Vehicle robot and program

Abstract

A vehicle robot R includes: a vehicle (10) including wheels (12); an angular velocity sensor; a flywheel (43); a motor (44); an auxiliary part (20) for supporting the vehicle (10) so that an inclination angle (A2) of the vehicle (10) with respect to a gravity axis (GA) is a predetermined initial inclination angle (A1); and a control device. The control device can execute standing control and fall prevention control. The standing control includes: a step in which by performing a comparison with a torque command value in an initial state, outputs a torque command value of a reverse rotation direction side; and a step for bringing the torque command value close to zero when the angular velocity is greater than or equal to a predetermined positive threshold value. The control device ends the standing control when, after the start of the standing control, the angular velocity becomes zero or less, and starts the fall prevention control.

Description

Vehicle robot and program

[0001] The present disclosure relates to a vehicle robot and a program.

[0002] The vehicle robot disclosed in Patent Document 1 includes a humanoid casing, a two-wheeled vehicle, a motor, a flywheel, and a control device. The humanoid casing rides on the two-wheeled vehicle. The motor and flywheel are housed inside the humanoid casing. The flywheel is connected to the rotating shaft of the motor. The control device is capable of executing anti-tip control. When the vehicle robot is in a balanced state, i.e., when the two-wheeled vehicle is standing on its own, the control device rotates the flywheel to maintain the two-wheeled vehicle standing on its own.

[0003] Patent No. 4605227

[0004] In the vehicle robot disclosed in Patent Document 1, in order to properly execute the anti-tip control, the user must support the vehicle robot with their fingers or the like to make the two-wheeled vehicle stand on its own before starting the anti-tip control. However, it is difficult to make the two-wheeled vehicle stand on its own with their fingers in the first place. If the anti-tip control is started while the two-wheeled vehicle is tilted even slightly, the anti-tip control will not be able to perform its intended function, and there is a risk that the vehicle robot will tip over.

[0005] In order to solve the above problems, the present disclosure provides a vehicle unit including a wheel, an angular velocity sensor for detecting the angular velocity of the vehicle unit about an axis along a specific first direction as a rotation axis, a flywheel rotatable about an axis along the first direction as a rotation axis, a motor for rotating the flywheel, an auxiliary unit for supporting the vehicle unit so that the tilt angle of the vehicle unit with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device for outputting a torque command value to the motor, wherein the control device is capable of executing an upright control for uprighting the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, and an anti-tip control for calculating the torque command value so that the tilt angle approaches zero, and When the direction of the angular velocity when the vehicle part rotates in the direction toward the initial tilt angle with respect to the gravity axis is defined as positive, the direction of the angular velocity when the vehicle part rotates in the direction toward the initial tilt angle with respect to the gravity axis is defined as negative, and the rotation direction of the motor that causes the flywheel to generate a reaction force in the direction of the angular velocity toward the positive direction is defined as a reverse rotation direction, the stand-up control includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and a step of bringing the torque command value closer to zero when the angular velocity becomes equal to or greater than a predetermined positive threshold, and the control device is a vehicle robot that, after starting the stand-up control, ends the stand-up control and starts the anti-tip control when the angular velocity becomes equal to or less than zero.

[0006] The present disclosure also provides a vehicle unit including a vehicle section having wheels, an angular velocity sensor for detecting an angular velocity of the vehicle section about an axis along a specific first direction as a rotation axis, a flywheel rotatable about an axis along the first direction as a rotation axis, a motor for rotating the flywheel, an auxiliary section for supporting the vehicle section so that the tilt angle of the vehicle section with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device for outputting a torque command value to the motor, wherein the control device is capable of executing an upright control for uprighting the vehicle section from an initial state in which the vehicle section is supported by the auxiliary section, and an anti-tip control for calculating the torque command value so that the tilt angle approaches zero, wherein the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial tilt angle with respect to the gravity axis is defined as positive, and When the direction of the angular velocity when the vehicle part rotates in the direction toward the left is defined as negative, and the rotation direction of the motor that causes the flywheel to generate a reaction force in the direction of the angular velocity toward the positive is defined as a reverse rotation direction, the stand-up control includes the steps of: outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state; and, when the tilt angle is an angle between the gravity axis and the initial tilt angle, making the torque command value approach zero when a change angle that is a difference between the tilt angle and the initial tilt angle becomes equal to or greater than a predetermined threshold, and the control device is a vehicle robot that, after starting the stand-up control, terminates the stand-up control and starts the anti-tip control when an absolute value of a value obtained by integrating the angular velocity with respect to time from the initial state becomes equal to or greater than the initial tilt angle.

[0007] The present disclosure is also applicable to a vehicle robot including a vehicle section having wheels, an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction as its rotation axis, a flywheel that is rotatable about an axis along the first direction as its rotation axis, a motor that rotates the flywheel, an auxiliary section that supports the vehicle section so that the tilt angle of the vehicle section with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device that outputs a torque command value to the motor, and causes the control device to execute an erection control that erects the vehicle section from an initial state in which the vehicle section is supported by the auxiliary section, and an anti-tip control that calculates the torque command value so that the tilt angle approaches zero, and When the direction of the angular velocity when the vehicle part rotates in the opposite direction is defined as positive, the direction of the angular velocity when the vehicle part rotates in the direction toward the initial tilt angle with respect to the gravity axis is defined as negative, and the rotation direction of the motor that generates a reaction force in the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotation direction, the stand-up control is control that includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and a step of bringing the torque command value closer to zero when the angular velocity becomes equal to or greater than a predetermined positive threshold, and the anti-tip control is control that is started when the angular velocity becomes equal to or less than zero after the stand-up control has been started.

[0008] The present disclosure is also applicable to a vehicle robot including a vehicle section having wheels, an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction as its rotation axis, a flywheel that is rotatable about an axis along the first direction as its rotation axis, a motor that rotates the flywheel, an auxiliary section that supports the vehicle section so that the tilt angle of the vehicle section with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device that outputs a torque command value to the motor, and causes the control device to execute an erection control that erects the vehicle section from an initial state in which the vehicle section is supported by the auxiliary section, and an anti-tip control that calculates the torque command value so that the tilt angle approaches zero, and the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial tilt angle with respect to the gravity axis is defined as positive, and and when the direction of the angular velocity when the vehicle part rotates in the direction of the initial tilt angle is defined as negative, and the rotation direction of the motor that causes the flywheel to generate a reaction force in the direction of the angular velocity going positive is defined as a reverse rotation direction, the stand-up control includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and when the tilt angle is an angle between the gravity axis and the initial tilt angle, a step of bringing the torque command value closer to zero when a change angle that is a difference between the tilt angle and the initial tilt angle becomes equal to or greater than a predetermined threshold, and the anti-toppling control is control that is started when, after the stand-up control is started, the absolute value of a value obtained by integrating the angular velocity with respect to time from the initial state becomes equal to or greater than the initial tilt angle.

[0009] According to the above configuration, the control device of the vehicle robot executes the anti-tip control after raising the vehicle robot to a position where the tilt angle is approximately zero through the raising control. This allows the original function of the anti-tip control to be exerted simply by placing the vehicle robot in the initial state, without the user having to support the vehicle robot with their fingers or the like.

[0010] The vehicle robot can automatically stand up.

[0011] Fig. 1 is a perspective view of a vehicle robot. Fig. 2 is a side view of the vehicle robot. Fig. 3 is a front view of the vehicle robot. Fig. 4 is a flowchart of standing-up control in a first embodiment. Fig. 5 is a flowchart of standing-up control in a second embodiment.

[0012] Hereinafter, an embodiment of a vehicle robot will be described with reference to the drawings. Note that the drawings may show components enlarged to facilitate understanding. The dimensional proportions of the components may differ from those in the actual drawings or from those in other drawings.

[0013] 1 and 2 , the vehicle robot R in this embodiment includes a vehicle section 10 and a humanoid housing 30.

[0014] The vehicle unit 10 is a two-wheeled vehicle. More specifically, the shape of the vehicle unit 10 is that of a so-called standard bicycle. The vehicle unit 10 has a frame 11, a front fork 13, and two wheels 12. The frame 11 is formed by connecting a plurality of rod-shaped members. As shown in FIG. 2 , the frame 11 has a truss structure when viewed from the side. The front fork 13 is connected to the front end of the frame 11. The front fork 13 is a Y-shaped rod. In other words, the tip of the front fork 13 is split into two.

[0015] The two wheels 12 are a front wheel 12A and a rear wheel 12B. The front wheel 12A is rotatably supported by a bifurcated portion of a front fork 13. The rear wheel 12B is rotatably supported by the rear end of the frame 11.

[0016] In the following description, the axis parallel to the axis passing through the center points of the rear wheel 12B and the front wheel 12A is referred to as the first axis X. The axis parallel to the central axis of rotation of the rear wheel 12B is referred to as the second axis Y. That is, the second axis Y is perpendicular to the first axis X. The axis perpendicular to the first axis X and the second axis Y is referred to as the third axis Z. In addition, among the directions along the first axis X, the direction from the rear wheel 12B toward the front wheel 12A is referred to as the first positive direction X1, and among the directions along the first axis X, the direction opposite to the first positive direction X1 is referred to as the first negative direction X2. Furthermore, one of the directions along the second axis Y is referred to as the second positive direction Y1, and among the directions along the second axis Y, the direction opposite to the second positive direction Y1 is referred to as the second negative direction Y2. Furthermore, one of the directions along the third axis Z is defined as a third positive direction Z1, and the direction along the third axis Z opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0017] As shown in FIG. 2 , the vehicle unit 10 includes a handlebar 14, two cranks 15, two pedals 16, and a saddle 17. The handlebar 14 is rod-shaped. The handlebar 14 extends along the central axis of rotation of the front wheel 12A. The handlebar 14 is connected to the end of the front fork 13 opposite the front wheel 12A at approximately the midpoint of its longitudinal direction. That is, the handlebar 14 is connected to the end of the front fork 13 on the third positive direction Z1 side, while the front wheel 12A is connected to the end of the front fork 13 on the third negative direction Z2 side. The handlebar 14, together with the front fork 13 and the front wheel 12A, can rotate around an axis along the third axis Z. That is, the handlebar 14 can steer the front wheel 12A. More specifically, a handlebar drive motor is installed inside the handlebar 14. The handlebar drive motor can steer the front wheel 12A by operating the handlebar 14.

[0018] Each crank 15 is connected to the frame 11 between the front wheel 12A and the rear wheel 12B. One of the two cranks 15 is located on the second positive direction Y1 side relative to the frame 11. The other of the two cranks 15 is located on the second negative direction Y2 side relative to the frame 11. Each pedal 16 is rotatably supported at the tip of the corresponding crank 15. Although not shown, each crank 15 is drivingly connected to the rear wheel 12B via a sprocket, a chain, or the like. Therefore, each crank 15 and each pedal 16 rotates in synchronization with the rotation of the rear wheel 12B. A saddle 17 is connected to the frame 11. The saddle 17 protrudes in the third positive direction Z1 relative to the frame 11. Furthermore, the surface of the saddle 17 facing the third positive direction Z1 is flat.

[0019] The vehicle robot R is equipped with a rear-wheel drive motor 46. The rear-wheel drive motor 46 is connected to the frame 11 at a location between the rear wheel 12B and the saddle 17. The rear-wheel drive motor 46 applies a rotational torque to the rear wheel 12B. In other words, the rear-wheel drive motor 46 is a drive source for the rear wheel 12B.

[0020] As shown in FIG. 1 , the vehicle robot R includes two support arms 18 and an auxiliary unit 20. Each support arm 18 is columnar. Each support arm 18 extends in the third negative direction Z2 from an end of the frame 11 on the third negative direction Z2 side. The end of each support arm 18 on the third negative direction Z2 side is located on the third negative direction Z2 side with respect to the rotational trajectory of each crank 15. Furthermore, the end of each support arm 18 on the third negative direction Z2 side is located on the third positive direction Z1 side with respect to the end of the front wheel 12A on the third negative direction Z2 side and the end of the rear wheel 12B on the third negative direction Z2 side. The support arms 18 are aligned in a direction along the second axis Y and are parallel to each other.

[0021] As shown in FIG. 3 , the auxiliary unit 20 is connected to the end of each support arm 18 on the third negative direction Z2 side. Specifically, the auxiliary unit 20 includes a shaft 21, a first auxiliary wheel 23A, and a second auxiliary wheel 23B. The shaft 21 is rod-shaped. The shaft 21 is made of fiber-reinforced resin. More specifically, the shaft 21 is made of a material containing carbon fiber as a reinforcing fiber. The shaft 21 is connected to the end of each support arm 18 on the third negative direction Z2 side. Specifically, the shaft 21 is inserted into a through-hole (not shown) provided at the end of each support arm 18 on the third negative direction Z2 side. Therefore, the shaft 21 extends along the second axis Y. The shaft 21 extends from the vehicle unit 10 toward the second positive direction Y1 side. The shaft 21 also extends from the vehicle unit 10 toward the second negative direction Y2 side.

[0022] The first training wheel 23A is connected to the end of the shaft 21 on the second positive direction Y1 side. The second training wheel 23B is connected to the end of the shaft 21 on the second negative direction Y2 side. As shown in FIG. 2 , the radius of each training wheel is shorter than the shortest distance from the axial center of the shaft 21 to the tangent to both the front wheel 12A and the rear wheel 12B on the third negative direction Z2 side. In other words, when the shaft 21 is substantially parallel to the floor surface or the like, the auxiliary part 20 does not come into contact with the floor surface or the like.

[0023] As described above, the portion of shaft 21 extending in the second positive direction Y1 and first auxiliary wheel 23A function as first auxiliary part 22A extending from vehicle unit 10 in the second positive direction Y1. Additionally, the portion of shaft 21 extending in the second negative direction Y2 and second auxiliary wheel 23B function as second auxiliary part 22B extending from vehicle unit 10 in the second negative direction Y2.

[0024] As shown in FIG. 1 , the humanoid casing 30 is a casing that resembles a human. The humanoid casing 30 has a body 31, a head 32, two arms 34, and two legs 33. The body 31 is a substantially rectangular box. The body 31 rests on the saddle 17 of the vehicle unit 10 so that the longitudinal direction of the body 31 is generally along the third axis Z. The head 32 is substantially spherical. The head 32 is connected to a surface of the body 31 on the third positive direction Z1 side. Each arm 34 is rod-shaped and bendable via a joint. One end of each arm 34 is connected to the body 31 near a corner of the body 31 on the head 32 side. The other end of each arm 34 rests on each end of the handlebar 14. Each leg 33 is rod-shaped and bendable via a joint. One end of each leg 33 is connected to the body 31 near a corner of the body 31 on the saddle 17 side. The other end of each leg 33 rests on the corresponding pedal 16. Note that the boundaries between the body 31 and the head 32, the two arms 34, and the two legs 33 may not have clear boundaries.

[0025] 3, the vehicle robot R configured as described above becomes self-supporting when three points, namely, the end of the front wheel 12A on the third negative direction Z2 side, the end of the rear wheel 12B on the third negative direction Z2 side, and the end of the first auxiliary wheel 23A on the third negative direction Z2 side, come into contact with the floor surface or the like. The vehicle robot R also becomes self-supporting when three points, namely, the end of the front wheel 12A on the third negative direction Z2 side, the end of the rear wheel 12B on the third negative direction Z2 side, and the end of the second auxiliary wheel 23B on the third negative direction Z2 side, come into contact with the floor surface or the like. This self-supporting state will be referred to as the initial state of the vehicle robot R hereinafter.

[0026] 3 , when vehicle robot R is viewed from the first positive direction X1 toward the first negative direction X2, a line connecting the vertex of head 32 of humanoid casing 30 on the third positive direction Z1 side and the point where front wheel 12A of vehicle unit 10 is in contact with the floor or the like is defined as a central axis CA of vehicle robot R. When vehicle robot R is viewed from the first positive direction X1, the centers of gravity of humanoid casing 30 and vehicle unit 10 are located on central axis CA. However, this allows for manufacturing errors and the like, and strictly speaking, the centers of gravity may deviate from central axis CA.

[0027] Hereinafter, the acute angle formed by the central axis CA with respect to the gravity axis GA, which is an axis along the direction of gravity, will be referred to as the tilt angle A2 of the vehicle robot R. Note that the gravity axis GA refers to the central axis CA when, when the first axis X is the rotation axis of the vehicle robot R, a torque acting in a clockwise direction and a torque acting in a counterclockwise direction on the vehicle robot R coincide. In other words, the gravity axis GA may not necessarily coincide with the direction of gravity due to the influence of external disturbances such as crosswinds. Note that the clockwise direction is the clockwise direction when viewed facing the first negative direction X2. The counterclockwise direction is the counterclockwise direction when viewed facing the first negative direction X2.

[0028] Furthermore, the inclination angle A2 of the vehicle robot R in the initial state is defined as the initial inclination angle A1. A pedestal for adjusting the height may be installed between the training wheels supporting the vehicle unit 10 and the floor surface, etc. In this case, the initial inclination angle A1 is the inclination angle A2 in a state where the vehicle robot R is supported by the pedestal and the training wheels. In this embodiment, the initial inclination angle A1 is 2.7 degrees or less. More specifically, the initial inclination angle A1 is approximately 2.5 degrees. In other words, the length of the axle 21 and the outer diameters of the first training wheel 23A and the second training wheel 23B are determined so that the initial inclination angle A1 is approximately 2.5 degrees when the vehicle robot R is placed on a flat floor surface.

[0029] 2, the vehicle robot R includes an angle sensor 41, an angular velocity sensor 42, a flywheel 43, and a motor 44. The angle sensor 41 is installed on the frame 11 near the crank 15. The center of gravity of the angle sensor 41 is located on the central axis CA. The angle sensor 41 can output the value of the tilt angle A2 of the vehicle robot R. The angle sensor 41 is, for example, a magnetic angle sensor.

[0030] The angular velocity sensor 42 is installed on the frame 11 in a location near the saddle 17. The angular velocity sensor 42 detects the angular velocity of the vehicle unit 10, with an axis along a specific first direction as the axis of rotation. In this embodiment, the first direction of the angular velocity sensor 42 is the direction along the first axis X. Specifically, the angular velocity sensor 42 is a gyro sensor. Note that in this embodiment, the unit of angular velocity is "rad / s."

[0031] Flywheel 43 is stored inside body 31 of humanoid casing 30. Flywheel 43 is rotatable about an axis along first axis X. As shown in FIG. 3 , when vehicle robot R is viewed from above in first positive direction X1, the rotation axis of flywheel 43 is located on central axis CA. As flywheel 43 rotates, a reaction force is generated on vehicle robot R in the opposite direction to the rotation direction of flywheel 43 relative to humanoid casing 30.

[0032] 2, the motor 44 is housed inside the body 31 of the humanoid casing 30. In this embodiment, the rotation shaft of the motor 44 is connected to the rotation shaft of the flywheel 43. Therefore, the motor 44 can rotate the flywheel 43.

[0033] The vehicle robot R includes a battery 45 and a control device 50. The battery 45 is stored inside the body 31 of the humanoid casing 30. The battery 45 is a rechargeable secondary battery. The battery 45 supplies power to the rear wheel drive motor 46, the angle sensor 41, the angular velocity sensor 42, the motor 44, the control device 50, and other electronic devices mounted on the vehicle robot R. The battery 45 is, for example, a lithium-ion battery.

[0034] The control device 50 is housed inside the body 31 of the humanoid casing 30. The control device 50 can acquire the tilt angle A2 from the angle sensor 41. The control device 50 can acquire the angular velocity from the angular velocity sensor 42.

[0035] The control device 50 can control the rear wheel drive motor 46 via wiring extending from the inside to the outside of the humanoid casing 30. The control device 50 can drive the rear wheels 12B by driving the rear wheel drive motor 46. The control device 50 can also control the rotation speed of the rear wheel drive motor 46. That is, the control device 50 can control the steering angle of the front wheels 12A. Therefore, the control device 50 can control the forward and backward movement, movement direction, movement speed, etc. of the vehicle section 10.

[0036] The control device 50 is capable of controlling the motor 44. More specifically, the control device 50 is capable of outputting a torque command value to the motor 44 via a driver, a DA converter, a counter, a controller, etc. The control device 50 is capable of driving the motor 44 to rotate the flywheel 43 at a predetermined rotation speed.

[0037] The control device 50 has a calculation unit that executes processing, a memory unit that stores various data, and other peripheral circuits. The calculation unit of the control device 50, which will be described in detail later, is capable of executing a program for stand-up control that stands up the vehicle unit 10 from an initial state in which the vehicle unit 10 is supported by the auxiliary unit 20. The calculation unit of the control device 50 is also capable of executing a program for anti-tip control that calculates a torque command value so that the tilt angle A2 estimated based on the angular velocity and the torque command value approaches zero. The program P for realizing the stand-up control and anti-tip-up control is stored in the memory unit of the control device 50.

[0038] (Regarding Anti-Tip Control) An overview of the anti-tip control executed by the control device 50 will be described below. As will be described in detail later, after starting the standing control, the control device 50 ends the standing control and starts the anti-tip control when the angular velocity becomes equal to or less than zero. When starting the anti-tip control, the control device 50 estimates the current tilt angle A2 of the vehicle robot R based on the angular velocity and the torque command value for the motor 44. Meanwhile, the control device 50 calculates a target tilt angle, which is a target value for the tilt angle A2, from the rotational speed of the motor 44. Next, the control device 50 multiplies the deviation between the target tilt angle and the estimated value of the current tilt angle A2 by a proportional gain to calculate a target angular velocity for setting the tilt angle A2 of the vehicle robot R to the target tilt angle. Furthermore, the control device 50 calculates the torque required to set the tilt angle A2 to the target tilt angle by performing, for example, PI control on the deviation between the target angular velocity and the current angular velocity. Then, the control device 50 calculates a torque command value for the motor 44 by compensating for the external torque due to gravity and disturbances generated in the vehicle robot R, which is calculated from the estimated value of the tilt angle A2, by using feedforward control. A detailed example of the anti-tip control is as described in Patent Document 1.

[0039] (Regarding Standing Control) Hereinafter, the standing control executed by the control device 50 will be described with reference to FIG. 4 . Note that, hereinafter, the direction of the angular velocity when the vehicle unit 10 rotates in a direction opposite to the initial inclination angle A1 with respect to the gravity axis GA is defined as positive. Also, the direction of the angular velocity when the vehicle unit 10 rotates in a direction toward the initial inclination angle A1 with respect to the gravity axis GA is defined as negative. Among the rotation directions of the motor 44, the rotation direction that generates a reaction force in the flywheel 43 in a direction in which the angular velocity of the vehicle unit 10 becomes positive is defined as the reverse rotation direction. Also, the direction opposite to the reverse rotation direction is defined as the forward rotation direction. In other words, the reverse rotation direction is the clockwise rotation direction when the vehicle robot R is viewed facing the first negative direction X2. The forward rotation direction is the counterclockwise rotation direction when the vehicle robot R is viewed facing the first negative direction X2. Note that in FIG. 4 , rotation in the forward rotation direction is described as a positive value. Also, rotation in the reverse rotation direction is described as a negative value.

[0040] As shown in FIG. 4 , when the control device 50 starts the standing control, it executes the process of step S11. In step S11, the control device 50 determines whether the vehicle robot R is in an initial state. Specifically, the control device 50 first acquires the current tilt angle A2 from the angle sensor 41. The control device 50 then determines whether the tilt angle A2 matches a predetermined initial tilt angle A1. In the first embodiment, if the absolute value of the difference between the tilt angle A2 and the initial tilt angle A1 is 0.4 degrees or less, the control device 50 considers the tilt angle A2 to match the initial tilt angle A1. If the tilt angle A2 does not match the initial tilt angle A1 (S11: NO), the control device 50 determines that the vehicle robot R is not in the initial state and terminates the standing control. If the tilt angle A2 matches the initial tilt angle A1 (S11: YES), the control device 50 executes the process of step S12.

[0041] In step S12, the control device 50 outputs a torque command value that is more positive than zero to the motor 44. Specifically, by outputting the torque command value in the positive rotation direction to the motor 44, the control device 50 causes the flywheel 43 to rotate in the positive rotation direction at a constant rotation speed for a certain period of time. In this embodiment, in step S12, the control device 50 outputs a torque command value to rotate the flywheel 43 at approximately 1000 rpm for one second. Thereafter, the control device 50 executes the process of step S13.

[0042] In step S13, the control device 50 outputs a torque command value in the reverse rotation direction to the motor 44, compared to the torque command value in the initial state of step S12. That is, the control device 50 rotates the flywheel 43 in the reverse rotation direction by outputting the torque command value in the reverse rotation direction to the motor 44. In this embodiment, the control device 50 outputs, for one second, the torque command value required to rotate the flywheel 43 in the reverse rotation direction at approximately 3000 rpm. Therefore, by executing step S13, the rotation speed of the flywheel 43 changes by approximately 4000 rpm in the reverse rotation direction compared to when step S12 was executed. Thereafter, the control device 50 executes the process of step S14.

[0043] In step S14, the control device 50 determines whether the angular velocity of the vehicle robot R is equal to or greater than a predetermined positive threshold. Specifically, the control device 50 acquires the value of the angular velocity from the angular velocity sensor 42. The control device 50 then determines whether the value of the angular velocity is equal to or greater than 0.09 rad / s, which is set as the positive threshold. The method for setting this threshold will be described later. If the angular velocity is greater than the threshold (S14: NO), the control device 50 executes the process of step S14 again. That is, the control device 50 repeatedly executes the process of step S14 until the angular velocity becomes equal to or greater than the positive threshold. If the angular velocity is equal to or greater than the positive threshold (S14: YES), the control device 50 executes the process of step S15.

[0044] In step S15, the control device 50 approaches zero the torque command value for the motor 44. In this embodiment, in step S15, the control device 50 sets the torque command value to zero. Next, the control device 50 executes the process of step S16.

[0045] In step S16, the control device 50 determines whether the value of the angular velocity acquired from the angular velocity sensor 42 is equal to or less than zero. If the angular velocity is not equal to or less than zero (S16: NO), the control device 50 executes the process of step S16 again. That is, the control device 50 repeatedly executes the process of step S16 until the angular velocity becomes equal to or less than zero. Then, if the angular velocity becomes equal to or less than zero (S16: YES), the control device 50 ends the standing control and executes the process of step S17. In step S17, the control device 50 starts the above-described anti-tip control. Note that "equal to or less than zero" may be defined as a value that allows for some error. For example, even if the angular velocity is less than 0.01, it may be considered to be equal to or less than zero and the above-described process may be executed.

[0046] (Setting of Angular Velocity Threshold) The threshold used in step S14 of the standing control can be determined by conducting tests or the like as follows.

[0047] When the processes of steps S12 and S13 of the standing control are executed, the angular velocity of the vehicle robot R becomes a positive value due to the reaction force against the rotation of the flywheel 43. Furthermore, during the process of step S13, the flywheel 43 is rotating. Therefore, the angular velocity of the vehicle robot R continues to increase due to the reaction force caused by the deceleration torque. Then, when the torque command value is set to zero in step S15 after passing through step S14, the flywheel 43 stops rotating, the reaction force caused by the deceleration torque decreases, and the gravitational torque increases, causing the angular velocity of the vehicle robot R to gradually approach zero. If the threshold value is too large, the reaction force caused by the deceleration torque continues to increase, causing the vehicle robot R to tilt in the direction opposite to the initial tilt angle A1 with respect to the gravity axis GA. That is, the vehicle robot R passes the gravity axis GA and the tilt angle A2 increases toward the second negative direction Y2. On the other hand, if the threshold value is too small, i.e., too close to zero, the reaction force caused by the deceleration torque cannot be obtained before the tilt angle A2 of the vehicle robot R reaches zero. Therefore, the vehicle robot R will again tilt toward the initial state due to the gravitational torque. Taking this into consideration, by repeatedly performing the processes of steps S12 to S15 while gradually changing the threshold value, an appropriate threshold value is set so that the tilt angle A2 of the vehicle robot R at the time of step S16 is zero or a value slightly toward the initial tilt angle A1 with respect to the gravity axis GA.

[0048] (Operation of the First Embodiment) In step S13 of the standing control, the control device 50 outputs a torque command value to the motor 44 in a reverse rotation direction compared to the torque command value in the initial state. That is, the control device 50 outputs a torque that causes the motor 44 to rapidly rotate in the reverse rotation direction. As a result, a reaction torque is generated in the flywheel 43 in a direction that makes the angular velocity of the vehicle robot R positive. This reaction torque causes the vehicle robot R to begin tilting counterclockwise. Also, in the initial state, a gravitational torque is generated in the vehicle robot R due to gravity in a direction that causes the vehicle robot R to rotate clockwise. Next, as the rotation of the vehicle robot R progresses due to the reaction force generated in step S13, the weight torque acting on the vehicle robot R decreases, and the vehicle robot R accelerates in the counterclockwise direction. Therefore, when the angular velocity of the vehicle robot R becomes equal to or greater than the positive threshold value in step S14, the control device 50 reduces the torque output to the motor 44 to zero in step S15. As a result, the angular velocity of the vehicle robot R approaches zero. Then, at the position where the tilt angle A2 is approximately zero, the angular velocity becomes zero. Therefore, in step S16, the control device 50 starts the tip-over prevention control at the position where the angular velocity becomes zero.

[0049] (1-1) According to the first embodiment, the control device 50 of the vehicle robot R performs the standing control to raise the vehicle robot R to a position where the tilt angle A2 is approximately zero, and then executes the anti-tip control. As a result, the original function of the anti-tip control can be exerted by simply placing the vehicle robot R in the initial state, even if the user does not adjust the tilt angle A2 while supporting the vehicle robot R with their fingers or the like.

[0050] (1-2) According to the first embodiment, the control device 50 of the vehicle robot R sets the torque command value to zero when the angular velocity is equal to or greater than a positive threshold. The control device 50 then executes anti-toppling control when the angular velocity is equal to or less than zero. That is, the control device 50 estimates that the angular velocity is zero when the tilt angle A2 is approximately zero. This allows the anti-toppling control to be executed at an appropriate timing even if the floor surface is slightly uneven and the expected value of the initial tilt angle A1 differs from the actual initial tilt angle A1. Therefore, for example, the allowable angle of the initial tilt angle A1 can be increased compared to when the value of the tilt angle A2 acquired from the angle sensor 41 is used as a condition.

[0051] (1-3) According to the first embodiment, the control device 50 outputs torque to rotate the flywheel 43 in the forward direction before outputting torque to rotate the flywheel 43 in the reverse direction. Even if the rotational speed of the motor 44 of the vehicle robot R in the reverse direction is low and sufficient reaction force cannot be obtained by that alone to raise the vehicle robot R, by rotating the motor 44 in the forward direction in advance as described above, sufficient reaction force can be obtained to make the angular velocity of the vehicle section 10 positive. In other words, it is easy to rotate the vehicle robot R counterclockwise.

[0052] (1-4) According to the first embodiment, the initial tilt angle A1 is 2.7 degrees or less. With this initial tilt angle A1, it is possible to raise the vehicle from a state tilted at the initial tilt angle A1 to a state where the tilt angle A2 is zero, without employing an excessively high rotation speed motor 44 that rotates the flywheel 43.

[0053] (1-5) According to the first embodiment, the auxiliary units 20 are located on both sides of the vehicle unit 10. Therefore, the standing control can be executed regardless of whether the vehicle unit 10 is tilted in the second positive direction Y1 or the second negative direction Y2. Furthermore, even if the control device 50 is unable to properly execute the anti-tip control due to an external disturbance or the like when executing the standing control, the vehicle unit 10 returns to a state in which it leans on one of the two auxiliary units 20, making it unlikely that the humanoid housing 30 will tip over and collide with the floor.

[0054] Second Embodiment of Vehicle Robot A second embodiment of a vehicle robot will be described below. Note that the second embodiment differs from the first embodiment only in the stand-up control, and therefore a description of the second embodiment other than the stand-up control will be omitted.

[0055] (Regarding the Standing-Up Control of the Second Embodiment) Hereinafter, the standing-up control executed by the control device 50 will be described with reference to Fig. 5. The definitions of the reverse rotation direction and the forward rotation direction are the same as those in the standing-up control of the first embodiment.

[0056] When the control device 50 starts the standing control, it executes the process of step S21. In step S21, the control device 50 determines whether the vehicle robot R is in an initial state. Specifically, the control device 50 first acquires the current tilt angle A2 from the angle sensor 41. The control device 50 then determines whether the tilt angle A2 matches a predetermined initial tilt angle A1. In the second embodiment, if the absolute value of the difference between the tilt angle A2 and the initial tilt angle A1 is 0.1 degrees or less, the control device 50 considers the tilt angle A2 to match the initial tilt angle A1. If the tilt angle A2 does not match the initial tilt angle A1 (S21: NO), the control device 50 determines that the vehicle robot R is not in the initial state and terminates the standing control. If the tilt angle A2 matches the initial tilt angle A1 (S21: YES), the control device 50 executes the process of step S22.

[0057] In step S22, the control device 50 outputs a torque command value that is more positive than zero to the motor 44. Specifically, by outputting the torque command value in the positive rotation direction to the motor 44, the control device 50 causes the flywheel 43 to rotate in the positive rotation direction at a constant rotation speed for a certain period of time. In this embodiment, in step S22, the control device 50 outputs a torque command value to rotate the flywheel 43 at approximately 1000 rpm for one second. Thereafter, the control device 50 executes the process of step S23.

[0058] In step S23, the control device 50 outputs a torque command value in the reverse rotation direction to the motor 44, compared to the torque command value in the initial state of step S22. That is, the control device 50 rotates the flywheel 43 in the reverse rotation direction by outputting the torque command value in the reverse rotation direction to the motor 44. In this embodiment, the control device 50 outputs, for one second, the torque command value required to rotate the flywheel 43 in the reverse rotation direction at approximately 3000 rpm. Therefore, by executing step S23, the rotation speed of the flywheel 43 changes by approximately 4000 rpm in the reverse rotation direction compared to when step S22 was executed. Thereafter, the control device 50 executes the process of step S24.

[0059] In step S24, when the tilt angle A2 is the angle between the gravity axis GA and the initial tilt angle A1, the control device 50 determines whether the change angle, which is the difference between the tilt angle A2 and the initial tilt angle A1, is equal to or greater than a threshold value defined in the range from zero to the initial tilt angle A1. This threshold value is, for example, 0.9 degrees. More specifically, in step S24, the control device 50 acquires the angular velocity from the angular velocity sensor 42. The control device 50 then calculates, as the change angle, the absolute value of the value obtained by integrating the angular velocity over time from the initial state. Next, the control device 50 determines whether the change angle is equal to or greater than the threshold value of 0.9 degrees. If the change angle is smaller than the threshold value in step S24 (NO in step S24), the control device 50 executes the process of step S24 again. That is, the control device 50 repeatedly executes the process of step S24 until the change angle becomes equal to or greater than the threshold value. On the other hand, if the change angle is equal to or greater than the threshold value in step S24 (YES in step S24), the control device 50 executes the process of step S25.

[0060] In step S25, the control device 50 approaches zero the torque command value for the motor 44. In this embodiment, in step S25, the control device 50 sets the torque command value to zero. Next, the control device 50 executes the process of step S26.

[0061] In step S26, the control device 50 determines whether the change angle is equal to or greater than the initial tilt angle A1. Specifically, the control device 50 determines whether the absolute value of the value obtained by integrating the angular velocity over time from the initial state is the change angle, and determines whether this absolute value is equal to or greater than the initial tilt angle A1. If the change angle is smaller than the initial tilt angle A1 (S26: NO), the control device 50 executes the process of step S26 again. That is, the control device 50 repeatedly executes the process of step S26 until the change angle becomes equal to or greater than the initial tilt angle A1. On the other hand, if the change angle becomes equal to or greater than the initial tilt angle A1 (S26: YES), the control device 50 ends the stand-up control and executes the process of step S27. In step S27, the control device 50 starts the anti-tip control described in the first embodiment.

[0062] (Operation of the Second Embodiment) In step S23 of the standing control, the control device 50 outputs a torque command value to the motor 44 in the reverse rotation direction compared to the torque command value in the initial state. That is, the control device 50 outputs a torque that causes the motor 44 to rapidly rotate in the reverse rotation direction. As a result, a reaction torque is generated in the flywheel 43 in a direction that makes the angular velocity of the vehicle robot R positive. The vehicle robot R begins to rotate counterclockwise due to this reaction torque. Also, in the initial state, a gravitational torque is generated in the vehicle robot R in a direction that causes it to rotate clockwise. Next, as the rotation of the vehicle robot R progresses due to the reaction force generated in step S23, the weight torque acting on the vehicle robot R decreases, and the vehicle robot R accelerates in the counterclockwise direction. Therefore, when the angle change of the vehicle robot R becomes equal to or greater than the threshold value in step S24, the control device 50 reduces the torque output to the motor 44 to zero in step S25. As a result, the angular velocity of the vehicle robot R decreases. Then, in step S26, control device 50 determines whether vehicle robot R has moved by initial tilt angle A1 from its initial state. In this state, the angular velocity of vehicle robot R is close to zero. When this angle of change becomes equal to or greater than initial tilt angle A1, control device 50 starts anti-tip control in step S27.

[0063] (Effects of the Second Embodiment) According to the second embodiment, in addition to the effects (1-1) and (1-3) to (1-5) of the first embodiment, the following effects are achieved.

[0064] (2-1) According to the second embodiment, the control device 50 of the vehicle robot R executes anti-toppling control when the angle of change becomes equal to or greater than the initial tilt angle A1. At this time, the control device 50 calculates, as the angle of change, the absolute value of the value obtained by integrating the velocity from the initial state over time. Therefore, the above control can be executed at a position where the tilt angle A2 is zero. When the anti-toppling control is started, the angular velocity of the vehicle robot R is close to zero. Therefore, once the anti-toppling control is started, there is a high possibility that the tilt angle A2 of the vehicle robot R will be maintained at approximately zero during the anti-toppling control.

[0065] <Modifications> The above embodiment and the following modifications can be implemented in combination with each other within the scope of technical compatibility.

[0066] (Regarding Modifications of the Overall Configuration) The shape of the vehicle unit 10 is not limited to the example of the above embodiment. For example, the vehicle unit 10 may have only one wheel 12. That is, the vehicle unit 10 may be a so-called unicycle. In this case, the rotation axes of the flywheel 43 and the angular velocity sensor 42 may extend along the central axis of rotation of the wheel 12, or may extend in the radial direction of the wheel 12. Furthermore, these rotation axes may extend in any direction. That is, the "specific first direction" is not limited to being along the first axis X. Furthermore, the vehicle robot R may include multiple motors 44, multiple flywheels 43, etc.

[0067] Furthermore, the two wheels 12 of the vehicle unit 10 may be aligned in a direction along the rotation axis of each wheel 12. In this case, it is preferable that the rotation axes of the flywheel 43 and the angular velocity sensor 42 extend along the rotation axis direction of the wheel 12.

[0068] The components of the vehicle unit 10 are not limited to those described in the above embodiment. For example, the front wheels 12A do not have to be steerable wheels. In this case, the vehicle unit 10 may be capable of moving forward and backward only along the first axis X, or the rear wheels 12B may be steerable.

[0069] Furthermore, the vehicle unit 10 does not necessarily have to have the handlebars 14, cranks 15, pedals 16, saddle 17, etc. If the handlebars 14 are not provided, it is sufficient that the control device 50 can steer the front wheels 12A without using the arms 34 of the humanoid casing 30 and the handlebars 14, for example.

[0070] The vehicle robot R does not have to be equipped with a rear wheel drive motor 46. The rear wheels 12B of the vehicle unit 10 may be driven by the legs 33 of the humanoid casing 30 pedaling the pedals 16. The configuration of the rear wheel drive motor 46 is not limited to the example of the above embodiment. For example, the axle of the motor 44 may be connected to the axle of the rear wheels 12B.

[0071] The configuration of the auxiliary unit 20 is not limited to the example of the above embodiment. The vehicle robot R may be provided with either the first auxiliary unit 22A or the second auxiliary unit 22B. Furthermore, the auxiliary unit 20 does not need to be connected to the vehicle unit 10 in an undetachable manner. For example, the auxiliary unit 20 may be detachable from the vehicle unit 10 using a magnet or the like.

[0072] The auxiliary unit 20 does not need to be attached to the vehicle unit 10. For example, the legs 33 of the humanoid casing 30 may support the vehicle unit 10 as the auxiliary unit 20. Furthermore, the auxiliary unit 20 does not need to have training wheels. For example, it may be composed of a support arm 18 and a rod that is inserted and fixed into a through-hole of the support arm 18. Furthermore, the shaft 21 of the auxiliary unit 20 may be extendable. By making the shaft 21 extendable, the auxiliary unit 20 is less likely to interfere with the travel of the vehicle unit 10, for example, even when the vehicle unit 10 travels around a curve.

[0073] The material of auxiliary unit 20 is not limited to the example in the above embodiment. For example, auxiliary unit 20 may be made of stainless steel, synthetic resin, aluminum, or the like. First auxiliary wheel 23A may be rotatably supported at the end of shaft 21 on the second positive direction Y1 side. Second auxiliary wheel 23B may be rotatably supported at the end of shaft 21 on the second negative direction Y2 side. As a result, even if the tilt angle A2 of vehicle robot R increases while vehicle robot R is traveling, the rotation of each auxiliary wheel can reduce the resistance associated with auxiliary unit 20 contacting the floor surface. This makes it easier to prevent vehicle robot R from tipping over, auxiliary unit 20 from wearing out, and the like.

[0074] The vehicle robot R does not have to have the humanoid housing 30. In this case, for example, the flywheel 43, the motor, the control device 50, etc. may be stored inside the vehicle section 10.

[0075] The configuration and shape of the humanoid housing 30 are not limited to the examples in the above embodiment. It does not have to resemble a human shape and may have any shape. The initial tilt angle A1 does not have to be 2.7 degrees or less. Even if the initial tilt angle A1 is greater than 2.7 degrees, it is sufficient as long as the torque command value can be appropriately adjusted to perform stand-up control. The initial tilt angle A1 at which stand-up control can be appropriately performed varies depending on the weight and shape of the vehicle robot R, the performance of the motor 44, the stand-up control algorithm, etc.

[0076] The angle sensor 41 and the angular velocity sensor 42 do not have to be mounted on the vehicle unit 10. The mounting positions and shapes of the angle sensor 41 and the angular velocity sensor 42 are not limited to those in the above embodiment. The specific detection methods and types of the angle sensor 41 and the angular velocity sensor 42 are not limited to those in the above embodiment.

[0077] The flywheel 43, the motor 44, the battery 45, and the control device 50 do not have to be stored inside the humanoid casing 30. Furthermore, the positions of the flywheel 43 and the motor 44 are not limited to those in the above embodiment.

[0078] The vehicle robot R does not need to be equipped with angle sensor 41. For example, if the flatness of the floor is known in advance, the initial tilt angle A1 can be determined in advance. The vehicle robot R does not need to be equipped with battery 45. It may be configured so that power is supplied from an external power source via a cable.

[0079] The configuration and functions of the control device 50 are not limited to those of the above embodiment. The control device 50 may be any device that can output a torque command value to the motor and can execute stand-up control and fall prevention control.

[0080] The control device 50 may not execute the process of step S11 in the standing control. For example, the humanoid casing 30 may have a button or the like, and the control device 50 may execute the processes of step S12 and thereafter on the condition that the user presses the button.

[0081] The specific control process of the overturn prevention control is not limited to the example of the above embodiment. It is sufficient that the torque command value is calculated so that the tilt angle A2 approaches zero. For example, the control may acquire the tilt angle A2 from the angle sensor 41 and maintain the tilt angle A2 at approximately zero.

[0082] (Regarding Modified Examples of Standing Up Control) In the initial state, the vehicle robot R does not need to be supported only by the auxiliary unit 20. A pedestal or the like may be present between the auxiliary unit 20 and the floor surface or the like.

[0083] In steps S12 and S13 of the standing control in the first embodiment and steps S22 and S23 of the standing control in the second embodiment, the rotation speed of the flywheel 43 is not limited to the examples in the above embodiments. It can be changed as appropriate depending on the weight and shape of the vehicle robot R, the performance of the motor 44, etc.

[0084] In the standing control of the first embodiment, the process of step S12 may be omitted. In this case, for example, in step S13, the control device 50 may rotate the motor in the reverse direction at 4000 rpm. Similarly, step S22 in the standing control of the second embodiment may be omitted.

[0085] In step S14 of the standing control in the first embodiment, the angular velocity threshold value may be a value calculated appropriately by the control device 50. Even if the value is calculated appropriately in this way, it can be said to be a "predetermined threshold value" as long as it is calculated according to a specified program or the like. Furthermore, the angular velocity threshold value in step S14 can be changed appropriately depending on the weight and shape of the vehicle robot R, the performance of the motor 44, etc.

[0086] In step S24 of the standing control in the second embodiment, the method for determining whether the inclination angle A2 is equal to or less than a threshold value defined as the angle between the gravity axis GA and the initial inclination angle A1 is not limited to the example in the above embodiment. For example, it may be determined whether the value of the inclination angle A2 acquired from the angle sensor 41 is equal to or less than a predetermined threshold value.

[0087] In step S24, the change angle may be determined to be 0.9 degrees or greater if the tilt angle A2 is equal to or less than a predetermined value of 1.6 degrees. Note that since the initial tilt angle A1 is a predetermined fixed angle of 2.5 degrees, the tilt angle A2 being equal to or less than a predetermined value, i.e., 1.6 degrees or less, is equivalent to the change angle being 0.9 degrees or greater. In this way, the determination of whether the change angle is equal to or greater than a threshold value is not limited to a direct comparison of the change angle with a threshold value.

[0088] In the stand-up control of the second embodiment, it is not necessary to use absolute values ​​in the actual calculations in steps S24 and S26. For example, in step S24, the control device 50 may calculate a negative value obtained by integrating the angular velocity over time from the initial state as the change angle. The control device 50 may then determine whether this change angle is equal to or less than -0.9. In this case, it can be said that the absolute value of the value obtained by integrating the velocity over time from the initial state is essentially compared with the threshold value.

[0089] <Supplementary Notes> The technical concepts that can be derived from the above-described embodiment and modifications are described below. [1] A vehicle unit having wheels, an angular velocity sensor that detects the angular velocity of the vehicle unit about an axis along a specific first direction as a rotation axis, a flywheel that is rotatable about an axis along the first direction as a rotation axis, a motor that rotates the flywheel, an auxiliary unit that supports the vehicle unit so that the tilt angle of the vehicle unit with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device that outputs a torque command value to the motor, wherein the control device is capable of executing: stand-up control that stands up the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit; and anti-tip control that calculates the torque command value so that the tilt angle approaches zero, wherein the direction of the angular velocity when the vehicle unit rotates in a direction opposite to the initial tilt angle with respect to the gravity axis is defined as positive, and the direction of the angular velocity when the vehicle unit rotates in a direction toward the initial tilt angle with respect to the gravity axis is defined as negative, and the stand-up control is performed when a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity becomes positive is defined as a reverse rotation direction. a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state; and a step of bringing the torque command value closer to zero when the angular velocity becomes equal to or greater than a predetermined positive threshold, wherein the control device ends the standing up control and starts the anti-tip control when the angular velocity becomes equal to or less than zero after starting the standing up control.

[0090] [2] A vehicle unit having wheels, an angular velocity sensor that detects the angular velocity of the vehicle unit about an axis along a specific first direction as a rotation axis, a flywheel that can rotate about an axis along the first direction as a rotation axis, a motor that rotates the flywheel, an auxiliary unit that supports the vehicle unit so that the tilt angle of the vehicle unit with respect to a gravity axis becomes a predetermined initial tilt angle, and a control device that outputs a torque command value to the motor, wherein the control device is capable of executing: stand-up control that stands up the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit; and anti-tip control that calculates the torque command value so that the tilt angle approaches zero, wherein the direction of the angular velocity when the vehicle unit rotates in a direction opposite to the initial tilt angle with respect to the gravity axis is defined as positive, and the direction of the angular velocity when the vehicle unit rotates in a direction toward the initial tilt angle with respect to the gravity axis is defined as negative, and the stand-up control is performed when a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity becomes positive is defined as a reverse rotation direction. a step of outputting the torque command value on the side of the reverse rotation direction compared to the torque command value in the initial state; and a step of, when the tilt angle is the angle between the gravity axis and the initial tilt angle, bringing the torque command value closer to zero when a change angle that is a difference between the tilt angle and the initial tilt angle becomes equal to or greater than a predetermined threshold, wherein the control device, after starting the standing up control, ends the standing up control and starts the anti-tip control when an absolute value of a value obtained by integrating the angular velocity with respect to time from the initial state becomes equal to or greater than the initial tilt angle.

[0091] [3] The vehicle robot according to [1] or [2], wherein when the direction opposite to the reverse rotation direction is defined as the forward rotation direction, the standing control includes a step of outputting the torque command value on the forward rotation direction side of zero before the step of outputting the torque command value on the reverse rotation direction side.

[0092] [4] The vehicle robot according to any one of [1] to [3], wherein the initial tilt angle is 2.7 degrees or less.

[0093] [5] A vehicle robot described in any one of [1] to [4], wherein when a direction intersecting the first direction is a second direction, one of the second directions is a second positive direction, and the direction opposite to the second positive direction is a second negative direction, the auxiliary parts include a first auxiliary part extending from the vehicle part toward the second positive direction, and a second auxiliary part extending from the vehicle part toward the second negative direction.

[0094] [6] The vehicle robot according to any one of [1] to [5], wherein the auxiliary part includes a shaft part extending from the vehicle part and an auxiliary wheel rotatably supported on the shaft part.

[0095] [7] This invention is applied to a vehicle robot including: a vehicle section having wheels; an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction as its axis of rotation; a flywheel that is rotatable about an axis along the first direction as its axis of rotation; a motor that rotates the flywheel; an auxiliary section that supports the vehicle section so that the tilt angle of the vehicle section with respect to the axis of gravity becomes a predetermined initial tilt angle; and a control device that outputs a torque command value to the motor, wherein the control device executes: an upright control that causes the vehicle section to stand up from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tip control that calculates the torque command value so that the tilt angle approaches zero; and the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial tilt angle with respect to the axis of gravity is defined as positive, and the direction of the angular velocity when the vehicle section rotates in a direction toward the initial tilt angle with respect to the axis of gravity is defined as negative, and when the rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity becomes positive is defined as a reverse rotation direction, the stand-up control includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and a step of bringing the torque command value closer to zero when the angular velocity becomes equal to or greater than a predetermined positive threshold value, and the overturn prevention control is control that is started when the angular velocity becomes equal to or less than zero after the stand-up control is started.

[0096] [8] This invention is applied to a vehicle robot including: a vehicle section having wheels; an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction as its axis of rotation; a flywheel that is rotatable about an axis along the first direction as its axis of rotation; a motor that rotates the flywheel; an auxiliary section that supports the vehicle section so that the tilt angle of the vehicle section with respect to the axis of gravity becomes a predetermined initial tilt angle; and a control device that outputs a torque command value to the motor, wherein the control device executes: an upright control that causes the vehicle section to stand up from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tip control that calculates the torque command value so that the tilt angle approaches zero; and the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial tilt angle with respect to the axis of gravity is defined as positive, and the direction of the angular velocity when the vehicle section rotates in a direction toward the initial tilt angle with respect to the axis of gravity is defined as negative, and when the rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity becomes positive is defined as a reverse rotation direction, The stand-up control includes the steps of: outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state; and, when the tilt angle is an angle between the gravity axis and the initial tilt angle, making the torque command value approach zero when a change angle, which is a difference between the tilt angle and the initial tilt angle, becomes equal to or greater than a predetermined threshold; and the overturn prevention control is control that is started when, after starting the stand-up control, an absolute value of a value obtained by integrating the angular velocity over time from the initial state becomes equal to or greater than the initial tilt angle.

[0097] R...Vehicle robot 10...Vehicle section 12...Wheel 20...Auxiliary section 21...Axle section 22A...First auxiliary section 23A...First auxiliary wheel 22B...Second auxiliary section 23B...Second auxiliary wheel 30...Humanoid housing 41...Angle sensor 42...Angular velocity sensor 43...Flywheel 44...Motor 50...Control device GA...Gravity axis A1...Initial tilt angle A2...Tilt angle

Claims

1. A vehicle unit having wheels; an angular velocity sensor that detects the angular velocity of the vehicle unit about an axis along a specific first direction; a flywheel that can rotate about an axis along the first direction; a motor that rotates the flywheel; an auxiliary unit that supports the vehicle unit so that the inclination angle of the vehicle unit with respect to an axis of gravity becomes a predetermined initial inclination angle; and a control device that outputs a torque command value to the motor, wherein the control device is capable of executing: a standing-up control that stands up the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit; and an anti-toppling control that calculates the torque command value so that the inclination angle approaches zero, wherein the direction of the angular velocity when the vehicle unit rotates in a direction opposite to the initial inclination angle with respect to the axis of gravity is defined as positive, and the direction of the angular velocity when the vehicle unit rotates in a direction toward the initial inclination angle with respect to the axis of gravity is defined as negative, and a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity is positive is defined as a reverse rotation direction, the standing-up control is a step of outputting the torque command value on the side of the reverse rotation direction compared to the torque command value in the initial state; and a step of making the torque command value approach zero when the angular velocity becomes equal to or greater than a predetermined positive threshold value, wherein the control device, after starting the standing up control, ends the standing up control and starts the anti-toppling control when the angular velocity becomes equal to or less than zero.

2. A vehicle unit having wheels; an angular velocity sensor that detects the angular velocity of the vehicle unit about an axis along a specific first direction; a flywheel that can rotate about an axis along the first direction; a motor that rotates the flywheel; an auxiliary unit that supports the vehicle unit so that the inclination angle of the vehicle unit with respect to an axis of gravity becomes a predetermined initial inclination angle; and a control device that outputs a torque command value to the motor, wherein the control device is capable of executing: a standing up control that stands up the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit; and an anti-toppling control that calculates the torque command value so that the inclination angle approaches zero; wherein the direction of the angular velocity when the vehicle unit rotates in a direction opposite to the initial inclination angle with respect to the axis of gravity is defined as positive, and the direction of the angular velocity when the vehicle unit rotates in a direction toward the initial inclination angle with respect to the axis of gravity is defined as negative, and the standing up control is performed when a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity is positive is defined as a reverse rotation direction. outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state; and, when the tilt angle is an angle between the gravity axis and the initial tilt angle, making the torque command value approach zero when a change angle that is a difference between the tilt angle and the initial tilt angle becomes equal to or greater than a predetermined threshold value, wherein, after starting the standing control, the control device terminates the standing control and starts the anti-toppling control when an absolute value of a value obtained by integrating the angular velocity with respect to time from the initial state becomes equal to or greater than the initial tilt angle.

3. A vehicle robot as described in claim 1 or claim 2, wherein, when the direction opposite to the reverse rotation direction is defined as the forward rotation direction, the standing control includes a step of outputting the torque command value on the forward rotation direction side of zero before a step of outputting the torque command value on the reverse rotation direction side.

4. A vehicle robot according to any one of claims 1 to 3, wherein the initial tilt angle is 2.7 degrees or less.

5. A vehicle robot as described in any one of claims 1 to 4, comprising, as the auxiliary parts, a first auxiliary part extending from the vehicle part toward the second positive direction, and a second auxiliary part extending from the vehicle part toward the second negative direction, when a direction intersecting the first direction is defined as a second direction, one side of the second direction is defined as a second positive direction, and a direction opposite to the second positive direction is defined as a second negative direction.

6. A vehicle robot as claimed in any one of claims 1 to 5, wherein the auxiliary part includes an axle extending from the vehicle part and an auxiliary wheel rotatably supported on the axle.

7. Applied to a vehicle robot including: a vehicle section having wheels; an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction; a flywheel that can rotate about an axis along the first direction; a motor that rotates the flywheel; an auxiliary section that supports the vehicle section so that the inclination angle of the vehicle section with respect to the axis of gravity becomes a predetermined initial inclination angle; and a control device that outputs a torque command value to the motor, wherein the control device executes an upright control that causes the vehicle section to stand up from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tip control that calculates the torque command value so that the inclination angle approaches zero, wherein the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial inclination angle with respect to the axis of gravity is defined as positive, and the direction of the angular velocity when the vehicle section rotates in a direction toward the initial inclination angle with respect to the axis of gravity is defined as negative, and a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity is positive is defined as a reverse rotation direction, the stand-up control includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and a step of making the torque command value approach zero when the angular velocity becomes equal to or greater than a predetermined positive threshold value, and the overturn prevention control is control that is started when the angular velocity becomes equal to or less than zero after starting the stand-up control.

8. Applied to a vehicle robot including: a vehicle section having wheels; an angular velocity sensor that detects the angular velocity of the vehicle section about an axis along a specific first direction; a flywheel that can rotate about an axis along the first direction; a motor that rotates the flywheel; an auxiliary section that supports the vehicle section so that the inclination angle of the vehicle section with respect to the axis of gravity becomes a predetermined initial inclination angle; and a control device that outputs a torque command value to the motor, wherein the control device executes: an upright control that causes the vehicle section to stand up from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tip control that calculates the torque command value so that the inclination angle approaches zero; the direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial inclination angle with respect to the axis of gravity is defined as positive; and the direction of the angular velocity when the vehicle section rotates in a direction toward the initial inclination angle with respect to the axis of gravity is defined as negative; and a rotation direction of the motor that generates a reaction force in the flywheel in a direction in which the angular velocity is positive is defined as a reverse rotation direction; The stand-up control includes a step of outputting the torque command value on the reverse rotation direction side compared to the torque command value in the initial state, and a step of making the torque command value approach zero when the tilt angle is an angle between the gravity axis and the initial tilt angle, and a change angle that is a difference between the tilt angle and the initial tilt angle becomes equal to or greater than a predetermined threshold value, and the anti-toppling control is a control that is started when, after starting the stand-up control, an absolute value of a value obtained by integrating the angular velocity with respect to time from the initial state becomes equal to or greater than the initial tilt angle.

Images