AUTONOMOUS DRIVING ROBOT, DISPLACEMENT STATE DETECTION PROGRAM, AND AUTONOMOUS DRIVING ROBOT POSITION ADJUSTMENT METHOD

Abstract

This automatic driving robot, which automatically drives a vehicle or a part thereof that is a specimen so that whether an arrangement state of a leg part of the automatic driving robot with respect to a pedal is appropriate can be automatically detected without depending on human hands, comprises: a leg part 20 that operates at least one pedal among an accelerator pedal, a brake pedal, or a clutch pedal P of the specimen; and an arrangement quality determination unit 11 that determines the quality of the arrangement state of the leg part with respect to the pedal.

Description

[Technical field]

[0001] The present invention relates to an autonomous driving robot that autonomously drives a test subject vehicle or part of a test subject vehicle, a placement state determination program that determines the placement state of this autonomous driving robot, and a position adjustment method for this autonomous driving robot. [Background technology]

[0002] When vehicle performance tests are conducted using a chassis dynamometer, an autonomous driving robot may be installed in the driver's seat to drive the vehicle.

[0003] Such an autonomous robot has legs that operate pedals such as an accelerator pedal, a brake pedal, and a clutch pedal, and these legs must be positioned correctly relative to the pedals. If the legs are not positioned correctly, for example in the case of a clamp type that fixes the legs to the pedals, there is a risk of pulling the pedals too far and damaging them, and regardless of whether the legs are clamp type or not, there is a risk of the robot becoming misaligned if the pedals are pressed further than when they are fully depressed.

[0004] However, conventionally, the above-mentioned positioning has been checked visually by an operator, and the checking work required human labor, for example by crawling under the driver's seat and adjusting the seat position while checking the relative positional relationship between the pedals and the driver's legs. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2003-98048 A Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, the main objective of the present invention is to make it possible to automatically detect whether the positioning of the legs of an autonomous driving robot relative to the pedals is appropriate, without relying on human intervention. [Means for solving the problem]

[0007] In other words, the autonomous driving robot of the present invention is an autonomous driving robot that autonomously drives a test subject vehicle or part of a vehicle, and is characterized in that it is equipped with a leg that operates at least one of the accelerator pedal, brake pedal, or clutch pedal of the test subject, and a positioning quality judgment unit that judges whether the positioning of the leg with respect to the pedal is good or bad.

[0008] According to the self-driving robot configured in this way, the arrangement judgment unit judges whether the arrangement of the legs with respect to the pedals is good or bad, so if the arrangement judgment unit judges that the arrangement is incorrect, the arrangement can be corrected. This makes it possible to prevent the pedals from being damaged by pulling them too far, or the pedals from being pushed too far, causing the robot to shift position.

[0009] An embodiment in which the effect of the present invention is more pronounced includes one in which the leg includes a pedal clamp fixed to the pedal, the pedal is pressed into through the pedal clamp, and the pedal is driven between the uppermost position and the lowermost position, the leg includes a drive unit configured to move away from the pedal clamp when the pedal is in the uppermost position, and a detection unit that detects the travel distance or travel time after the drive unit leaves the pedal clamp, and the installation quality determination unit determines the quality of the placement by comparing the detected travel distance or detected travel time detected by the detection unit with a predetermined threshold value. In such a clamp-type autonomous robot, if the leg is incorrectly positioned relative to the pedal, there is a possibility that the robot will try to pull the drive unit, which is a movable distance away from the pedal clamp, even further away, which could damage the pedal. However, by having the positioning judgment unit automatically judge whether the positioning is good or bad, such an incident can be prevented. Moreover, since the placement quality determining unit compares the detected movement distance or the detected movement time with the threshold value, it is possible to easily determine whether the placement state is good or bad.

[0010] A more specific embodiment is one in which the leg has a drive shaft that is connected to the drive unit and expands and contracts, and when the placement state is determined to be correct by the placement correctness determination unit, the drive shaft fully contracts before the detected travel distance or the detected travel time reaches the threshold value.

[0011] An example of an embodiment includes a torque sensor that detects the torque generated when the pedal is operated by the foot, and the quality determination unit determines whether the placement state is good or bad using the detected torque detected by the torque sensor. With this configuration, it is possible to detect if the position of the leg relative to the pedal is incorrect, for example, if the leg is pressed further down on the pedal than when it is fully pressed down, or conversely, if the leg is not reaching the pedal.

[0012] By the way, to start the engine of a manual transmission (MT) vehicle, you need to press the clutch pedal all the way down. For this reason, the clutch pedal has a longer stroke than the brake pedal or accelerator pedal. Therefore, there is a risk of slipping off the clutch pedal, especially if your foot is not secured to it. Therefore, in the case where the leg is a clutch leg that operates the clutch pedal of the test specimen, it becomes necessary to fix this clutch leg to the clutch pedal, and therefore the effect of the above-mentioned positioning state determination unit is more pronounced in order to prevent damage to the clutch pedal.

[0013] In addition, the placement state determination program of the present invention is used in an autonomous driving robot that automatically drives a test subject vehicle or part of a vehicle, and has a leg that operates at least one of an accelerator pedal, a brake pedal, or a clutch pedal, and is characterized in that it causes a computer to perform the function of a placement good / bad judgment unit that determines whether the placement state of the leg relative to the pedal is good or bad. According to such a placement state determination program, it is possible to achieve the same effects as the above-mentioned autonomous driving robot.

[0014] Furthermore, the position adjustment method for an autonomous driving robot of the present invention is a method for adjusting the position of an autonomous driving robot that has legs for operating at least one of the accelerator pedal, brake pedal, or clutch pedal of a test specimen vehicle or part thereof, and that automatically drives the test specimen, the method comprising the steps of: a computer determining whether the positioning of the legs relative to the pedals is good or bad; and, if the computer determines that the positioning of the legs relative to the pedals is incorrect, readjusting the position of the legs relative to the pedals. According to this position adjustment method, it is possible to achieve the same effects as the above-mentioned autonomous driving robot. Effect of the Invention

[0015] According to the present invention configured in this manner, it is possible to automatically detect whether the positioning of the legs of an autonomous driving robot relative to the pedals is appropriate without relying on human intervention. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of an autonomous driving robot according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a schematic diagram showing the configuration of a leg portion of the embodiment. [Diagram 3] FIG. 4 is a schematic diagram showing the configuration of a leg portion of the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the configuration of a leg portion of the embodiment. [Diagram 5] FIG. 2 is a functional block diagram showing functions of the robot main body of the embodiment. [Figure 6] 4 is a flowchart showing a determination operation of the placement acceptability determination unit of the embodiment. [Figure 7] FIG. 11 is a functional block diagram showing functions of a robot main body according to another embodiment. [Figure 8] 10 is a flowchart showing the determination operation of the other arrangement acceptability determination unit. [Explanation of symbols]

[0017] 100...Autonomous Driving Robot 10 Robot body 11 Arrangement quality judgement section 12 Threshold storage section 13. Notification Department 20 Leg (clutch leg) 21 Pedal clamp 22 Drive section 23 Drive shaft X...Movable distance 24 Elastic member 25 Casing Y: Driving limit distance 30 Detection section 40 Position Sensor 50 Second position sensor 60 Torque Sensor P···Pedal T...Top position B...Lowest position O...Origin position A Pedal position DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an autonomous driving robot according to the present invention will be described below with reference to the drawings.

[0019] The autonomous driving robot 100 according to this embodiment is used, for example, in vehicle performance tests using a chassis dynamometer, and is installed in a vehicle to autonomously drive the vehicle. Specifically, as shown in Fig. 1, the autonomous driving robot 100 at least includes a robot main body 10 as a control device mounted on the driver's seat of the vehicle, and a leg 20 for operating pedals such as a clutch pedal P of the vehicle.

[0020] The robot main body 10 is electrically connected to the legs 20 via cables L, and issues control instructions to the legs 20 to cause them to operate.

[0021] The leg 20 is for depressing at least one of the clutch pedal P, accelerator pedal (not shown), and brake pedal (not shown) of the vehicle, and in this embodiment, it includes a clutch pedal leg 20 for operating the clutch pedal P, an accelerator leg (not shown) for operating the accelerator pedal, and a brake leg (not shown) for operating the brake pedal. This embodiment is characterized by the arrangement of the clutch leg 20 (hereinafter simply referred to as leg 20) relative to the clutch pedal P, which will be described in detail below.

[0022] 2, the leg 20 is of a so-called clamp type that is fixed to a pedal P (specifically, a clutch pedal P). Specifically, the leg 20 has a pedal clamp 21 that is fixed to the pedal P, a drive unit 22 that presses the pedal P via the pedal clamp 21, and a drive shaft 23 that has one end connected to the drive unit 22 and the other end connected to an actuator (not shown).

[0023] The pedal clamp 21 is fixed to the pedal P using, for example, a screw, and is detachable from the pedal P. However, when the pedal is operated, the pedal clamp 21 is fixed so as not to come off the pedal P, and moves integrally with the pedal P.

[0024] The drive unit 22 plays the role of the driver's foot, and drives the pedal P between an uppermost position T (see the upper part of FIG. 2) and a lowermost position B (see the lower part of FIG. 2) as shown in FIG. 2. The uppermost position T is the position of the pedal P when the pedal P is not being operated. The lowermost position B is the position of the pedal P when the pedal P is depressed, for example, when the pedal P is fully depressed.

[0025] As shown in FIG. 3, when the pedal P is in the uppermost position T, the drive unit 22 can move forward from the pedal clamp 21, and the limit of the distance that the drive unit 22 can move away from the pedal clamp 21 (hereinafter referred to as the movable distance X) is mechanically predetermined (by design).

[0026] In this embodiment, the drive unit 22 is biased toward the pedal clamp 21 by an elastic member 24 such as a spring. As a result, when the drive unit 22 moves away from the pedal clamp 21, it moves against the biasing force of the spring.

[0027] As shown in Fig. 3, the drive shaft 23 extends and retracts by a driving force from an actuator (not shown) such as a motor, thereby moving the above-mentioned drive unit 22. More specifically, the drive shaft 23 extends and retracts relative to a casing 25 that houses an actuator (not shown), and is configured such that when the drive shaft 23 retracts relative to the casing 25 and the drive unit 22 comes into contact with the casing 25 (at the limit of movement) as shown in the lower part of Fig. 3, it cannot retract any further.

[0028] In the leg 20 configured in this manner, when the drive shaft 23 is retracted and the drive unit 22 is moved away from the pedal clamp 21, the distance between the pedal clamp 21 and the drive unit 22 is reduced, and the drive unit 22 moves without applying a load to the pedal clamp 21 until the distance reaches the movable distance X described above.

[0029] However, if the drive shaft 23 is further contracted to move the drive unit 22 forward when the separation distance between the pedal clamp 21 and the drive unit 22 has reached the movable distance X, the drive force at that time will be transmitted to the pedal P via the pedal clamp 21. The reason why such a situation can occur will be described below.

[0030] Here, the distance from the position of the drive unit 22 where it starts to move away from the pedal clamp 21, as shown in the upper part of Figure 3, i.e., the position where the drive unit 22 is in contact with the pedal clamp 21 without pressing down on the pedal clamp 21 (hereinafter referred to as pedal position A), to the position of the drive unit 22 in the above-mentioned movable limit state, as shown in the lower part of Figure 3 (hereinafter referred to as origin position O), is referred to as the drive limit distance Y of the drive unit 22.

[0031] This drive limit distance Y is a distance that changes depending on the arrangement state of the leg 20 with respect to the pedal P. Then, as shown in Fig. 4, if this drive limit distance Y is longer than the above-mentioned movable distance X, a situation may arise in which the drive shaft 23 may further shrink from the state in which the separation distance between the pedal clamp 21 and the drive unit 22 reaches the movable distance X.

[0032] For this reason, when the driving limit distance Y is longer than the movable distance X (the state in FIG. 4), the leg 20 is not correctly positioned relative to the pedal P; in other words, when the driving limit distance Y is shorter than the movable distance X (the state in FIG. 3), the leg 20 is correctly positioned relative to the pedal P.

[0033] Thus, the autonomous driving robot 100 of this embodiment further includes an arrangement properness determining unit 11 that determines whether the arrangement of the leg 20 with respect to the pedal P is proper or not, as shown in FIG.

[0034] In this embodiment, the placement quality determination unit 11 is a function performed by the above-mentioned robot main body unit 10. That is, the robot main body unit 10 is provided with a memory for storing a placement state determination program, and performs the function of the placement quality determination unit 11 by causing the CPU and peripheral devices to cooperate in accordance with this program.

[0035] The arrangement acceptability determination unit 11 of this embodiment is configured to determine whether the arrangement is acceptable or not in the process of moving the drive unit 22 from the pedal position A to the origin position O. Specifically, as shown in Fig. 5, the autonomous driving robot 100 of this embodiment includes a detection unit 30 that detects the movement distance after the drive unit 22 is separated from the pedal clamp, in other words, the movement distance of the drive unit 22 when moving from the pedal position A to the origin position O, and the arrangement acceptability determination unit 11 determines whether the arrangement is acceptable or not based on the movement distance detected by the detection unit 30.

[0036] If the drive unit 22 does not reach the origin position O even when the detected movement distance reaches the movable distance X described above, the drive limit distance Y is longer than the movable distance X, and the position of the leg 20 relative to the pedal P is incorrect, as described above. Conversely, if the drive unit 22 reaches the origin position O before the detected movement distance reaches the movable distance X, the drive limit distance Y is shorter than the movable distance X, and the position of the leg 20 relative to the pedal P is correct, as described above.

[0037] Therefore, in this embodiment, a predetermined threshold value is set for the detected movement distance, and further, as shown in Figures 2 and 5, the autonomous driving robot 100 is equipped with a position sensor 40 that detects when the drive unit 22 reaches the origin position O.

[0038] The threshold value is set to be slightly shorter than the movable distance X with a margin of error, and the threshold value inputted via, for example, an input means is stored in a threshold value storage unit 12 set in a predetermined area of ​​the memory.

[0039] The position sensor 40 outputs an ON signal when the drive unit 22 reaches the origin position O, and outputs an OFF signal when the drive unit 22 has not reached the origin position O. In this embodiment, as shown in FIG. 2, the position sensor 40 is a proximity sensor provided on at least one of the opposing surfaces of the drive unit 22 and the casing 25 to detect whether these opposing surfaces are in contact or not.

[0040] The placement acceptability judgment unit 11 is configured to compare the detected movement distance with a threshold value and to receive an output signal from the position sensor 40 to judge whether the placement state is acceptable or not. Specifically, when the detected movement distance exceeds the threshold value and the position sensor 40 outputs an OFF signal, it judges that the placement state is incorrect.

[0041] On the other hand, when an ON signal is received from the position sensor 40 before the detected movement distance exceeds the threshold value, the placement acceptability determining unit 11 determines that the placement state is correct.

[0042] 5, the autonomous driving robot 100 here further includes a function as a notification unit 13 that notifies the result of the judgment by the placement correctness judgment unit 11. This notification unit 13 notifies at least when the placement correctness judgment unit 11 judges that the placement state is incorrect, but may also be configured to notify when the placement state is judged to be correct.

[0043] Specific examples of the notification unit 13 include displaying the judgment result by the placement correctness judgment unit 11 on a display inside or outside the vehicle, and emitting sound or light to notify that the placement state is incorrect.

[0044] Next, a method for determining the placement state by the autonomous driving robot 100 described above will be described with reference to the flowchart of FIG.

[0045] In this embodiment, first, it is determined whether the drive unit 22 and the pedal clamp 21 are in contact with each other (whether they are in a non-contact state) (S1). More specifically, the autonomous driving robot 100 of this embodiment is provided with a second position sensor 50 that detects whether the drive unit 22 is in contact with the pedal clamp 21. This second position sensor 50 outputs an ON signal when the drive unit 22 is in contact with the pedal clamp 21, and outputs an OFF signal when the drive unit 22 is not in contact with the pedal clamp 21. In this embodiment, the second position sensor 50 is a proximity sensor that is provided on at least one of the opposing surfaces of the drive unit 22 and the casing 25 that face each other and detects whether these opposing surfaces are in a contact state or a non-contact state.

[0046] In S1, when the second position sensor 50 outputs an OFF signal, i.e., when the drive unit 22 and the pedal clamp 21 are not in contact with each other, the robot main body unit 10 extends the drive shaft 23 to bring the drive unit 22 into contact with the pedal clamp 21, and learns (stores) the position of the drive unit 22 at the time of contact as the pedal position A (S2).

[0047] On the other hand, in S1, when the second position sensor 50 outputs an ON signal, i.e., when the drive unit 22 and the pedal clamp 21 are in contact with each other, the robot body unit 10 retracts the drive shaft 23 until the second position sensor 50 outputs an OFF signal, and moves the drive unit 22 away from the pedal clamp (S3). After that, the robot body unit 10 again extends the drive shaft 23 to bring the drive unit 22 into contact with the pedal clamp 21, and learns (stores) the position of the drive unit 22 at the time of contact as pedal position A (S4).

[0048] After learning the pedal position A in this manner, the robot body 10 retracts the drive shaft 23 to move the drive unit 22 at a low speed from the pedal position A to the origin position O where the position sensor 40 outputs an ON signal (S5).

[0049] During the movement of the drive unit 22 from the pedal position A to the origin position O, the arrangement appropriateness determining unit 11 determines whether the arrangement of the leg 20 with respect to the pedal P is appropriate (S6). Specifically, as described above, the placement correctness judgment unit 11 judges that the placement state is incorrect when the detected movement distance, which is the movement distance of the drive unit 22 detected by the detection unit 30, exceeds a predetermined threshold value and the position sensor 40 outputs an OFF signal. On the other hand, if an ON signal is received from the position sensor 40 before the detected movement distance exceeds the threshold value, the placement acceptability determining unit 11 determines that the placement state is correct.

[0050] In S6, when the placement correctness determining unit 11 determines that at least the placement state is incorrect, in this embodiment, the notification unit 13 notifies the fact (S7). This allows the worker to recognize that the placement state is incorrect, and the worker can appropriately adjust, for example, the position of the seat, the position of the robot main body 10, the position of the leg 20 relative to the pedal P, etc. Note that even when the placement correctness determining unit 11 determines that the placement state is correct, the notification unit 13 may notify the fact.

[0051] The autonomous driving robot 100 of this embodiment is configured to stop the movement of the drive unit 22 and terminate the placement acceptability judgment sequence when the placement acceptability judgment unit 11 judges that the placement state is incorrect (S8).

[0052] Therefore, after the drive unit 22 is stopped, the worker readjusts the position of the autonomous driving robot by, for example, adjusting the installation position of the robot main body unit 10 or the front-to-rear position of the driver's seat of the vehicle under test (S9). After readjustment, the operator cancels the notification by the notification unit 13 (S10), and then the process returns to S1.

[0053] On the other hand, after it is determined in S6 that the placement state is correct, the robot main body 10 extends the drive shaft 23 again and presses the pedal P with the drive unit 22, and learns (stores) the position of the drive unit 22 when it is fully depressed, for example, as the full stroke position (S11).

[0054] According to the autonomous driving robot 100 configured in this manner, the arrangement correctness determining unit 11 determines whether the arrangement of the leg 20 with respect to the pedal P is correct, and if the arrangement correctness determining unit 11 determines that the arrangement is incorrect, the arrangement can be corrected. This makes it possible to prevent the pedal P from being damaged by pulling it too far, or the pedal P from being pushed too far, causing the robot to shift position.

[0055] In particular, in a clamp type in which the leg 20 is fixed to the pedal P as in this embodiment, if the positioning of the leg 20 relative to the pedal P is incorrect, as described above, there is a possibility that the drive unit 22, which is located at a movable distance X away from the pedal clamp 21, will be pulled further away, which may damage the pedal P. However, by having the positioning judgment unit 11 automatically judge whether the positioning is good or bad, such a situation can be prevented from occurring.

[0056] The present invention is not limited to the above-described embodiment.

[0057] For example, the installation quality determination unit in the above embodiment determines whether the placement state is good or bad by comparing the detected moving distance with a predetermined threshold value, but if, for example, the drive speed of the drive unit 22 is known, the detection unit 30 may detect the moving time when the drive unit 22 moves from the pedal position A to the origin position O, and the detected moving time may be compared with a predetermined threshold value to determine whether the placement state is good or bad.

[0058] In addition, in the above embodiment, the reaching of the drive unit 22 to the origin position O is detected by the position sensor 40 which is a proximity sensor, but it may also be detected by image recognition using, for example, an imaging device which images the drive unit 22, or it may be detected based on the rotation speed of a motor which is an actuator.

[0059] Furthermore, in the above embodiment, the reaching of the drive unit 22 to the pedal position A is detected by the second position sensor 50 which is a proximity sensor, but it may also be detected by image recognition using, for example, an imaging device which images the drive unit 22, or it may be detected based on the rotation speed of a motor which is an actuator.

[0060] 7, the autonomous driving robot 100 according to the present invention may be equipped with a torque sensor 60 that detects torque generated when the leg 20 operates the pedal P. Specifically, the torque sensor 60 is provided on, for example, the pedal clamp 21, the pedal P, or a member connected to the pedal P. In such a configuration, the placement quality determination unit 11 may be configured to determine the quality of the placement state using the detected torque detected by the torque sensor 60, and specifically, one example of such a configuration is to compare the detected torque with a predetermined threshold value.

[0061] In this manner, the aspect of determining whether the arrangement state is good or bad using the torque detected by the torque sensor 60 is useful when learning the full stroke position (S11 in FIG. 6 in the above embodiment).

[0062] 8, the arrangement appropriateness determining unit 11 may determine whether the arrangement of the leg 20 with respect to the pedal P is correct after extending the drive unit to learn the full stroke position (S12). At this time, the arrangement appropriateness determining unit 11 may be configured to determine the appropriateness of the arrangement using the detected torque detected by the torque sensor 60, as described above.

[0063] In S12, if the arrangement state is judged to be incorrect by the arrangement judgment unit 11, in this embodiment, the notification unit 13 notifies the fact (S13). Then, if the arrangement judgment unit 11 judges that the arrangement state is incorrect, the movement of the drive unit 22 is stopped and the arrangement judgment sequence is terminated (S14).

[0064] After the driving unit 22 has stopped, the worker readjusts the position of the autonomous driving robot by, for example, adjusting the installation position of the robot main body 10 or the front-rear position of the driver's seat of the vehicle under test (S15). After the readjustment, the worker cancels the notification by the notification unit 13 (S16), and then returns to S1.

[0065] On the other hand, if the arrangement acceptability determining unit 11 determines in S12 that the arrangement state is correct, the arrangement acceptability determining sequence ends.

[0066] With this configuration, it is possible to detect when the position of the leg 20 relative to the pedal P is incorrect, for example, when the leg 20 is pressing down further on the pedal P than when it is fully pressed down, or conversely, when the leg 20 is not reaching the pedal P.

[0067] In addition, the functions of the placement quality determination unit 11 and the notification unit 13 do not necessarily have to be performed by the robot body unit 10, and these functions may be performed by a computer separate from the robot body unit 10.

[0068] Moreover, in the above embodiment, the clutch pedal leg 20 is of the clamp type, but the accelerator pedal leg and the brake pedal leg may also be of the clamp type, and the arrangement determination unit 11 may determine whether or not these legs are correctly arranged with respect to the corresponding pedal. However, the clutch pedal leg 20, the accelerator pedal leg, and the brake pedal leg do not necessarily have to be of the clamp type.

[0069] Furthermore, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit and scope of the present invention. [Industrial Applicability]

[0070] According to the present invention, it is possible to automatically detect whether the positioning of the legs of an autonomous driving robot relative to the pedals is appropriate without relying on human intervention.

Claims

1. An autonomous driving robot that autonomously drives a test vehicle or part of a test vehicle, A leg portion for operating at least one of an accelerator pedal, a brake pedal, or a clutch pedal of the specimen; a positioning quality determination unit that determines whether a positioning state of the leg with respect to the pedal is good or bad, The leg portion is a pedal clamp fixed to the pedal; a drive unit that pushes the pedal through the pedal clamp to drive the pedal between an uppermost position and a lowermost position, the drive unit being configured to move away from the pedal clamp when the pedal is in the uppermost position; A detection unit that detects a moving distance or a moving time after the drive unit is separated from the pedal clamp, An autonomous driving robot, wherein the placement quality determination unit determines whether the placement state is good or bad by comparing the detected movement distance or detected movement time detected by the detection unit with a predetermined threshold value.

2. The leg portion is A drive shaft connected to the drive unit and capable of expanding and contracting, The autonomous driving robot according to claim 1 , wherein when the placement state is determined to be correct by the placement correctness determination unit, the drive shaft is fully retracted before the detected travel distance or the detected travel time reaches the threshold value.

3. The autonomous driving robot according to claim 1 or 2, wherein the movement of the drive unit is stopped when the alignment determination unit determines that the alignment state is incorrect.

4. a torque sensor for detecting a torque generated when the pedal is operated by the foot, The autonomous driving robot according to claim 1 , wherein the quality determination unit determines whether the arrangement state is good or bad by using a detected torque detected by the torque sensor.

5. The autonomous driving robot according to claim 1 , wherein the leg is a clutch leg that operates a clutch pedal of the test specimen.

6. A leg portion for operating at least one of an accelerator pedal, a brake pedal, and a clutch pedal of a vehicle or a part thereof as a test specimen is provided; a pedal clamp fixed to the pedal, the leg portion pushing in the pedal via the pedal clamp to drive the pedal between an uppermost position and a lowermost position, the leg portion having a drive unit configured to move away from the pedal clamp when the pedal is in the uppermost position, and a detection unit detecting a moving distance or a moving time after the drive unit moves away from the pedal clamp, A placement state determination program that causes a computer to function as a placement quality determination unit that determines whether the placement state of the leg relative to the pedal is good or bad by comparing the detected movement distance or detected movement time detected by the detection unit with a predetermined threshold value.

7. A leg portion for operating at least one of an accelerator pedal, a brake pedal, and a clutch pedal of a vehicle or a part thereof as a test specimen is provided; A position adjustment method for an autonomously driving robot that autonomously drives a test specimen, the method comprising: a pedal clamp fixed to the pedal; a drive unit configured to push in the pedal via the pedal clamp and drive the pedal between an uppermost position and a lowermost position, the drive unit being configured to move away from the pedal clamp when the pedal is in the uppermost position; and a detection unit that detects a moving distance or a moving time after the drive unit moves away from the pedal clamp, a step of determining whether or not a positioning state of the leg with respect to the pedal is good by a computer comparing a detected moving distance or a detected moving time detected by the detection unit with a predetermined threshold value; and readjusting the position of the leg relative to the pedal when the computer determines that the positioning of the leg relative to the pedal is incorrect.

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