阅读说明：本技术 行进机器人、行进机器人控制方法和程序 (Traveling robot, traveling robot control method, and program ) 是由 高杉宪明 小久保亘 木下将也 川浪康范 于 2019-12-24 设计创作，主要内容包括：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。(In a traveling robot that travels by switching between leg driving and wheel driving, the present invention achieves suppression of a speed reduction when switching between leg driving and wheel driving. The present invention includes a drive unit, a clutch for switching a transmission destination of a drive force of the drive unit, legs and wheels driven by the drive force of the drive unit, and a control unit. At the time of drive switching between leg drive and wheel drive, the control unit performs travel speed control before the drive switching so that the travel speed after the drive switching will be almost equal to the travel speed before the drive switching. At the time of switching of drive between leg drive and wheel drive, the control unit sets the wheel to a sliding movement state in which the wheel slides in a non-driving state. At the time of drive switching, acceleration processing is performed before the drive switching so that the traveling speed after the drive switching will be almost equal to the traveling speed before the drive switching.)

1. A travel robot, comprising:

a drive unit;

a clutch configured to switch a transmission destination of the driving force from the driving unit;

a leg configured to be driven by a driving force from the driving unit;

a wheel configured to be driven by a driving force from the driving unit; and

a control unit for controlling the operation of the display unit,

wherein, in the drive switching between the leg drive and the wheel drive, the control unit performs the travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

2. The travel robot according to claim 1, wherein in the drive switching between the leg drive and the wheel drive, the control unit sets a slip movement state in which the wheel is caused to slip in a non-drive state.

3. The travel robot according to claim 1, wherein in the drive switching from the leg drive to the wheel drive, the control unit performs the acceleration process by changing the leg drive mode when the leg drive is performed before the drive switching such that the travel speed in the wheel drive after the drive switching is substantially equal to the travel speed in the leg drive before the drive switching.

4. The travel robot according to claim 3, wherein the control unit causes the leg to perform kicking motion as the acceleration process.

5. The travel robot according to claim 1, wherein in the drive switching from the wheel drive to the leg drive, the control unit performs the acceleration process by changing the wheel drive mode when the wheel drive is performed before the drive switching such that the travel speed in the leg drive after the drive switching is substantially equal to the travel speed in the wheel drive before the drive switching.

6. The travel robot according to claim 5, wherein the control unit performs control of increasing a rotation speed of the wheel as the acceleration processing.

7. The traveling robot of claim 1, further comprising:

a locking mechanism of the leg is provided,

wherein the control unit performs a process of keeping the leg fixed to the locking mechanism in wheel driving.

8. The travel robot according to claim 1, wherein in the drive switching from leg drive to wheel drive, the control unit performs the following control: the driving force from the driving unit is used for a leg moving process of fixing the leg to the locking mechanism.

9. The travel robot according to claim 1, wherein in the drive switching from the leg drive to the wheel drive, the control unit performs acceleration control while performing the leg drive before the drive switching, taking into account a speed reduction in a period in which a leg movement process of fixing the leg to the lock mechanism and a process of switching a transmission destination of the drive force from the drive unit from the leg to the wheel through the clutch are performed.

10. The travel robot according to claim 1, wherein in the drive switching from wheel drive to leg drive, the control unit performs acceleration control while performing wheel drive before the drive switching, taking into account a speed reduction in a period in which a process of switching a transmission destination of the driving force from the drive unit from the wheel to the leg through the clutch and a leg movement process of releasing the lock of the leg and grounding the leg are performed.

11. A traveling robot control method performed by a traveling robot,

the traveling robot includes:

a drive unit for driving the motor to rotate,

a clutch configured to switch a transmission destination of the driving force from the driving unit,

a leg and a wheel configured to be driven by a driving force from the driving unit, an

A control unit for controlling the operation of the display unit,

wherein, in the drive switching between the leg drive and the wheel drive, the control unit performs the travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

12. A program for causing a traveling robot to execute traveling robot control,

the traveling robot includes:

a drive unit for driving the motor to rotate,

a clutch configured to switch a transmission destination of the driving force from the driving unit,

a leg and a wheel configured to be driven by a driving force from the driving unit, an

A control unit for controlling the operation of the display unit,

wherein the program causes the control unit to: in the drive switching between the leg drive and the wheel drive, the travel speed control is performed before the drive switching so that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

Technical Field

The present disclosure relates to a traveling robot, a traveling robot control method, and a program. In particular, the present disclosure relates to a traveling robot configured to move by switching between leg traveling by moving its legs back and forth, and wheel traveling by rotating its wheels, a traveling robot control method, and a program.

Background

There has been a traveling robot configured to move by switching between leg traveling by moving its legs back and forth and wheel traveling by rotating its wheels. However, in wheel travel, such a traveling robot is required to accommodate and fix the legs in a position above the ground-contact surface of the wheel. Further, in leg traveling, the traveling robot is required to control the ground-contact surface of the leg to a position below the wheel.

Further, in order to reduce the weight of the traveling robot configured to move by switching between leg traveling and wheel traveling, the traveling robot preferably drives the legs and wheels by a single driving source for the legs and wheels, i.e., an actuator such as a motor, instead of a plurality of driving sources. However, the configuration of the shared actuator has the following problems: a time lag occurs in the switching between the leg and the wheel, so that the moving speed is reduced in this switching period.

As a related art disclosing a travel robot configured to move by switching between leg travel and wheel travel, for example, PTL 1 (japanese patent laid-open No. 2009-113135) is given. PTL 1 discloses a two-legged robot having a three-point contact foot including wheels and supports at a distal end of a leg thereof. This configuration has the advantage that the legs and wheels can be switched in a short time. However, driving the wheel actuator is required and therefore the weight cost is large, which is a problem. Furthermore, since the leg actuator is used to support the self weight even in the wheel moving mode, energy efficiency in the movement is poor, which is a disadvantage.

Further, PTL 2 (japanese patent laid-open No. 2008-260117) discloses a robot that includes wheels in a hip joint portion and is configured to switch between legs and wheels by controlling power supply using a power source common to a hip joint actuator and a driving wheel actuator. When the robot moves with the wheels, the legs remain in a predetermined position.

This arrangement uses the same power source for the legs and wheels but consumes a lot of energy because of the drive actuator required to compensate the legs for their deadweight during wheel travel. Furthermore, a drive wheel actuator is required.

Further, PTL 3 (japanese patent laid-open No. 2008-062306) discloses a leg robot having a knee joint on a circular frame of a wheel, and configured to realize wheel movement with the circular frame by controlling legs to be positioned in the circular frame.

This arrangement enables seamless movement of the legs and wheels. However, the legs cannot be longer than the radius of the circular frame of the wheel, which means that the length of the legs cannot be freely designed. Furthermore, in order to control the position of the legs during wheel travel, the leg actuators require a power supply even during wheel travel.

Further, PTL 4 (japanese patent laid-open No. 2008-049429) discloses a robot configured to drive its legs and wheels by the same number of motors. The robot moves with wheels by driving motors in a synchronous manner, and walks with legs by swinging the legs by driving motors in a differential manner.

This arrangement effectively utilizes the motor in both wheel and leg movements, but requires as many wheels as joints of the leg and is therefore heavy, which is a disadvantage. Further, the leg movement mode and the wheel movement mode cannot be seamlessly switched.

As described above, a plurality of related arts disclose a traveling robot configured to move by switching between leg traveling and wheel traveling, but none of the related arts discloses a configuration for eliminating a decrease in the moving speed in switching between leg driving and wheel driving.

[ list of references ]

[ patent document ]

[PTL 1]

Japanese patent laid-open No. 2009-113135

[PTL 2]

Japanese patent laid-open No. 2008-260117

[PTL 3]

Japanese patent laid-open No. 2008-062306

[PTL 4]

Japanese patent laid-open No. 2008-049429

Disclosure of Invention

[ problem ] to

The present disclosure is made, for example, in view of the problems set forth above, and has the following objects: provided are a traveling robot configured to continuously travel by switching between leg travel and wheel travel while suppressing a decrease in the moving speed in switching between legs and wheels, a traveling robot control method, and a program.

[ solution of problem ]

According to a first aspect of the present disclosure, there is provided a travel robot including: a drive unit; a clutch configured to switch a transmission destination of the driving force from the driving unit; a leg configured to be driven by a driving force from a driving unit; a wheel configured to be driven by a driving force from a driving unit; and a control unit. In the drive switching between the leg drive and the wheel drive, the control unit performs travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

Further, according to a second aspect of the present disclosure, there is provided a traveling robot control method performed by a traveling robot including: a drive unit; a clutch configured to switch a transmission destination of the driving force from the driving unit; a leg and a wheel configured to be driven by a driving force from the driving unit; and a control unit. In the drive switching between the leg drive and the wheel drive, the control unit performs travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

Further, according to a third aspect of the present disclosure, there is provided a program for causing a traveling robot to execute traveling robot control, the traveling robot including: a drive unit; a clutch configured to switch a transmission destination of the driving force from the driving unit; a leg and a wheel configured to be driven by a driving force from the driving unit; and a control unit. The program causes the control unit to perform the following operations: in the drive switching between the leg drive and the wheel drive, the travel speed control is performed before the drive switching so that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

Note that the program of the present disclosure is a program that can be provided using a recording medium or a communication medium configured to provide the program in a computer-readable format to, for example, an information processing apparatus or a computer system capable of executing various program codes. By providing such a program in a computer-readable format, processing according to the program is realized on an information processing apparatus or a computer system.

Other objects, features and advantages of the present disclosure will become apparent from the detailed description based on the embodiments of the present disclosure and the accompanying drawings described later. Note that the term "system" herein includes a configuration in which a plurality of devices are logically grouped, and is not limited to a configuration in which the devices are provided within the same housing.

According to the configuration of the embodiment of the present disclosure, a traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a large speed variation such as a speed reduction in switching between leg driving and wheel driving is realized.

Note that the effects described herein are merely examples, not limitations, and additional effects may exist.

Drawings

[ FIG. 1]

Fig. 1 is a diagram showing a configuration example of a travel robot of the present disclosure.

[ FIG. 2]

Fig. 2 is a diagram showing a travel example of the travel robot of the present disclosure.

[ FIG. 3]

Fig. 3 is a diagram showing a control example of the driving force transmission and locking mechanism when the travel robot of the present disclosure travels.

[ FIG. 4]

Fig. 4 is a diagram illustrating an exemplary travel control process performed by the travel robot of the present disclosure.

[ FIG. 5]

Fig. 5 is a diagram illustrating an exemplary travel control process performed by the travel robot of the present disclosure.

[ FIG. 6]

Fig. 6 is a flowchart showing a processing sequence executed by the travel robot of the present disclosure.

[ FIG. 7]

Fig. 7 is a diagram illustrating a state transition of the traveling robot of the present disclosure when the traveling robot travels.

[ FIG. 8]

Fig. 8 is a diagram illustrating a state transition of the traveling robot of the present disclosure when the traveling robot travels.

[ FIG. 9]

Fig. 9 is a flowchart showing a processing sequence executed by the travel robot of the present disclosure.

[ FIG. 10]

Fig. 10 is a diagram illustrating a state transition of the traveling robot of the present disclosure when the traveling robot travels.

[ FIG. 11]

Fig. 11 is a diagram illustrating a state transition of the traveling robot of the present disclosure when the traveling robot travels.

[ FIG. 12]

Fig. 12 is a diagram showing a configuration example of the travel robot of the present disclosure.

[ FIG. 13]

Fig. 13 is a diagram showing a configuration example of the travel robot of the present disclosure.

[ FIG. 14]

Fig. 14 is a diagram showing a travel example of the travel robot of the present disclosure.

[ FIG. 15]

Fig. 15 is a diagram illustrating a travel example of the travel robot of the present disclosure.

[ FIG. 16]

Fig. 16 is a diagram showing a travel example of the travel robot of the present disclosure.

[ FIG. 17]

Fig. 17 is a diagram illustrating a travel example of the travel robot of the present disclosure.

[ FIG. 18]

Fig. 18 is a diagram showing a hardware configuration example of the travel robot of the present disclosure.

Detailed Description

Now, details of the traveling robot, the traveling robot control method, and the program of the present disclosure are described with reference to the drawings. Note that the following items are described in order.

1. Overview of a travel robot of the present disclosure

2. Detailed information of leg-driven to wheel-driven switching sequence

3. Detailed information of switching sequence from wheel drive to leg drive

4. Other embodiments

5. Hardware configuration example of traveling robot

6. Conclusion of the configuration of the present disclosure

[1. overview of a traveling robot of the present disclosure ]

First, an overview of a travel robot of the present disclosure is described with reference to fig. 1 and the following drawings.

Fig. 1 is a diagram illustrating a travel robot 100 of the present disclosure.

The traveling robot 100 of the present disclosure is a traveling robot configured to move by switching between leg traveling by moving its legs back and forth and wheel traveling by rotating its wheels.

The traveling robot shown in fig. 1 has a configuration using a common actuator such as a motor as a driving unit. With the configuration of sharing a single drive unit in this way, a reduction in the total weight is achieved.

As shown in fig. 1, the travel robot 100 may perform (a) leg travel and (b) wheel travel. In the example shown in the figure, the traveling robot 100 travels in the arrow direction (from left to right).

Note that two travel examples of (a) leg travel and (b) wheel travel are shown in the drawing, and the travel robot 100 can switch between (a) leg travel and (b) wheel travel during travel. In this switching during traveling, switching between (a) leg traveling and (b) wheel traveling is achieved without reducing the speed or without a large change in the speed.

As shown in fig. 1, the traveling robot 100 includes legs 101, wheels 102, a clutch 103, and a locking mechanism 104.

The leg 101 is used in leg travel, which is a walking mode. The joint portion is rotationally driven by a driving force from an actuator such as a motor. That is, the driving force from an actuator such as a motor is converted into joint part rotational driving motions r1, r2, r3, and r4 shown in the drawings to move the leg 101 back and forth. In this way, leg travel as a walking mode is achieved.

The wheel 102 is used in wheel travel. The wheel 102 is rotationally driven by a driving force from an actuator such as a motor. That is, the driving force from an actuator such as a motor is converted into the shaft portion rotational driving motions r5 and r6 shown in the drawings to rotate the wheel 102. In this way wheel travel is achieved.

The configuration of the clutch 103 is not described in detail. The clutch 103 includes a driving force transmission destination switching mechanism configured to switch between a leg drive setting in which a driving force from an actuator such as a motor is transmitted to the leg 101 and a wheel drive setting in which the driving force is transmitted to the wheel 102.

For example, the clutch 103 includes a dog clutch configured to switch a transmission destination of power from an actuator such as a motor.

In the walking movement using the leg 101, power from the actuator is transmitted to the joint portion of the leg 101 through the clutch 103, so that the leg is driven. During this leg driving period, no driving force is transmitted to the wheel 102. Further, in the wheel travel using the wheels 102, the power from the actuator is transmitted to the wheels through the clutch 103. During this period, no driving force is transmitted to the leg. Note that the mechanism configured to switch the transmission destination of power from the actuator is not limited to a dog clutch, and may be an electromagnetic clutch or the like.

The locking mechanism 104 is a mechanism configured to fix the leg 101 in the wheel travel shown in fig. 1 (b). For example, a mechanism configured to insert a pin provided to the lock mechanism 104 into a hole or a recess formed in the leg 101, thereby fixing the leg 101 to the robot main body, may be used as the lock mechanism 104.

With the process of fixing the leg 101 by the locking mechanism 104, the leg 101 can be prevented from contacting or interfering with the wheel 102 or the ground in the wheel travel shown in fig. 1(b) without power transmission to the leg 101.

Note that the driving force from the driving sources of the legs 101 and the wheels 102 may be used for the locking process and the unlocking process by the locking mechanism 104.

Note that, in the configuration shown in fig. 1, the locking mechanism 104 is a single locking mechanism 104 shared by the legs 101 which are the front and rear legs, but the locking mechanism 104 may be provided for each leg.

Note that in the figure only two legs 101 and only two wheels 102 are shown, but on the back side of the figure there are legs and wheels. The arrangement comprises four legs 101 and four wheels 102.

The locking mechanism 104 may be a single locking mechanism configured to secure all four legs. Further, the lock mechanism 104 may be a lock mechanism sharing its structure with the clutch mechanism 103 described above.

Note that the traveling robot 100 shown in fig. 1 includes an encoder, a speedometer, and a sensor configured to measure the rotation angle of the leg 101 and the wheel 102. Further, the traveling robot 100 includes a sensor configured to detect a traveling environment. The sensors determine the condition of the surface of travel, for example, whether the surface is a smooth level ground or an uneven ground. For example, wheel travel is performed on level ground, while leg travel is performed on uneven ground.

Further, the sensor detects whether the traveling surface is a flat surface, an ascending or descending slope, and a slope angle, or whether the traveling surface is a stepped ascending or descending slope, and a step size. The sensors include, for example, cameras and distance sensors.

The control unit of the traveling robot performs traveling control based on information detected by these sensors and the speedometer. Specifically, the control unit performs switching control between leg travel using the leg 101 and wheel travel using the wheel 102. Further, the control unit controls the travel speed in leg travel using the legs 101 and wheel travel using the wheels 102.

Next, referring to fig. 2, a switching process between leg travel and wheel travel performed by the travel robot 100 will be described.

As described above, for example, the control unit of the travel robot 100 performs wheel travel on a horizontal ground and leg travel on an uneven ground.

Fig. 2 shows an example of transition from the leg driving state to the wheel driving state. As shown in fig. 2, in the case where the traveling robot transits from the leg driving state to the wheel driving state, the state of the traveling robot changes over time as follows.

(t1) leg Driving State

(t2) sliding movement state a (leg accommodating process being performed)

(t3) sliding movement state b (drive switching processing under leg lock being executed)

(t4) wheel drive State

(t1) the leg driving state is as follows: a driving force from an actuator such as a motor is transmitted to the leg 101, so that travel by leg driving is performed.

(t2) the slide movement state a (in which the leg accommodating process is being performed) is a period in which the process of accommodating the leg 101 is performed. In this period, a driving force from an actuator such as a motor is transmitted to the leg 101, but the driving force is used for a process of accommodating the leg 101, that is, for moving the leg 101 to the lock position of the lock mechanism 104.

Therefore, in this period, the driving force from the actuator such as the motor cannot be used for the process of moving the traveling robot 100. During this period, the sliding movement using the rotary wheel 102 to which the driving force is not supplied is performed.

(t3) the state of sliding movement b (the drive switching process under leg locking is being performed) is a period during which the process of switching the destination of the drive force from the actuator such as the motor from the leg 101 to the wheel 102 is performed after the leg 101 has been locked to the locking mechanism 104.

That is, with the switching control by the clutch 103, the destination of the driving force from the actuator such as the motor is switched from the leg 101 to the wheel 102.

In addition, in this period, the driving force from the actuator such as the motor cannot be used for the process of moving the traveling robot 100. Further, in this period, the sliding movement using the rotation wheel 102 to which the driving force is not supplied is performed.

(t4) the wheel-driving state is a state in which the destination of the driving force from the actuator such as a motor has been switched to the wheel 102. With control by the clutch 103, a driving force from an actuator such as a motor is transmitted to the pulley 102, so that the pulley 102 is rotationally driven. The traveling robot 100 moves with the wheels 102 rotationally driven.

The settings of the following states (1) to (3) in the states (t1) to (t4) shown in fig. 2 are described with reference to fig. 3.

(1) Driving force transmission state (leg)

(2) Driving force transmission state (wheel)

(3) State of the locking mechanism

Fig. 3 shows the settings of the following states (1) to (3) in the following four states described with reference to fig. 2:

(1) a driving force transmission state (leg);

(2) driving force transmission state (wheels); and

(3) the state of the locking mechanism is such that,

the four states described with reference to FIG. 2 are:

(t1) a leg driving state;

(t2) a slide movement state a (leg accommodating process is being performed);

(t3) the slide movement state b (the drive switching process under leg lock is being performed); and

(t4) a wheel drive state.

(t1) leg Driving State

In the leg driving state, the following items are set.

(1) Driving force transmission state (leg) ON (travel)

(2) Driving force transmission state (wheel) OFF

(3) OFF state of the lock mechanism

That is, the driving force from an actuator such as a motor is transmitted to the leg 101, but is not transmitted to the wheel 102.

The legs 101 are driven by a driving force from an actuator such as a motor to move the traveling robot 100.

The locking mechanism is OFF, which means that the legs are not locked, i.e. in the unlocked state.

(t2) sliding movement state a (leg accommodating process being performed)

In the slide movement state a (the leg accommodating process is being performed), the following items are set.

(1) Driving force transmission state (leg) ═ ON (accommodation process)

(2) Driving force transmission state (wheel) OFF

(3) State of lock mechanism being OFF → ON

That is, the driving force from an actuator such as a motor is transmitted to the leg 101, but is not transmitted to the wheel 102.

The leg 101 is driven by a driving force from an actuator such as a motor, so that the accommodation process is performed. As described above, the driving force cannot be used to move the traveling robot 100, and therefore, the traveling robot 100 moves by sliding with the rotation wheel 102.

The lock mechanism is turned from OFF to ON. The leg is locked or secured when the locking mechanism position is reached.

(t3) sliding movement state b (drive switching processing under leg lock being executed)

In the slide movement state b (the drive switching process in the case of the locking leg being performed), the following items are set.

(1) Driving force transmission state (leg) OFF

(2) Driving force transmission state (wheel) OFF

(3) State of locking mechanism is ON

That is, the driving force from an actuator such as a motor is transmitted to neither the leg 101 nor the wheel 102.

This period is a period in which the transmission destination of the driving force from the actuator such as the motor is switched from the leg 101 to the wheel 102 through the clutch 103.

The driving force from an actuator such as a motor is not used to move the traveling robot 100, and therefore, the traveling robot 100 moves by sliding with the rotation wheel 102.

The locking mechanism is ON so that the leg is being secured in position at the locking mechanism 104.

(t4) wheel drive State

In the wheel drive state, the following is provided.

(1) Driving force transmission state (leg) OFF

(2) Driving force transmission state (wheel) ON

(3) State of locking mechanism is ON

That is, the driving force from an actuator such as a motor is not transmitted to the leg 101, but is transmitted to the wheel 102.

During this period, a driving force from an actuator such as a motor is transmitted to the wheels 102, so that the traveling robot 100 moves with the rotating wheels 102.

The locking mechanism is ON so that the leg is being secured in position at the locking mechanism 104.

As described with reference to fig. 2 and 3, in the case of switching between leg driving and wheel driving, a process of accommodating and locking the leg 104 and a process of switching a transmission destination of the driving force from an actuator such as a motor by clutch control are required. During the period of these processes, the driving force from the actuator such as the motor cannot be used for the movement (travel) of the travel robot 100. That is, there is a driving force unavailable traveling period in which the driving force cannot be applied to the movement process.

Therefore, the speed of the traveling robot 100 is reduced in the driving force unavailable traveling period.

Note that both the switching process from leg drive to wheel drive and the switching process from wheel drive to leg drive have a driving force unavailable traveling period.

The travel robot 100 of the present disclosure performs control of suppressing a speed decrease in a travel period in which the driving force is unavailable.

A specific control processing example is described with reference to fig. 4.

The graph of fig. 4, in which the horizontal axis indicates time (t) and the vertical axis indicates speed (v), shows a change in speed when switching from leg-driving travel to wheel-driving travel.

The period between times t0 and t1 and the period between times t1 and t2 correspond to the leg-driving travel period.

The period between times t2 and t3 is a period that requires leg accommodation and switching of the driving force destination (switching from leg to wheel) by clutch operation. This period is a driving force unavailable traveling period.

The period after and at time t3 is the wheel-drive traveling period.

The control unit of the travel robot 100 of the present disclosure sets the acceleration leg-driving travel period immediately before the end of the leg-driving travel, i.e., immediately before the travel robot 100 shifts from the leg-driving travel period to the drive-force-unavailable travel period.

This period is a period between times t1 and t2 shown in the figure.

The control unit of the traveling robot 100 of the present disclosure controls the driving of the leg 101 to perform the acceleration process of increasing the traveling speed of the traveling robot 100 before the traveling robot 100 is about to enter the traveling period in which the driving force is not available. Specifically, for example, the control unit causes the leg 101 to perform kicking motion, thereby accelerating the traveling robot 100.

After this acceleration process, from time t2, the travel robot 100 transitions to a drive force unavailable travel period, that is, a period in which the leg accommodation and the drive force destination switching process (switching from leg to wheel) by the clutch operation are performed, so that the moving speed gradually decreases.

At time t3, leg accommodation and driving force destination switching by clutch operation (switching from leg to wheel) are ended, and driving force from an actuator such as a motor is transmitted to the wheel 102, so that traveling by wheel drive is started.

At time t3 at which wheel drive traveling starts, the traveling speed of the traveling robot 100 is substantially equal to the speed V0 in the period between times t0 and t1 at which leg drive traveling is performed. That is, wheel drive travel can begin without a substantial decrease in speed.

Fig. 5 shows the speed change when switching from the wheel-drive travel to the leg-drive travel.

The period between the times t0 and t1 and the period between the times t1 and t2 correspond to the wheel-drive traveling period.

The period between times t2 and t3 is a period in which leg unlocking and driving force destination switching by clutch operation (switching from wheels to legs) are required. This period is a driving force unavailable traveling period.

The period after and at time t3 is a leg-driving travel period.

The control unit of the travel robot 100 of the present disclosure sets the accelerator-wheel-drive travel period immediately before the end of the wheel-drive travel, that is, immediately before the travel robot 100 shifts from the wheel-drive travel period to the drive-force-unavailable travel period.

This period is a period between t1 and t2 shown in the figure.

The control unit of the traveling robot 100 of the present disclosure controls the driving of the wheels 102 to perform an acceleration process of increasing the traveling speed of the traveling robot 100 before the traveling robot 100 is about to enter the traveling period in which the driving force is unavailable. Specifically, the control unit increases the rotation speed of the wheel 102 to accelerate the traveling robot 100.

After this acceleration process, from time t2, the traveling robot 100 transitions to a driving force unavailable traveling period, that is, a period in which the leg unlock and the driving force destination switching process (switching from wheel to leg) by the clutch operation are performed, so that the moving speed gradually decreases.

At time t3, the leg unlock and the driving force destination switching by the clutch operation (switching from the wheels to the legs) are ended, and the driving force from the actuator such as the motor is transmitted to the leg 101, so that the travel by the leg drive is started.

At time t3 when the leg-driving travel starts, the travel speed of the traveling robot 100 is substantially equal to the speed V0 in the period between times t0 and t1 when the wheel-driving travel is performed. That is, leg-driven travel can begin without substantially reducing speed.

[2. detailed information of switching sequence from leg drive to wheel drive ]

Next, detailed information of the switching sequence from leg driving to wheel driving performed by the traveling robot 100 of the present disclosure is described.

Referring to the flowchart of fig. 6, a switching sequence from leg driving to wheel driving performed by the traveling robot 100 of the present disclosure is described.

Note that the control unit (data processing unit) of the traveling robot 100 may execute processing following the flowchart of fig. 6, for example, according to a program stored in the storage unit of the traveling robot 100. For example, the processing may be executed as program execution processing by a processor having a program execution function, such as a CPU.

Now, the processing in each step in the flow of fig. 6 is described.

(step S101)

First, in step S101, the control unit of the travel robot 100 of the present disclosure transmits a driving force from an actuator such as a motor to the leg 101, thereby performing leg travel driven by the leg.

This state is the leg-drive traveling state shown in fig. 7 (S101).

(step S102)

Next, in step S102, the control unit starts the process of lowering the traveling robot 100. This is a preparation process for shifting to travel with the wheel 102. Specifically, the legs 101 are bent to lower the traveling robot 100.

This state is the robot lowering state shown in fig. 7 (S102). Note that also in this state, a driving force from an actuator such as a motor is transmitted to the leg 101, so that leg travel by leg driving continues.

(step S103)

Next, in step S103, the control unit determines whether the wheel 102 of the traveling robot 100 has grounded.

In the case where the wheel 102 is not grounded, the process returns to step S102 and the lowering process continues.

In the case where it is confirmed that the wheels 102 of the traveling robot 100 have grounded, the process proceeds to step S104.

This state is the wheel contact confirmation state shown in fig. 7 (S103). Note that also in this state, a driving force from an actuator such as a motor is transmitted to the leg 101, so that leg travel by leg driving continues.

(step S104)

When it is confirmed in step S103 that the wheel 102 of the traveling robot 100 has grounded, the control unit performs an acceleration process by leg driving in step S104. For example, the control unit performs a kicking motion to perform an acceleration process that increases the travel speed of the traveling robot.

This process corresponds to the process in the acceleration leg driving travel period between times t1 and t2 described above with reference to fig. 4.

This state is the acceleration leg driving state shown in fig. 7 (S104). Note that also in this state, a driving force from an actuator such as a motor is transmitted to the leg 101, so that leg travel by leg driving continues.

(step S105)

After the acceleration processing including the kicking motion and the like in step S104, next, in step S105, the control unit moves the leg 101 to the position of the lock mechanism 104, and locks or fixes the leg 101 to the lock mechanism 104.

Note that the driving force for moving the leg 101 here, that is, for moving the leg 101 to the position of the lock mechanism 104, is supplied from an actuator such as a motor. Therefore, the driving force cannot be used for the process of moving the traveling robot 100. That is, the traveling robot 100 is in a sliding state using the wheels 102 to which no driving force is supplied.

This process corresponds to the first half of the process in the sliding state with the non-driving wheel in the period between times t2 and t3 described above with reference to fig. 4.

Further, this state is a state in which the process of moving the leg 101 to the lock mechanism 104 and locking the leg 101 to the lock mechanism 104 is being performed, as shown in fig. 8 (S105). As described above, the driving force from the actuator such as the motor is transmitted to the leg 101, but the driving force is used for the process of moving the leg 101 to the lock mechanism. The traveling robot 100 is in a sliding state using the wheels 102 to which no driving force is supplied.

(step S106)

After locking the leg 101 to the lock mechanism 104 in step S105, next, in step S106, the control unit controls the clutch 103 to switch the transmission destination of the driving force from the actuator such as the motor from the leg 101 to the wheel 102.

This process corresponds to the latter half of the process in the sliding state with the non-driving wheels in the period between times t2 and t3 described above with reference to fig. 4.

Further, this state is a state in which the process of switching the driving force destination from the leg 101 to the wheel 102 by the clutch control is being executed, as shown in fig. 8 (S106). During this period, the destination of the driving force from the actuator such as a motor is switched from the leg 101 to the wheel 102. However, in this switching period, the traveling robot 100 is in a sliding state using the wheels 102 that are not supplied with driving force.

(step S107)

After the switching of the transmission destination of the driving force in step S106, i.e., after the switching process from the leg 101 to the wheel 102, in step S107, the control unit transmits the driving force from the actuator such as a motor to the wheel 102 to rotate the wheel 102. That is, the control unit causes the traveling robot 100 to travel by wheel driving.

This process corresponds to the process in the wheel-drive traveling state in the period at and after time t3 described above with reference to fig. 4.

Further, this state is the wheel-driving traveling state shown in fig. 8 (S107). The driving force from an actuator such as a motor is transmitted to the wheels 102 so that the travel robot 100 travels by wheel driving.

In this way, the travel robot 100 of the present disclosure performs an acceleration process of the leg 101 such as kicking motion to perform acceleration immediately before a process of locking the leg 101 and switching the driving force transmission destination (from leg to wheel) by clutch control is performed. With this acceleration process, the influence of the speed reduction occurring in the process of locking the leg 101 and the driving force transmission destination switching by the clutch control can be reduced, so that the speed at the time of the start of wheel driving travel can be maintained at a speed substantially equal to the speed in leg driving travel. That is, wheel drive travel can begin without a substantial decrease in speed.

[3. detailed information of switching sequence from wheel drive to leg drive ]

Next, detailed information of the switching sequence from wheel drive to leg drive performed by the traveling robot 100 of the present disclosure is described.

Referring to the flowchart of fig. 9, a switching sequence from wheel drive to leg drive performed by the traveling robot 100 of the present disclosure is described.

Note that the control unit (data processing unit) of the traveling robot 100 may execute processing following the flowchart of fig. 9, for example, according to a program stored in the storage unit of the traveling robot 100. For example, the processing may be executed as program execution processing by a processor having a program execution function, such as a CPU.

Now, the processing in each step in the flow of fig. 9 is described.

(step S201)

First, in step S201, the control unit of the travel robot 100 of the present disclosure transmits a driving force from an actuator such as a motor to the wheels 102, thereby performing travel by wheel drive.

This state is the wheel-driving traveling state shown in fig. 10 (S201).

(step S202)

Next, in step S202, the control unit executes acceleration processing by wheel drive. For example, the control unit performs a process of increasing the rotation speed of the wheel 102, thereby performing a traveling robot acceleration process.

This process corresponds to the process in the accelerator wheel drive traveling period between times t1 and t2 described above with reference to fig. 5.

This state is the accelerator wheel driving state shown in fig. 10 (S202). Note that also in this state, the driving force from an actuator such as a motor is transmitted to the wheel 102, so that the travel by wheel driving continues.

(step S203)

After the acceleration processing in step S202, next, in step S203, the control unit controls the clutch 103 to switch the transmission destination of the driving force from the actuator such as a motor from the wheel 102 to the leg 101.

This process corresponds to the first half of the process in the sliding state with the non-driving wheel in the period between times t2 and t3 described above with reference to fig. 5.

Further, this state is the wheel drive stopped state shown in fig. 10 (S203). During this period, the destination of the driving force from the actuator such as a motor is switched from the wheel 102 to the leg 101. In this switching period, the traveling robot 100 is in a sliding state using the wheels 102 to which the driving force is not supplied.

(step S204)

After the clutch control in step S203, i.e., after the switching of the transmission destination of the driving force from the actuator such as the motor from the wheel 102 to the leg 101, next, in step S204, the control unit releases the leg from the lock mechanism 104, and starts the process of grounding the leg 101 with the driving force from the actuator such as the motor.

This process corresponds to the latter half of the process in the sliding state with the non-driving wheels in the period between times t2 and t3 described above with reference to fig. 5.

Further, this state is a leg-drive grounding process start state shown in fig. 11 (S204). In this period, a driving force from an actuator such as a motor is transmitted to the leg 101, but the driving force is used for a moving process of the leg 101 required for grounding the leg 101. Therefore, the traveling robot 100 is in a sliding state using the wheels 102 to which no driving force is supplied.

(Steps S205 and S206)

Next, in steps S205 and S206, the control unit confirms that the leg 101 has been grounded and determines whether stable traveling is possible by driving with the leg 101. Specifically, for example, each of the four legs is experimentally brought into contact with and separated from the running surface to determine whether stable leg-driven running can be performed.

Note that this process is performed in a slipping state with the non-driving wheels using the ground engaging wheels 102.

In the case where it is determined that stable leg-driving travel is not possible, the process returns to step S201, and the traveling robot 100 switches to wheel drive.

Meanwhile, in the case where it is determined that stable leg-driving travel is possible, the process proceeds to step S207.

The processing in steps S205 and S206 also corresponds to the latter half of the processing in the slip state with the non-driving wheel in the period between times t2 and t3 described above with reference to fig. 5. That is, the traveling robot 100 is in a sliding state using the wheels 102 to which no driving force is supplied.

(step S207)

In the case where it is determined in steps S205 and S206 that stable leg-driving travel is possible, the control unit raises the robot and starts normal leg-driving travel in step S207.

This process corresponds to the process in the leg-driving traveling state in the period at time t3 and thereafter described above with reference to fig. 5.

Further, this state is the leg-drive traveling state shown in fig. 11 (S207). The driving force from an actuator such as a motor is transmitted to the wheels 102 so that the travel robot 100 travels by wheel driving.

In this way, the travel robot 100 of the present disclosure performs an acceleration process by the wheels 102, for example, increases the rotational speed of the wheels 102 to perform acceleration, before performing a driving force transmission destination switching process (from wheel to leg) by clutch control and a process of unlocking and grounding the legs 101. With this acceleration process, the influence of the speed reduction occurring in the process period of the driving force transmission destination switching process and the leg grounding process by the clutch control can be reduced, so that the speed at the time of the start of the leg driving travel can be maintained at a speed substantially equal to the speed in the wheel driving travel. That is, leg-driven travel can begin without substantially reducing speed.

[ 4] other embodiments ]

Next, other embodiments to which the process of the present disclosure can be applied are described.

In the above-described embodiment, the four-leg/four-drive wheel-traveling robot 100 including the four legs 101 and the four wheels 102 is described as an example.

The process of the present disclosure is applicable not only to four-leg/four-drive-wheel traveling robots, but also to various traveling robots including any number of legs or wheels.

For example, the traveling robot 120 shown in fig. 12 has a three-wheel configuration including two drive wheels 122 configured to be driven by an actuator such as a motor and a driven wheel 123 that is not supplied with a driving force from the actuator.

The traveling robot 120 includes four legs 121, and all of the four legs 121 are supplied with driving force from actuators.

Further, the traveling robot 150 shown in fig. 13 has a configuration including two driving tracks (caterpillar) 152 configured to be driven by an actuator such as a motor. The traveling robot 150 includes two legs 151 configured to be driven by a driving force from an actuator.

In this way, the process of the present disclosure is applicable not only to four-leg/four-drive-wheel traveling robots, but also to various traveling robots including any number of legs or wheels.

Further, in the above-described embodiment, the surface on which the traveling robot 100 travels is a plane, but the traveling surface of the traveling robot 100 is not limited to a plane.

With reference to fig. 14 and the following drawings, an operation example of the traveling robot 100 in a case where the traveling surface is not a plane is described.

Fig. 14 is an example of a case in which the travel surface has steps and the travel robot 100 faces downward along the step-shaped travel surface.

In step S301, the traveling robot 100 travels on the uppermost step of the stairs by wheel driving. The travel robot 100 switches from the wheel-driven travel to the leg-driven travel while descending the stairs.

In this case, as shown in step S302 of the figure, the traveling robot 100 transits to the coasting state without traveling in contact with the surface of the staircase that is a traveling surface, and then falls on the lowermost step of the staircase by using the legs 101 to start traveling driven by the legs.

In the acceleration processing in the drive switching in this case, weak acceleration control is executed in consideration of the influence of acceleration due to a drop.

The traveling robot 100 calculates a descent distance and a coasting time based on information detected by the sensors to calculate a necessary level of acceleration processing, thereby performing acceleration processing.

Fig. 15 is an example of a case in which the travel surface has a step as in fig. 14 but the travel robot 100 is upward along the step-like travel surface.

In step S321, the traveling robot 100 travels on the lowermost step of the staircase by leg driving. The traveling robot 100 switches from leg-driven traveling to wheel-driven traveling while ascending the stairs.

In this case, as shown in step S322 of the figure, the traveling robot 100 skips the surface of the stairs as a traveling surface without traveling in contact with the surface of the stairs, and then falls on the uppermost step of the stairs by using the wheels 102 to start traveling by wheel driving.

In the acceleration processing in the drive switching in this case, strong acceleration control is executed in consideration of the influence of the speed reduction due to the jump processing.

The traveling robot 100 calculates how high the traveling robot 100 is to jump and a coasting time based on the information detected by the sensors to calculate a necessary level of acceleration processing, thereby performing the acceleration processing.

Fig. 16 is an example of a case in which the travel surface is a slope and the travel robot 100 is down the slope.

In step S341, the traveling robot 100 travels by leg driving to descend along a slope. The travel robot 100 switches from leg-driven travel to wheel-driven travel while moving down the slope.

In this case, while going down a slope as a traveling surface, the traveling robot 100 transitions to a sliding state with non-driving wheels as in step S342 and then transitions to wheel-driving traveling in step S343.

In the acceleration processing in the drive switching in this case, weak acceleration control is performed in consideration of the influence of acceleration due to downward along the slope.

The traveling robot 100 calculates a descent distance and a slide time on a slope based on information detected by the sensors to calculate a necessary acceleration processing level, thereby performing acceleration processing.

Fig. 17 is an example of a case in which the travel surface is a slope as in fig. 16 but the travel robot 100 is up the slope.

In step S361, the traveling robot 100 travels by leg driving to go up a slope. The travel robot 100 switches from leg-driven travel to wheel-driven travel while moving up the slope.

In this case, while going up a slope as a traveling surface, the traveling robot 100 transitions to a slip state using the non-driving wheels as in step S362, and then transitions to wheel-driving traveling in step S363.

In the acceleration processing in the drive switching in this case, strong acceleration control is performed in consideration of the influence of the speed reduction due to the upward following slope.

The traveling robot 100 calculates the degree of the slope and the slip time using the non-driving wheels based on the information detected by the sensors to calculate a necessary acceleration processing level, thereby performing acceleration processing.

In this way, the travel robot of the present disclosure performs control according to various travel surfaces.

That is, in the switching from the leg-drive travel to the wheel-drive travel, the travel robot performs acceleration processing such as kicking motion at the end of the leg-drive travel so that the speed at the start of the wheel-drive travel is substantially the same as the speed in the leg-drive travel.

Further, in the switching from the wheel-drive traveling to the leg-drive traveling, the traveling robot controls the rotation speed of the wheel at the end of the wheel-drive traveling to perform acceleration processing so that the speed at the start of the leg-drive traveling is substantially the same as the speed in the wheel-drive traveling.

With these processing procedures, the influence of the decrease in the travel speed occurring in the period of switching by the clutch, the leg locking or unlocking processing, the grounding processing, and the like can be reduced, so that a stable travel speed can be maintained.

[5. hardware configuration example of traveling robot ]

Next, a hardware configuration example of the travel robot 100 is described.

Fig. 18 is a block diagram showing a configuration example of the traveling robot 100 of the present disclosure.

As shown in fig. 18, the traveling robot 100 includes a control unit 201, an input unit 202, an output unit 203, a sensor group 204, a drive unit 205, a communication unit 206, and a storage unit 207.

The control unit 201 controls processing performed in the travel robot 100. For example, the control unit 201 executes processing according to a control program stored in the storage unit 207. The control unit 201 includes a processor having a program execution function.

The input unit 202 is an interface capable of receiving various data input by a user, and includes a touch panel, a code reading unit, various switches, and the like.

The output unit 203 is a speaker configured to output an alarm or sound, a display configured to output an image, an output unit configured to output light, or the like.

The sensor group 204 includes various sensors, such as camera sensors, microphone sensors, radar sensors, and distance sensors.

The driving unit 205 includes an actuator such as a motor, which is a driving unit for moving the wheels and legs of the traveling robot 100, a direction control mechanism, and the like.

The communication unit 206 performs, for example, communication processing with the management server and an external device such as an external sensor.

The storage unit 207 stores travel route information, information on a program executed in the control unit 201, and the like.

[6. conclusion of configuration of the present disclosure ]

In the foregoing, embodiments of the present disclosure have been described in detail with reference to specific embodiments. However, it is apparent to those skilled in the art that modifications or substitutions may be made in the embodiments without departing from the spirit of the disclosure. That is, the present invention has been disclosed in the form of examples, and the present invention should not be construed restrictively. To ascertain the gist of the present disclosure, the following claims should be considered.

Note that the techniques disclosed herein may employ the following configurations.

(1) A travel robot, comprising:

a drive unit;

a clutch configured to switch a transmission destination of the driving force from the driving unit;

a leg configured to be driven by a driving force from a driving unit;

a wheel configured to be driven by a driving force from a driving unit; and

a control unit for controlling the operation of the display unit,

wherein in the drive switching between the leg drive and the wheel drive, the control unit performs the travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

(2) The traveling robot according to the item (1), wherein in the drive switching between the leg drive and the wheel drive, the control unit sets a slip movement state in which the wheels are caused to slip in a non-drive state.

(3) The travel robot according to the item (1) or (2), wherein in the drive switching from the leg drive to the wheel drive, the control unit performs the acceleration process by changing the leg drive mode when the leg drive is performed before the drive switching so that the travel speed in the wheel drive after the drive switching is substantially equal to the travel speed in the leg drive before the drive switching.

(4) The travel robot according to item (3), wherein the control unit causes the leg to perform kicking motion as the acceleration process.

(5) The travel robot according to any one of the items (1) to (4), wherein at the time of drive switching from wheel drive to leg drive, the control unit performs acceleration processing by changing the wheel drive mode when wheel drive is performed before drive switching such that the travel speed in the leg drive after drive switching is substantially equal to the travel speed in the wheel drive before drive switching.

(6) The travel robot according to the item (5), wherein the control unit performs control of increasing the rotation speed of the wheel as the acceleration processing.

(7) The traveling robot according to any one of the items (1) to (6), further comprising:

a locking mechanism of the leg is arranged on the leg,

wherein the control unit performs a process of keeping the leg fixed to the locking mechanism in the wheel driving.

(8) The travel robot according to any one of the items (1) to (7), wherein in the drive switching from the leg drive to the wheel drive, the control unit performs the following control: the driving force from the driving unit is used for a leg moving process of fixing the leg to the lock mechanism.

(9) The travel robot according to any one of the items (1) to (8), wherein in the drive switching from the leg drive to the wheel drive, the control unit performs the acceleration control while performing the leg drive before the drive switching in consideration of a speed reduction in a period in which a leg movement process of fixing the leg to the lock mechanism and a process of switching a transmission destination of the drive force from the drive unit from the leg to the wheel through the clutch are performed.

(10) The travel robot according to any one of the items (1) to (9), wherein in the drive switching from the wheel drive to the leg drive, the control unit performs acceleration control while performing the wheel drive before the drive switching, in consideration of a speed reduction in a period in which a process of switching a transmission destination of the driving force from the driving unit from the wheel to the leg through the clutch and a leg movement process of releasing the lock of the leg and grounding the leg are performed.

(11) A traveling robot control method performed by a traveling robot,

the traveling robot includes:

a drive unit for driving the motor to rotate,

a clutch configured to switch a transmission destination of the driving force from the driving unit, a leg and a wheel configured to be driven by the driving force from the driving unit, and a control unit,

wherein in the drive switching between the leg drive and the wheel drive, the control unit performs the travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

(12) A program for causing a traveling robot to execute traveling robot control,

the traveling robot includes:

a drive unit for driving the motor to rotate,

a clutch configured to switch a transmission destination of the driving force from the driving unit, a leg and a wheel configured to be driven by the driving force from the driving unit, and a control unit,

wherein the program causes the control unit to: in the drive switching between the leg drive and the wheel drive, the travel speed control is performed before the drive switching so that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching.

Note that the series of processing procedures described herein may be performed by hardware, software, or a combination thereof. In the case where a series of processing procedures are performed by software, a program on which a processing sequence is recorded may be installed on a memory in a computer embedded in dedicated hardware and executed. Alternatively, the program may be installed on a general-purpose computer capable of executing various types of processing and executed. For example, the program may be recorded in advance on a recording medium. Instead of being installed from a recording medium to a computer, the program may be received via a network such as a LAN (local area network) or the internet to be installed on a recording medium such as a built-in hard disk.

Further, the various types of processing described herein may be performed chronologically as described above, or may also be performed in parallel or individually based on the processing capability of a device configured to perform the processing, or performed as needed. Further, the term "system" herein includes a configuration in which a plurality of devices are logically grouped, and is not limited to a configuration in which the devices are provided within the same housing.

[ Industrial Applicability ]

As described above, according to the configuration of the embodiment of the present disclosure, the traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a speed reduction in switching between leg driving and wheel driving is realized.

Specifically, for example, the traveling robot includes: a drive unit; a clutch configured to switch a transmission destination of the driving force from the driving unit; a leg and a wheel configured to be driven by a driving force from the driving unit; and a control unit. In the drive switching between the leg drive and the wheel drive, the control unit performs travel speed control before the drive switching such that the travel speed after the drive switching is substantially equal to the travel speed before the drive switching. In the drive switching between the leg drive and the wheel drive, the control unit sets a slide movement state in which the wheel is slid in a non-drive state. In the drive switching, the control unit performs an acceleration process before the drive switching so that a traveling speed after the drive switching is substantially equal to a traveling speed before the drive switching.

With this configuration, a traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a speed reduction in switching between leg driving and wheel driving is realized.

[ list of reference numerals ]

100: traveling robot

101: leg(s)

102: wheel

103: clutch device

104: locking mechanism

120: traveling robot

121: leg(s)

122: driving wheel

123: driven wheel

150: traveling robot

151: leg(s)

152: driving track (Caterpillar track)

201: control unit

202: input unit

203: output unit

204: sensor group

205: drive unit

206: communication unit

207: memory cell