In a traveling robot that switches between leg driving and wheel driving for travel, the present invention achieves the suppression of a velocity reduction when switching between leg driving and wheel driving. The present invention has a drive unit, a clutch that switches the transmission destination for the driving force of the drive unit, a leg and a wheel that are driven by the driving force of the drive unit, and a control unit. At the time of a driving switch between leg driving and wheel driving, the control unit performs travel velocity control prior to the driving switch, such that the travel velocity after the driving switch will be nearly equal to the travel velocity before the driving switch. At the time of a driving switch between leg driving and wheel driving, the control unit sets the wheel to a sliding movement condition, in which the same is made to slide in a non-driven condition. At the time of a driving switch, an acceleration process is performed prior to the driving switch, such that the travel velocity after the driving switch will be nearly equal to the travel velocity before the driving switch.
在在腿驱动与轮驱动之间进行切换以行进的行进机器人中,本发明实现了在腿驱动与轮驱动之间进行切换时的速度降低的抑制。本发明具有驱动单元、切换驱动单元的驱动力的传递目的地的离合器、由驱动单元的驱动力驱动的腿和轮、以及控制单元。在腿驱动与轮驱动之间的驱动切换时,控制单元在驱动切换之前执行行进速度控制,使得驱动切换之后的行进速度将几乎等于驱动切换之前的行进速度。在腿驱动与轮驱动之间的驱动切换时,控制单元将轮设置为使轮在非驱动状态下滑动的滑动移动状态。在驱动切换时,在驱动切换之前执行加速处理,使得驱动切换之后的行进速度将几乎等于驱动切换之前的行进速度。
TRAVELING ROBOT, TRAVELING ROBOT CONTROL METHOD, AND PROGRAM
行进机器人、行进机器人控制方法和程序
2021-09-28
Patent
Electronic Resource
Chinese
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