To realize the suppression of speed decrease at a switching time between leg drive and wheel drive in a traveling robot that performs switching travel between the leg drive and the wheel drive.SOLUTION: The traveling robot includes a drive unit, a clutch for switching a transmission destination of drive force of the drive unit, legs and wheels driven by the drive force of the drive unit, and a control unit. At a switching time of the drive between the leg drive and the wheel drive, the control unit executes traveling speed control before the drive switching so that the traveling speed after the drive switching becomes substantially equal to the traveling speed before the drive switching. The control unit sets the wheel to a sliding movement state in which the wheel slides in a non-driving state when switching the drive between the leg drive and the wheel drive. At the drive switching time, acceleration processing is executed before drive switching so that the traveling speed after the drive switching becomes substantially equal to the traveling speed before the drive switching.SELECTED DRAWING: Figure 4
【課題】脚駆動と車輪駆動の切り替え走行を行う走行ロボットにおいて、脚駆動と車輪駆動切り替え時の速度低下の抑制を実現する。【解決手段】駆動部と、駆動部の駆動力の伝達先を切り替えるクラッチと、駆動部の駆動力により駆動する脚と車輪と、制御部を有する。制御部は、脚駆動と車輪駆動との駆動切り替え時に、駆動切り替え後の走行速度を駆動切り換え前の走行速度にほぼ等しくなるように駆動切り替え前に走行速度制御を実行する。制御部は、脚駆動と車輪駆動との駆動切り替え時に、車輪を非駆動状態で滑走させる滑走移動状態に設定する。駆動切り替え時には、駆動切り替え後の走行速度を、駆動切り換え前の走行速度にほぼ等しくなるように、駆動切り替え前に加速処理を実行する。【選択図】図4
TRAVELING ROBOT, TRAVELING ROBOT CONTROL METHOD, AND PROGRAM
走行ロボット、および走行ロボット制御方法、並びにプログラム
2020-08-31
Patent
Elektronische Ressource
Japanisch
TRAVELING ROBOT, TRAVELING ROBOT CONTROL METHOD, AND PROGRAM
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