After the two intermediate wheels 13 exit the escalator E, the two end wheels 14, which serve as drive wheels, also exit the escalator E. At this time, when the two end wheels 14 reach the boundary between the step Q and the lower step F2 (the position determined by the coordinate values ​​of the side boundary of the lower step), the drive torque is controlled by the actuators 18 of the two end wheels to make the wheel speed of the two end wheels 14 equal to the wheel speed of the two intermediate wheels 13. In this way, the speed difference between the step Q and the lower step F2 can be absorbed.

[0160] The control method described here for absorbing speed differences is an example. The speed difference between F1 at the boarding point and step Q, or the speed difference between step Q and F2 at the descending point, can also be absorbed by other control methods.

[0161] Furthermore, similar to the case of entering the escalator E, when exiting the escalator E, sometimes the left and right legs 10, or more specifically the two end wheels 14, are misaligned in the front-back direction. Therefore, the control can be applied to the left and right legs 10 (two end wheels 14) separately.

[0162] [Attitude control on escalators] 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.

[0163] First, refer to Figure 18Sections (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.

[0164] 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 riding the escalator E with the two intermediate wheels 13 and the two end wheels 14 spanning the 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.

[0165] In this state, there is no height difference (hereinafter referred to as "height difference") between the two intermediate wheels 13 and the two end wheels 14. 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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 18The 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.

[0170] 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.

[0171] 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 rides the escalator E with the two intermediate wheels 13 and the two end wheels 14 spanning the two steps Q, specifically with the two intermediate wheels 13 in contact with the first step Q1 and the two end wheels 14 in contact with the second step Q2.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] Specifically, the angle θ formed by the upper link 11 and the lower link 12 decreases as the first pedal Q1 descends, 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.

[0176] If the first pedal Q1 is from Figure 19 If state (b) further declines and reaches the lowest position, then as Figure 19(c) The height difference between the two middle wheels 13 and the two end wheels 14 becomes the greatest. In this embodiment, from Figure 19 The state of (b) to Figure 19 The posture of the mounting part 20 is also controlled by the driving of the two first joint actuators 15 and the two second joint actuators 16 during the state of (c).

[0177] Furthermore, if the mobile device reaches the stepless movement area E2 on the exit side and becomes capable of planar movement, in other words, the height difference (relative position difference) between the two middle wheels 13 and the two end wheels 14 becomes infinitesimally small, then it is determined that the mobile device can exit from the escalator E, and the mobile device exits from the escalator E.

[0178] For example, it is possible to determine whether the height difference (relative position difference) between the two middle wheels 13 and the two end wheels 14 has become infinitesimally small (whether the axis connecting the middle wheels 13 and the end wheels 14 has become horizontal) based on the current joint angle calculated from the vertical detection signal obtained by the inertial sensor 26.

[0179] Finally, the posture control of the common moving device in the cases of riding the upward escalator E and riding the downward escalator E will be explained.

[0180] In this embodiment, on the escalator E, the two end wheels 14 are controlled by the two end wheel actuators 18 in such a way that the two middle wheels 13 and the two end wheels 14 are always fixed at the predetermined positions of the step Q.

[0181] The term "fixed" here refers to the degree to which the four wheels, namely the two intermediate wheels 13 and the two end wheels 14, are located within the specified range of each pedal Q. The wheel speeds of the two intermediate wheels 13 and the two end wheels 14 fixed on the pedal Q are zero.

[0182] 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 way that the position of the center of gravity of the moving device in the front-back direction is always between the end wheel grounding position and the middle wheel grounding position.

[0183] Specifically, the composite centroid calculation unit 33 ( Figure 2 The composite center of gravity position is calculated based on the detection signal obtained by the seat sensor 24. The two first joint actuators 15 and the two second joint actuators 16 are driven based on the calculated composite center of gravity position. Thus, the position of the center of gravity of the moving device in the front-back direction is always between the end wheel ground position and the middle wheel ground position.

[0184] The control method when the composite center of gravity position changes can also be other methods. For example, the change in the center of gravity position of the passenger can be compensated by moving the battery or other heavy objects in the front-back direction, thereby changing the position of the composite center of gravity in the front-back direction.

[0185] [Switching from four-wheel grounding to two-wheel grounding] Next, an example of control during the switch from a four-wheel grounded state to a two-wheel grounded state will be described. The mobile device of this embodiment can switch from a four-wheel grounded state to a two-wheel grounded state. The switch from four-wheel grounded to two-wheel grounded state can, for example, be achieved by… Figure 11 Perform the steps shown in (a) to (d).

[0186] (1) Figure 11 (a) indicates the state in which the four wheels, namely the two end wheels 14 and the two middle wheels 13, are in contact with the ground.

[0187] (2) In Figure 11 In state (a), the two end wheels 14 are driven backward, causing the moving device to move backward. Figure 11 (a) is a translational motion in the direction of the arrow.

[0188] (3) After the moving device is moved backward as described 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 by the chair part 20 moving backward by inertia and by the chair part 20 without changing its height and attitude angle, thereby causing the two middle wheels 13 to leave the ground. Figure 11 (b)

[0189] (4) In the state described in (3), drive the two end wheels 14, the two first joint actuators 15 and the two second joint actuators 16 to move the two end wheels 14 forward relative to the chair part 20.

[0190] (5) In the state described in (4), the two end wheels 14 are driven in such a way that the rearward speed of the chair part 20 becomes zero and the front-rear direction of the end wheel contact position of the two end wheels 14 is consistent with the position of the combined center of gravity. Figure 11 (c)).

[0191] (6) In the state described in (5), after the end wheels 14 of only the left and right wheels are in contact with the ground, the height of the chair part 20 is changed based on the operation of the human on the command operation unit 22. Figure 11 (d)

[0192] In this embodiment, the switching of the mobile device from four-wheel grounding to two-wheel grounding can also be achieved... Figure 12Perform the steps shown in (a) to (e).

[0193] (1) Figure 12 (a) indicates the state in which the four wheels, namely the two end wheels 14 and the two middle wheels 13, are in contact with the ground.

[0194] (2) In the state described in (1), the two second joint actuators 16 are driven so that the position of the composite center of gravity in the front-rear direction moves forward within the range between the grounding position of the two intermediate wheels 13 (intermediate wheel grounding position) and the grounding position of the end wheels 14 of the two end wheels. Figure 12 (a)).

[0195] (3) In order to move the chair part 20 backward while keeping the chair part 20 horizontal, the two first joint actuators 15 and the two second joint actuators 16 are driven. As a result, the combined center of gravity in the front-rear direction moves backward. Figure 12 (b)

[0196] (4) During the rearward movement of the chair section 20, the two end wheels 14 are driven in a manner that counteracts the rearward movement, while simultaneously driving the two first joint actuators 15 and the two second joint actuators 16, thereby lifting the two middle wheels 13 from the ground contact surface. Figure 12 (c)).

[0197] (5) Drive the two end wheels 14, the two first joint actuators 15, and the two second joint actuators 16 in such a way that the rearward speed of the chair part 20 becomes zero and the front-rear direction of the end wheels of the two end wheels 14 are consistent with the position of the combined center of gravity. Figure 12 (d)

[0198] (6) After the state is changed so that only the two end wheels 14 are in contact with the ground, the height of the chair part 20 is changed based on the operation of the human on the command operation unit 22. Figure 12 (e)).

[0199] [Switching from two-wheel grounding to four-wheel grounding] The mobile device of this embodiment can switch from a two-wheel grounding state to a four-wheel grounding state. The switching from two-wheel grounding to four-wheel grounding can, for example, be achieved by... Figure 13 Perform the steps shown in (a) to (e).

[0200] (1) Figure 13 (a) indicates the state in which the mobile device stands (stands up alone) with the wheels 14 at both ends in contact with the ground.

[0201] (2) In the state described in (1), the two first joint actuators 15 and the two second joint actuators 16 are driven to set the height of the chair part 20 to a height close to the state where all four wheels are in contact with the ground. Figure 13 (a) and (b)).

[0202] (3) In the state described in (2), drive the wheels 14 at both ends to move the moving device backward. Figure 13 (c) arrow direction) translational motion ( Figure 13 (c)).

[0203] (4) In the state described in (3), the two end wheels 14 are driven in a manner that counteracts the backward inertial force of the moving device, and the two first joint actuators 15 and the two second joint actuators 16 are driven at the same time, so that the two end wheels 14 move backward relative to the chair part 20. Figure 13 (d)

[0204] (5) In the state described in (4), drive the two first joint actuators 15 and the two second joint actuators 16, and simultaneously ground the two intermediate wheels 13 as the translational speed of the moving device becomes zero. Figure 13 (e)).

[0205] The switching control mentioned above is just one example; switching from four-wheel grounding to two-wheel grounding and switching from two-wheel grounding to four-wheel grounding can also be controlled by methods other than these.

[0206] The mobile device of this embodiment can stand on a single (one step of a staircase) tread surface by controlling the legs 10 with the control unit 30. It can also stand with the end wheel 14 of one leg 10 in contact with the first tread surface of the staircase and the end wheel 14 of the other leg 10 in contact with the second tread surface behind the first tread surface. Therefore, as long as it occupies the same space as a person going up and down stairs, it can go up and down stairs by walking on both feet.

[0207] <Other Implementation Methods> In the described embodiment, a moving device for carrying a person (chair-type moving device) is used as an example, but the moving device of the present invention can also be used as a cargo moving device for carrying objects other than people, such as goods. When used as a cargo moving device, the cargo-carrying part can be used as the cargo-carrying part 20 instead of the chair part 20.

[0208] In the described embodiment, the case of stopping, moving forward, moving backward, turning, switching from four-wheel grounding to two-wheel grounding, and switching from two-wheel grounding to four-wheel grounding is taken as an example when the two end wheels 14 are not separated in the front-to-back direction (side by side). However, these actions can also be performed when the two legs 10 (two end wheels 14) are separated in the front-to-back direction.

[0209] In this case, by controlling the rotation of either or both of the two end wheels 14 so that the combined center of gravity position is consistent with the ground contact position of one of the end wheels 14, the forward and backward and left and right attitudes of the moving device can be controlled when stationary, moving forward, moving backward, turning, switching from four-wheel ground contact to two-wheel ground contact, or switching from two-wheel ground contact to four-wheel ground contact.

[0210] Furthermore, when the device is standing using the two end wheels 14, and the end wheel contact points of the two end wheels 14 are offset in the front-rear direction, the attitude of the moving device can be controlled by making the combined center of gravity position located on the straight line connecting the two end wheel contact points.

[0211] In the described embodiment, the case of going up and down the escalator E with all four wheels grounded is taken as an example, but the moving device of the present invention can also go up and down the escalator E with two wheels grounded, with the two end wheels 14a and 14b grounded.

[0212] The following describes the control used to absorb the speed difference when ascending or descending escalator E in a two-wheel grounding state. Furthermore, the processing procedure for ascending or descending escalator E in a two-wheel grounding state is the same as that for ascending or descending escalator E in a four-wheel grounding state.

[0213] When entering the escalator E with both wheels grounded, if the speed of the two end wheels 14 is controlled to be approximately equal to the forward translational speed of the pedal Q, then at the instant of stepping onto the pedal Q, the driving torque of the two end wheels 14 decreases. At this time, by detecting the change in the driving torque of the two end wheels 14 using a torque sensor (not shown), it is determined that the two end wheels 14 have reached the pedal Q from the boarding point F1. When the two end wheels 14 reach the pedal Q, control is applied to change the translational speed of the moving device to be equal to the forward translational speed of the pedal Q.

[0214] When both wheels are in contact with the ground, the translational speed and attitude control of the moving device are performed simultaneously, resulting in a discrepancy between the translational speed and the wheel speed. Therefore, controlling only the wheel speed cannot absorb the speed difference. However, as mentioned earlier, by making the translational speed of the moving device equal to the forward translational speed of the pedal Q when the wheels 14 at both ends reach the pedal Q, the moving device can move in a manner where its relative speed with respect to the pedal Q is zero.

[0215] On the other hand, when exiting the escalator E with both wheels grounded, control is performed as follows: When exiting the escalator E with both wheels grounded, and with both end wheels 14 on the pedals Q, control is performed to make the translational speed of the moving device relative to the forward translational speed of the pedals Q zero. Here, if the two end wheels 14 of the moving device reach the lower step F2 of the escalator E, since there is a relative speed difference between the lower step F2 and the moving device corresponding to the forward translational speed of the pedals Q, the drive torque of the two end wheels 14 used for speed control increases.

[0216] At this time, the change in the driving torque of the two end wheels 14 is detected by a torque sensor (not shown) and it is determined that the two end wheels 14 have moved from the pedal Q to the lower step F2. When the two end wheels 14 reach the lower step F2, the driving torque of the two end wheels 14 is controlled in such a way that the translation speed of the moving device is equal on the pedal Q and after exiting the lower step F.

[0217] Thus, in the mobile device of the present invention, whether it is in a four-wheel grounding state or a two-wheel grounding state, it can absorb the speed difference between the step Q of the escalator E and the boarding / descending point F, thereby safely going up and down the escalator E.

[0218] Furthermore, as an advantage of being able to ascend and descend the escalator E with all four wheels grounded, the following can be listed: the posture is easy to stabilize when ascending and descending the escalator E, and the safety is superior compared to ascending and descending the escalator E with only two wheels grounded.

[0219] On the other hand, one advantage of being able to ascend and descend the escalator E while both wheels are grounded is that it does not occupy excessive space on the escalator E. In other words, it is advantageous to be able to use the escalator E within the same amount of space as when using it without a mobility device.

[0220] In addition, similar to the case of four wheels grounding, in the case of two wheels grounding, sometimes the left and right legs 10, or more specifically the two end wheels 14, are staggered in the front-rear direction when entering or exiting the escalator E. Therefore, the control can be performed on the left and right legs 10 (two end wheels 14) separately.

[0221] In the described embodiment, the case of having two legs 10 is taken as an example, but it is acceptable to have at least two legs, and it is not excluded to have three or more legs 10.

[0222] The structure of the mobile device in this embodiment is an example. The structure of the mobile device of the present invention can be appropriately changed by omission, substitution, or conversion without altering its essence.

[0223] Industrial applicability In addition to being used as a mobile device for carrying people (chair-type mobile device), the mobile device of the present invention can also be used as a mobile device for carrying goods other than people (goods mobile device).

Claims

1. A moving device for carrying a moving object and moving it, characterized in that, have: Two legs; and The mounting section is supported by the two legs and carries the moving object; Each of the legs includes an upper link, a lower link connected to the upper link, an end wheel disposed at the lower end of the lower link, a first joint actuator that drives the upper link in the front-rear direction, a second joint actuator that drives the lower link in the front-rear direction, and a third joint actuator that drives the upper link in the left-right direction. When there is a height difference in the contact position of the end wheels of the two legs, the first joint actuator, the second joint actuator and / or the third joint actuator are driven to change the height of the mounting part by the amount of the height difference between the contact positions of the end wheels of the two legs.

2. The mobile device according to claim 1, characterized in that, The attitude of the moving device is controlled based on the position of the composite center of gravity and the ground contact position of either or both of the end wheels.

3. The mobile device according to claim 1, characterized in that, The left-right orientation of the moving device is controlled by driving the third joint actuator in such a way that the position of the combined center of gravity, which moves due to the movement of the leg of the lifted party, is aligned with the position of the wheel of the unlifted party in the left-right direction where the end wheel of the unlifted party touches the ground.

4. The mobile device according to claim 1, characterized in that, The forward and backward orientation of the moving device is controlled by driving the first and second joint actuators in such a way that the position of the combined center of gravity, which moves due to the movement of the leg of the lifted party, is aligned with the position of the wheel of the unlifted party in the forward and backward direction of the end of the leg of the unlifted party in the forward and backward direction.

5. The mobile device according to claim 1, characterized in that, have: External recognition sensors identify external conditions; and The path generation unit generates a movement path based on the external conditions identified by the external identification sensor.

6. The mobile device according to claim 1, characterized in that, The theoretical motion generated when driving each actuator is calculated based on the composite center of gravity position. The actual motion is inferred based on information obtained from inertial sensors. Determine the difference between the theoretical motion and the actual motion. When there is a difference between theoretical motion and actual motion, the amount of external disturbance can be estimated by measuring this difference. The corrected drive amount of each actuator is calculated based on the estimated amount of external disturbance. The actuators are controlled based on the calculated corrected drive amount.

7. The mobile device according to claim 1, characterized in that, The object being moved is a person. The mounting part for placing the moving object includes a chair part for the person to sit on.

8. The mobile device according to claim 1, characterized in that, An intermediate wheel is provided at the connection point between the upper and lower connecting rods. In a four-wheel grounded state where the middle and end wheels of both legs are grounded, the system switches to a two-wheel grounded state where the end wheels of both legs are grounded by driving one or more of the middle wheels, end wheels, first joint actuators, and second joint actuators of each leg.

9. The mobile device according to claim 1, characterized in that, An intermediate wheel is provided at the connection point between the upper and lower connecting rods. In the two-wheel grounding state where the end wheels of both legs are grounded, the system switches to a four-wheel grounding state where the middle wheels and end wheels of both legs are grounded by one or more of the middle wheels, end wheels, first joint actuators, and second joint actuators of each leg.

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