JP2001163098A - Inclination control method and device for automobile seat and seat device for automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inclination control method for an automobile seat capable of positively supporting lateral acceleration (acceleration in a horizontal direction inside a plane vertical to a traveling direction of an automobile) during traveling of the automobile even in regard to an infant or a disabled person. SOLUTION: This inclination control device 80 for the automobile seat has lateral acceleration sensors 51 and 51b detecting a direction and magnitude of acceleration αt acting in the horizontal direction inside the plane vertical to the traveling direction of the automobile in a seat 10 of at least one of the seats other than a driver's seat of the traveling automobile, and inclination control mechanisms 40, 44, 46, and 60 controlling an inclination of a seat face 16 so that the seat face 16 of the seat 10 becomes practically perpendicular to a direction of acceleration α acting on the seat 10 inside the plane vertical to the traveling direction in the seat 10 of at least one of the seats.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to controlling the inclination of a seat or the like of an automobile.

[0002]

2. Description of the Related Art When a vehicle turns or turns on a curve or the like, a centrifugal force exerts a force on the vehicle body toward the outside of the curve, and the vehicle body leans toward the outside of the curve so that the vehicle is located lower as the outside of the curve is located. In order to prevent the driver's seat from tilting in the same direction as the driver's seat is tilted, the lateral acceleration is detected, and the driver's seat is tilted inward of the curve relative to the chassis, that is, in the direction of the turning center of the curve. The attempt to keep the seat horizontal is described in Japanese Patent Application Laid-Open No. 7-149171.

[0003]

However, the seat attitude or inclination control described in this publication is intended to keep the driver's seat horizontal by paying attention to the driver's attitude. Limited to

[0004] In a railway vehicle, the inclination of the bogie according to the inclination previously formed on the curved portion (curve) of the track is further adjusted by the air springs on both sides to adjust or control the inclination angle of the vehicle body on the bogie. This is described in, for example, JP-A-11-198806.

[0005] However, this control is intended to provide passengers with a collision between the vehicle body and the stopper while maintaining mechanical stability such that the vehicle body of an extremely heavy railway vehicle can turn without derailing at a curve. It is not intended to consider the comfort or stability of a passenger sitting on a seat in the vehicle, such as centrifugal force acting on the passenger when the vehicle turns. Further, in the case of a railway vehicle, it is necessary to consider the presence of standing passengers, and therefore it is considered that this is naturally different from the case of an automobile running on a road.

[0006] Incidentally, infants and the handicapped sometimes lack the power to keep their bodies in a predetermined position against the centrifugal force that the car receives when turning a curve. The body may be damaged by the centrifugal force applied to the body when turning. Also,
A similar problem exists for an emergency patient or the like sleeping on a bed of an ambulance or the like.

The present invention has been made in view of the above points, and an object of the present invention is to reliably measure a lateral acceleration (a horizontal acceleration in a plane perpendicular to a traveling direction of an automobile) when the automobile is running. It is an object of the present invention to provide a method and an apparatus for controlling the inclination of an automobile seat which can be supported by a vehicle, and an automobile seat apparatus provided with the same.

Another object of the present invention is to provide an ambulance bed inclination control method and apparatus capable of reliably supporting lateral acceleration and traveling direction acceleration during travel of an ambulance, and an ambulance bed apparatus provided with the same. Is to do.

[0009]

SUMMARY OF THE INVENTION According to the present invention, there is provided a method for controlling the inclination of a seat of an automobile, wherein at least some of the seats other than the driver's seat of a running automobile are provided with the same. Detecting the direction and magnitude of acceleration applied in the horizontal direction in a plane perpendicular to the traveling direction of the vehicle, and for at least some of the seats, the seat surface of the seat acts on the seat in a plane perpendicular to the traveling direction. The inclination of the seat is controlled so as to be substantially perpendicular to the direction of the acceleration. The apparatus for controlling the inclination of the seat of the vehicle according to the present invention achieves the above-mentioned object. Acceleration direction detection means for detecting the direction and magnitude of acceleration applied horizontally to a plane perpendicular to the running direction of the vehicle on at least some of the other seats; Of the seat As the surface is practically perpendicular to the direction of the acceleration acting on the seat's seat in a plane perpendicular to the traveling direction, and a tilt control means for controlling the inclination of the seat surface.

In the method and the apparatus for controlling the inclination of a seat according to the present invention, "at least some of the seats other than the driver's seat of a running car are provided with a horizontal direction in a plane perpendicular to the running direction of the car. Detecting the direction and magnitude of such acceleration (hereinafter referred to as “lateral acceleration” or “lateral acceleration”), the lateral acceleration is known, and the detected lateral acceleration is constant in a vertically downward direction. By taking into account the influence of the gravitational acceleration, "the inclination of the seat surface is controlled so that the seat surface of at least some of the seats is substantially perpendicular to the plane perpendicular to the running direction."
Therefore, in the plane perpendicular to the running direction, the seat surface of the seat can support the external force applied to the person sitting on the seat due to the centrifugal force and the gravity when turning the curve. Here, the total acceleration or the combined acceleration (the vector sum of the acceleration vectors) in a plane perpendicular to the running direction of the car is calculated as the lateral acceleration when the car travels only on a substantially horizontal road without a steep slope. Since the vector sum of the acceleration and the gravitational acceleration is obtained, only the lateral acceleration is detected by the acceleration sensor, the influence of the gravitational acceleration having a fixed direction and magnitude is added thereto, and the total acceleration is obtained. The direction of the seat surface of the seat may be determined so as to be orthogonal to the direction. On the other hand, when it is difficult to ignore the slope of the road where the car runs,
A sensor for detecting acceleration in a direction perpendicular to a chassis of the automobile (which is horizontal when traveling on a horizontal road surface) (hereinafter, also referred to as “vertical acceleration”) is further provided. What is necessary is just to control the inclination of the seat surface of the seat according to the direction of the total acceleration obtained based on both detection values of the direction sensor. In addition, using an acceleration sensor (actually a one-dimensional acceleration sensor) such as a pendulum that swings left and right in a plane perpendicular to the traveling direction of the car, the (total)
The direction of the acceleration may be directly detected. Also in this case, when the lateral acceleration is determined for the one-dimensional acceleration sensor, the direction of the (total) acceleration is determined.
In practice, this corresponds to detecting the lateral acceleration, determining the direction of the total acceleration in the plane, and inclining the seat surface of the seat at right angles to the direction.

As described above, in the method and apparatus for controlling the inclination of a seat according to the present invention, the external force including the inertial force acting on the person sitting on the seat is actually applied in the direction in which the spine of the person sitting extends. It works parallel and is supported at right angles on the seat surface. Therefore, even if the power to maintain the posture of the body is weak, such as a handicapped person or a toddler, as long as there is enough physical strength to keep the body sitting straight when no external force is working, the car can drive at high speed on the curve of the road. Even when running and a large centrifugal force works, it is possible to ride safely.

[0012] When a baby is considered as a user of the seat controlled in this way, even if the seat controlled in this way is the child seat itself, the child seat is placed and fixed on this seat. It may be as follows.

Here, the acceleration in a plane perpendicular to the traveling direction of the vehicle is targeted because the inertial force resulting from the acceleration in the traveling direction is the backrest of the seat (when accelerating in the traveling direction) and the seat. Because it is supported by the belt (when decelerating), it can be ignored for the time being. If desired, the direction and magnitude of the inertial force applied to the seat in the traveling direction of the vehicle are detected, and when the inertial force has a forward component in the traveling direction of the vehicle (when the vehicle is decelerating), Alternatively, the inclination of the seat surface in the front-rear direction may be changed. When the inertia force is backward, the backrest can support the inertia force,
The inclination of the seat surface need not be changed.

When the inclination accuracy of the seat surface is changed, the inclination state of the backrest of the seat is kept as it is, and only the inclination state of the seat surface is changed. May be changed, the backrest may not be integrated with the seat surface, but may be partially changed.

Here, the target seat is limited to a seat other than the driver's seat of the automobile, and may be a part or the whole of a passenger seat or a rear seat (in a taxi or the like, a passenger seat). The reason why the driver's seat is excluded is that the driver's sense of orientation in up, down, left, and right is prioritized for driving safety. However, if desired, similar control may be performed partially or to some extent.

The means for detecting the acceleration may be a piezoelectric element that provides a voltage output according to a force or a stress, or a strain resistance element that provides an electrical resistance change according to the amount of strain. May be used as the acceleration detecting means for detecting the angle of swing of the pendulum or the swing position along the arc, or another acceleration detecting means. Since the movement of the automobile in the vertical direction is typically small, basically, the acceleration detecting means only needs to detect the lateral acceleration.
In this case, the vertical acceleration may be regarded as a constant gravitational acceleration. However, in a special case where a car runs on a road with large unevenness, the acceleration in the vertical direction may be detected. When detecting acceleration in other directions in addition to the lateral direction, the acceleration detecting means should be capable of detecting accelerations in a plurality of directions at the same time, even if the acceleration detecting means detects acceleration in each direction independently. You may keep it. Even in such a case, it is sufficient that the magnitude and direction of the acceleration component in a plane perpendicular to the traveling direction or the traveling direction of the automobile can be detected. In some cases, only the direction of the total acceleration including the gravitational acceleration may be used (the gravitational acceleration may be the direction. Since both the magnitude and the magnitude are constant, detecting the direction of the total acceleration is substantially equivalent to detecting the direction and the magnitude of the lateral acceleration for the inclination control.) However, if desired, the acceleration in the traveling direction or the traveling direction may be detected, and the seat surface of the seat may be tilted back and forth.

Although the acceleration may be represented by the acceleration acting on the body of the automobile, the acceleration is individually detected for each seat subjected to the tilt control in consideration of the variation in the acceleration of each part of the body. Preferably. In the former case, it is sufficient that one vehicle has one acceleration detector in the desired direction, and in the latter case, an acceleration detector is provided for each seat, typically below or below the seat. .

The control means for changing the inclination state of the seat surface of the seat typically includes a plurality of actuators which can be controlled to extend and contract to a predetermined length. The actuator may be either a form having an electric linear motor or a form in which a rotary motion / linear motion conversion mechanism such as a reduction gear and a rack and pinion assembly is incorporated in the output shaft of the electric rotary remotor, or a piston rod or plunger. It may be a hydraulic cylinder device that controls the amount of protrusion by hydraulic pressure. However, if the control means can change the inclination accuracy of the seat surface of the seat in a plane perpendicular to the traveling direction of the automobile, for example, the control means rotates the seat around an axis extending in the traveling direction of the automobile. Such a thing may be used.
In this case, for example, in order to avoid excessive displacement of a portion to be the center of gravity of the upper body of the person sitting on the seat, the seat surface or the entire seat including the seat surface is almost slightly higher than the seat surface. The rotation may be performed along a cylindrical surface having a virtual central axis extending in parallel.

When the control means comprises a telescopic actuator, when the both ends of the actuator are connected to a chassis (floor) or a seat by ball joints, the number of actuators is typically eight per seat. However, any number may be used as long as the seating surface of the seat can be positioned with six or more seats. When both ends of the actuator are connected to a chassis (floor) or a seat by a rotation center shaft and a bearing, the number of the seats is typically about six, but the seat surface of the seat is three or more with respect to the chassis (floor). Even as many as four can be positioned,
The number may be five or seven or more. It is rotatably connected to the undercarriage of the vehicle at the lower end and rotatably connected to the vicinity of the seat surface at the upper end. The rotation center axis typically extends in the traveling direction of the vehicle.

Although it is preferable that the response speed of the control means is sufficiently fast, if the vehicle responds excessively sensitively to minute vibrations of the automobile, etc., it becomes difficult to sit down. May not respond. However, it is preferable to have a response speed that can follow the reversal of the direction of the lateral acceleration.

The features of the present invention as described above are the same as those of the ambulance bed except that there is no backrest and it is necessary to adjust the inclination accuracy in the traveling direction according to the change in the traveling direction or the acceleration in the traveling direction. May be applied as well.

That is, the tilt control method for an ambulance bed according to the present invention detects the direction and magnitude of acceleration applied to the ambulance bed during traveling, and the upper surface of the bed is substantially perpendicular to the detected acceleration direction. Controlling the inclination of the upper surface of the bed, the inclination control device of the bed of the ambulance, acceleration direction detection means for detecting the direction and magnitude of the acceleration applied to the bed of the ambulance while traveling,
Tilt control means for controlling the tilt of the upper surface of the bed such that the upper surface of the bed is substantially perpendicular to the direction of the acceleration detected by the direction detecting means.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments according to the present invention will now be described with reference to the preferred embodiments shown in the accompanying drawings.

[0024]

1 (a) to 1 (f) and FIG. 2 (a) show a preferred embodiment of a vehicle seat apparatus according to the present invention. In the overall conceptual diagram shown in FIG. 1A, reference numeral 10 denotes a seat body as an automobile seat, and 20 denotes a pedestal mounted on a chassis or floor 30 of an automobile (not shown). Or seat body 10 and pedestal 2
The actuator 40 is disposed between the actuators 0 and 0.

The seat body 10 is, for example, a body of a passenger seat or a body of a disabled person's seat, and includes a seat portion 11 on which the buttocks are placed, a backrest 12 and a head support 13 thereon, and left and right (the left and right are the traveling directions of the vehicle). Armrest 14, 1)
5 is provided. However, typically, it suffices that the seat portion 11 and the backrest 12 are provided. At the standard position or reference position S1 shown in FIG. 1A, the upper surface or seat surface 16 of the seat 11 extends horizontally. Of course, the seating surface 16 may be slightly inclined backward so that the backrest 12 is easily leaned naturally.

The pedestal 20 is mounted on the floor 30 so as to be adjustable, for example, toward the front A and the rear B in the traveling direction or running direction of the vehicle. However, in some cases, the pedestal 20 may be fixed to the floor 30, and in that case, the pedestal 20 may be a part of the floor 30.

In the illustrated example, the actuator 40 has eight actuators 40a, 40b, 40c, 40d,
40e, 40f, 40g, and 40h. The eight actuators have the same configuration, and are collectively denoted by reference numeral 40 without distinction (the same applies to the components of the actuator). However, when the seat body 10 takes the reference position S1, it is preferable to use actuator bodies 41 having different lengths in consideration of the difference in length that each actuator 40 should have. The actuator 40 is shown in FIG. 2A (shown in a cross-section along the line IIA-IIA in FIG. 1B) (however, the seat body 1
0 is omitted, and the outer contour is shown by an imaginary line.) As can be seen from the figure, the large-diameter actuator main body 41 and the actuator main body 41 located at the base end side are shown.
And a rod or rod-shaped portion 42 which can expand and contract in the longitudinal directions C1 and C2 of the main body portion 41. In the example shown in FIG. 2A, the actuator 40 is attached to the pedestal 20 via a ball joint structure 44 at a lower end 43 serving as a base end of the actuator body 41, and the rod 4
It is attached to the seat body 10 via a ball joint structure 46 at two extended ends 45.

In this example, as can be seen from FIGS. 1B and 1C and FIG.
The ball joint structures 46a, 46b, 46c, 46d at the upper ends of the a, 40b, 40c, 40d are respectively located at the ends or four corners of the seat body 10, that is, the right end of the front end,
The ball joint structures 44a, 44b, 44c, 44 at the lower ends of the actuators 40a, 40b, 40c, 40d are located at the left end of the front end, the left end of the rear end, and the right end of the rear end.
d is located at a relatively central portion of the pedestal 20, and each of the actuators 40a, 40b, 40c, 40d is
When viewed from above, it extends so as to extend outward in all directions.

On the other hand, the actuators 40e, 40f, 4
0g and 40h are adjacent actuators 40a and 40h.
b, 40c, 40d and ball joint structures 44a, 44b, 44c, 44d at the base end or lower end 43e, 43f, 43g, 43h so as to cooperate with the pedestal 20 or the associated area of the seat body 10 to form a triangle. Connected to
Ball joint structures 46d, 46a, 46b, 46c at extended ends or upper ends 45e, 45f, 45g, 45h
It is connected to.

Here, each ball joint structure 44,
More specifically, two ball portions are independently provided in a single housing or case in any direction so as to act as ball joints for the adjacent ends 43 or 45 of the two associated actuators 40, 40. And each ball is fixed to the end 43, 45 of the corresponding actuator 40, 40. However, other structures may be used as long as similar support can be performed. In the above arrangement, when there is a possibility that the adjacent actuators 40 and 40 may interfere with each other or collide with each other, some of the eight actuators may be replaced with the base end 43 of the main body 41. , And may be attached to the pedestal 20 at the extended end 45 of the rod 42, or a rod-shaped fixed extension may be formed at the base end 43 of the main body 41 as described later. If desired, even if all actuators 40 are attached to seat body 10 at base end 43 of body 41, body 41
A fixed extension may be formed at the base end 43.

In the illustrated example, the pedestal 20 is smaller than the seat body 10 so that the occupied space does not exceed the occupied space of the seat body 10 when viewed in a horizontal plane. If it is possible to occupy a wider area without such devices, if desired, at least one of the left, right, front and rear may be equal to or larger than the seat body 10 (see (c) described later). See example). Also, in this example, the pedestal 20 is rectangular or rectangular, but may have other shapes, such as other polygons, circles, or ellipses, if desired.

In FIG. 1A, reference numeral 50 denotes an acceleration sensor mounted on a vehicle body (not shown) of the automobile.
The acceleration sensor 50 is within a plane perpendicular to the traveling direction A of the motor vehicle, the lateral acceleration sensor 51 for detecting an acceleration alpha _t parallel direction, that the left-right direction in the chassis 30, the chassis 30
And a vertical acceleration sensor unit 52 for detecting an acceleration α _{v in} a direction perpendicular to the vertical axis. The acceleration sensor 50 is preferably mounted on the pedestal 20 corresponding to the seat body 10 to be tilt-controlled, as indicated by a broken line 50a in FIG. However, if desired, it may be mounted away from the pedestal 20 or the seat body 10. In some cases, the acceleration sensor may be attached to the seat body 10 to be tilt-controlled as indicated by reference numeral 50b in FIG. In that case, the lateral acceleration sensor 51b detects an acceleration α _{tb in} a direction parallel to the seat surface 16 of the seat portion 11 of the seat body 10 in a plane perpendicular to the traveling direction A of the vehicle, and the vertical acceleration sensor 52b An acceleration α _{vb in} a direction perpendicular to the seat surface 16 of the seat portion 11 of the seat body 10 in a plane perpendicular to the traveling direction A of the vehicle is detected. If the road does not have a very steep slope and can be regarded as actually horizontal, the vertical acceleration sensor 52b (5
Since the acceleration α _vb (α _v ) detected by 2) always coincides with the gravitational acceleration in practice, the vertical acceleration sensor 52b
May be given as an acceleration data, for example, an output having a certain magnitude corresponding to the gravitational acceleration.

Reference numeral 55 denotes a swing center position setting unit which is provided near the driver's seat or each seat body 10, and which is shown in FIG.
The height H of the swing center position G, which will be described later, is set or designated. Unless otherwise specified from outside, a standard reference value of, for example, about 30 cm may be automatically set.

Reference numeral 60 denotes a controller or controller as control means including, for example, a microprocessor. The controller 60 receives acceleration data α _t and α _v from the acceleration sensor 50, and converts the seat surface 16 of the seat portion 11 of the seat body 10 into In the plane perpendicular to the traveling direction A, the actuator 40, that is, the eight actuators 40a, 40b, 40c, 40d, and 40c, are perpendicular to the acceleration vector (α _t , α _v ).
Rods 42a, 42 of 40e, 40f, 40g, 40h
b, 42c, 42d, 42e, 42f, 42g, 42h
Control the stretch length of Note that the attitude or tilt controller 60
Receives the swing center position data H set via the swing center position setting unit 55 at the same time, and controls the position of the seat body 10 to keep the seat body 10 at a position corresponding to the data H.

More specifically, the controller 60 is configured as shown in FIG.
(A), the acceleration data α _t and α _v are received from the acceleration sensor 50, and the seat portion 1 of the seat body 10 is received.
The right-angle direction calculation unit 61 for determining the direction in which the seat surface 16 of the first bearing surface 16 is perpendicular to the acceleration vector (α _t , α _v ) in the plane perpendicular to the traveling direction A, and the swing center position setting unit 55 When the position data H is received, the center 16a of the seat surface 16 is set so that the virtual center of gravity G shown in FIG. A center-of-gravity stable position calculation unit 62 that determines a position P of the seat body 10 such that a line perpendicular to the street seating surface 16 passes through the virtual center of gravity G and the distance H from the center 16a of the seating surface 16 to the virtual center of gravity G is constant. And each of the actuators 40a, 40b, 40c, 40d,
Length La to be taken by 40e, 40f, 40g, 40h,
An actuator length calculator 63 for calculating Lb, Lc, Ld, Le, Lf, Lg, Lh;
0a, 40b, 40c, 40d, 40e, 40f, 40
g, 40h are the lengths La, Lb, Lc, Ld, Le, Lf, L calculated by the actuator length calculation unit 63.
g and Lh.

The controller 60, instead of the three calculation units 61, 62, 63, uses acceleration data α _t , α _v and set center-of-gravity position data H as shown in FIG. It has a table 65 which discretely has position data Pd to be taken by the seat body 10 and an interpolation operation unit 66, and the acceleration data α _t , α _v and the center of gravity given to the interpolation operation unit 66 from the sensors 51 and 52. In accordance with the position data H, the interpolation calculation unit 66 may interpolate the discrete position data Pd to obtain a position P to be taken by the seat body 10 and further obtain the length of each actuator 40.

Reference numeral 70 denotes a power supply, which is typically composed of an automobile battery.

The seat device 9 provided with the attitude control mechanism 80 as the tilt control device of the seat body 10 configured as described above.
At 0, when the vehicle is running linearly in the A direction, only the downward component α _gd of the gravitational acceleration α _g acts on the seat body 10 in a plane orthogonal to the traveling direction A. For example, when the vehicle is traveling straight in a horizontal plane, the downward acceleration α _gd matches the gravitational acceleration α _g . Therefore, the detected acceleration α _t = 0 by the lateral acceleration sensor 51 and the detected acceleration α _v = α _gd = α _g by the vertical acceleration sensor 52 are obtained. Therefore, the right-angle direction calculation unit 61 of the controller 60 gives a result indicating that the seating surface 16 of the seat portion 11 of the seat body 10 should take a position that is horizontal. Also, the center-of-gravity stable position calculation unit 62 adjusts the seat surface 16 of the seat portion 11 of the seat body 10 so that the virtual center of gravity G is at the fixed position shown in FIG. Gives a result indicating that the position S1 indicated by the solid line should be taken. This posture of the seat body 10 corresponds to or coincides with the posture or position shown in FIGS. Therefore, the actuator length calculator 63 calculates
The actuator length La corresponding to this position or posture,
The result that Lb, Lc, Ld, Le, Lf, Lg, and Lh should be taken is given. Since this position or posture is a horizontal reference position or reference posture S1, the length of the four actuators 40a, 40b, 40c, and 40d at this time matches the first reference actuator length _L01 and La = L.
In _{b = Lc = Ld = L 01} , actuator 40e extending obliquely in the longitudinal direction, the length of 40g is Le ₌ Lg = _{L 02} becomes a second reference actuator length _{L 02,}
Actuator 40 extending obliquely in the left-right or lateral direction
The length of f, 40h is the third reference actuator length L ₀₃
Is Lf ₌ Lh = _{L 03} turned in to. Based on this result, the actuator drive control unit 64 determines that the actuators 40a, 40b, 40c, and 40d have the actuator length L
Becomes _01, the actuator 40e, 40 g is the actuator length _{L 02,} actuator 40f, 40h
Is controlled to be the actuator length _L03 .

The control for causing the seat body 10 to adopt this horizontal reference position is such that the vehicle keeps traveling straight in a horizontal plane, or turns straight in the horizontal plane after turning left or right. Irrespective of whether it is, it does not change as long as the vehicle is traveling straight at that time. When the road is a slope, the same as the above case, except that αgd <αg, and the inclination of the seat body 10 around the virtual center of gravity position G or the inclination of the seat body 10 by swing control. Or the rocking posture does not change.

On the other hand, when the car is traveling in a counterclockwise curve
The acceleration sensor 51 determines the radius of curvature of the curve and
The centrifugal force that depends on the linear velocity of the vehicle_tx(>
0) and acceleration α_t= Α_txFeeling as (> 0)
The acceleration sensor 52 detects the downward acceleration α_v= Α_gd
To sense. In the case of a horizontal road, as described above, α_g
d= Α_gTherefore, α_v= Α_gIt is. Therefore, general
More specifically, the direction calculation unit 61 is provided in a plane perpendicular to the traveling direction A.
The seat surface 16 of the seat portion 11 of the seat body 10 is
As shown in (d), the resultant acceleration vector α
(Α_tx, Α_gd) Should be at right angles to
Give a result of the effect. The center-of-gravity stable position calculation unit 62 calculates the virtual weight
The seat body 10 is positioned in the position shown in FIG.
1 (f) is a position or posture S indicated by a dashed line.
Gives the result that D should be taken. Give this seat position SD
As shown in FIG.
Eta 40a, 40b, 40c, 40d, 40e, 40
f, 40g, 40h are length La_d, Lb _d, Lc_d,
Ld_d, Le_d, Lf_d, Lg_d, Lh_dTo take
And the actuator drive control unit 64
Tuators 40a, 40b, 40c, 40d, 40e,
The length of 40f, 40g, 40h is La_d, Lb_d, Lc
_d, Ld_d, Le_d, Lf_d, Lg_d, Lh_dWill be
Thus, each actuator is controlled. As a result, the seat book
The body 10 is positioned at the position SD shown in FIG.
(F), a position SD indicated by a dashed line is taken.

At this time, since a force acts on the person sitting on the seat body 10 in the direction indicated by the resultant acceleration α (α _tx , α _gd ), the person sitting on the seat body 10
Even if the posture with respect to the seat 0 is not changed at all, all the loads applied to the seated person can be reduced by the seat surface 1 of the seat portion 11 of the seat body 10.
6 can be supported vertically (excluding the forces or loads in the front and rear directions A and B). Therefore, even if a person with weak muscular strength, such as a handicapped person or an infant, sits on the seat body 10, the person is less likely to receive excessive force on the body.

Since the increase or decrease of the radius of curvature of the counterclockwise curve or the linear velocity of the vehicle changes the magnitude α _tx of the lateral acceleration α _t , the acceleration vector α (α _tx ,
It will be clear that the orientation of α _gd ) also changes and the inclination of the seating surface 16 of the seat portion 11 of the seat body 10 can be changed. It is also apparent that the change in the posture, orientation, or inclination of the seat body 10 becomes a position or posture in which the seat body 10 is rotated or rotated in the J1 direction about the virtual center of gravity G in FIG. Will.

Similarly, when making a right turn,
Lateral acceleration-α sensed by sensor 51 _txAnd sensor 52
Downward acceleration α sensed by_gdAcceleration vector according to
α (−α_tx, Α_gdThe direction perpendicular to the direction of
In the plane perpendicular to the direction A, the seat 16 is taken
In FIG. 1 (e), the center of gravity G is maintained at a fixed position.
The tilt position or posture shown, that is, in FIG.
The seat in the inclined position or posture SE indicated by the imaginary line SE
The main body 10 is controlled.

Therefore, even in this case, even if a person such as a handicapped person or an infant with weak muscular strength sits on the seat body 10, the person can use the seat body 10 without actually using muscular strength.
Can be stably supported on the seat surface 16 of the seat portion 11 of the seat body 10 while maintaining the same posture.

As long as the seat 10 can be tilted or rocked as shown in FIG.
The support position and the arrangement of can be arbitrarily changed as desired. Some examples are shown in FIGS. 2B to 2D.

In the example shown in FIG. 2B, the ball joint structure 44 supporting the lower end 43 of the actuator 40, that is, 44a, 44b, 44c, 44d,
The actuators 40a, 40b, 40c, and 40d are located near the ends of the pedestal 20 in the forward and rearward directions A and B at the reference position S1 where the seat surface 16 of the seat 10 is horizontal.
The ball joint structures 46 a, 46 b, 46 c, 46 b, 46 c, 46 b, 46 c, 44 c, 44 d, which are located substantially laterally and obliquely upward from the end portions 44 a, 44 b, 44 c, 44 d, are located near the front A and rear B ends of the seat 10 in the traveling direction. It extends to 46d. On the other hand, the actuators 40e, 40f, 40g, and 40h that position the seat 10 in cooperation with the actuators 40a, 40b, 40c, and 40d and the related portions of the pedestal 20 include
Between the ball joint structures 44a and 46b,
Between 44b and 46c, between 44c and 46d, 44d
And 46a. In this example, only the actuators 40f and 40h extend obliquely when viewed in the plane of FIG. In addition, for example, the actuator main bodies 41f and 41h and the ball joint structures 44b and 44
In the case where the connection space with d is narrow, for example, as shown by reference numerals 42f1 and 42h1, the main bodies 41f and 4h
A fixed-length rod-shaped extending portion, that is, a rod-shaped fixed extending portion may be formed at 1 h or the like. Also, for example, the actuator 40e may be configured to connect between the ball joint structures 44a and 46d as in the case of FIG. 2A, such as connecting the ball joint structures 44a and 46d. Good.

The example shown in FIG. 2C is the same as the example shown in FIG. 2B except that the pedestal 20 is sufficiently larger than the seat 10 in a plan view.

FIG. 2D shows another example of supporting three points at a time. That is, in the case of this example, the pedestal 2
The lower ball joint structures 44j, 44k, and 44m are attached to three points that form the vertices of a triangle on the seat 0.
The upper ball joint structures 46j, 46k, 46m are attached to three points forming the vertices of the triangle among the mounting portions 0, and the upper and lower closest ball joint structures 46j, 44j; 46k, 44k; 46m, 44m. Are connected by actuators 40j, 40k, and 40m, respectively, and one adjacent ball joint structure 46j, 44
k; 46k, 44m; and 46m, 44j are connected by actuators 40n, 40p, 40q, respectively. In the case of this example, for example, ball joint structures 44j, 44
The triangle formed by k and 44m is an isosceles triangle symmetric about an imaginary line passing through the center of the pedestal 20 in the left-right direction and extending in the front-rear direction A and B, and the seat 10 is positioned at the reference position (S1 ), The triangle formed by the ball joint structures 46j, 46k, 46m is
It is an isosceles triangle symmetric about a virtual line extending in the front-rear direction A and B passing through the center of the seat 10 in the left-right direction. In this example, the minimum number for determining the position in the three-dimensional space of the seat body 10 having six degrees of freedom with respect to the pedestal 20 (three degrees of freedom with respect to the translation position and three degrees of freedom with respect to the rotational position) is shown. That is, the seat 10 is positioned by using (six) actuators. In addition, how to take a triangle (shape and direction) in the attachment part of the pedestal 20 and the seat 10
May be different from what is shown. Also, for example,
Instead of connecting the ball joint structures 46j and 44k, the ball joint structures 46j and 44m are connected by an actuator 40n, and a set of ball joint structures connected by the other two actuators 40p and 40q accordingly. You may change it.

Instead of a ball joint having three degrees of freedom of rotation, such as a ball joint, for example, the connecting part is supported rotatably around only one axis (the degree of freedom of rotation is one).
) May be formed of a bearing structure. One example is shown in FIG. In this example, the lower ends of the actuators 40a, 40b, 40c, 40d are instead of the ball joint structures 44a, 44b, 44c, 44d, around the shaft 47A or 47B by bearing structures 47a, 47b, 47c, 47d. Pedestal 20 so that it can rotate
And the actuators 40a, 40b, 40c,
The upper end of 40d is the ball joint structure 46a, 46
Instead of b, 46c, 46d, bearing structures 48a, 4
8b, 48c, 48d are pivotally connected to the seat 10 about the axis 48A or 48B. Shaft 47A,
47B, 48A, 48B extend in the front-rear direction A, B in parallel with the pedestal 20. In the case of this example, for example, two actuators 40r and 40s are further provided. The actuator 40r is connected to the shaft 4 via a lower bearing 47r.
It is attached to the pedestal 20 so as to be rotatable around 7R, and is attached to the seat body 10 so as to be rotatable around the shaft 48A via a bearing 48r at the upper end. On the other hand, the actuator 40s is attached to the pedestal 20 so as to be rotatable around the shaft 47S via the lower bearing 47s, and the upper bearing 48s.
Is attached to the seat body 10 so as to be rotatable around the shaft 48B. The shafts 47R, 47S also extend in the front-rear directions A, B parallel to the pedestal 20.

For example, in order to ensure the rotatable support by the shafts 47R and 48R, the actuator 4
The same actuator as each of 0r and 40s may be provided in parallel. When uniaxial support can be reliably performed at each bearing, the actuators 40r and 40s among the six actuators shown in FIG.
, One of the actuators 40a and 40d, and one of the actuators 40b and 40c may not be provided. However, in this case, in order to reliably support the load applied to the seat 10, the three selected actuators may be arranged as spatially as possible on both the pedestal 20 and the seat 10. preferable.

Further, for example, as shown in FIGS. 4B and 4C, the seat 10 is moved around the central axis Ga by J.
An inclining or swinging mechanism 140 that supports rotatably or rotatably in the 1 and 2 directions may be provided between the seat 10 and the floor 30.

The tilting or swinging mechanism 140 includes, for example, arc-shaped front and rear legs 141 and 142 around the axis Ga.
And an arc-shaped gear portion 143 having an arc shape centered on the axis Ga and having teeth on its peripheral surface, which is integrally provided below the seat portion (seat portion) 11 of the seat body 10. Swing mechanism 140
The rails 144 and 145, which have complementary shapes to the arc-shaped legs 141 and 142, and are formed of front and rear concave portions in an arc shape that are in sliding contact with the legs 141 and 142, and mesh with the teeth of the gear 143, respectively. Small gear 1 rotatable around the central axis of
46, 147, and 148 are provided on the pedestal portion 120 of the floor 30. For example, the gear 146 is a driving gear that is rotationally driven by a driving source, and the gear 143 rotates or swings in the J1 and J2 directions around the central axis Ga with the rotation of the gear 146, and the gear 146 is driven by the swing. The gears 147 and 148 rotate while supporting the seat body 10. Also, the seat body 10
The legs 141 and 142 are slid and guided along the rails 144 and 145 in accordance with the swing in the directions J1 and J2. For example, a plurality of wheels or rollers may be provided on each of the legs 141 and 142 so that the wheels roll along the rails 144 and 145.

In this example, the swing center Ga is fixed at a specific position corresponding to the arc shape of the rotation support mechanism 140, but the support of the seat body 10 and the control of the rotation or swing position are easily performed. Can be. In such a case, an acceleration sensor (actually a one-dimensional acceleration sensor) such as a pendulum that swings right and left in a plane perpendicular to the traveling direction A of the automobile is used, and the Total) The direction of the acceleration may be directly detected from the position where the pendulum stops. In this case, it is preferable that the pendulum be swung in a somewhat viscous atmosphere so that the influence of inertia is small.

The seat body 10 described above can be used for seating an adult directly or a child seat having a special seating surface and a side support shape formed in advance so that an infant can be seated. It may be an adult seat configured to be able to attach a child seat of the body.

In the case of an ambulance bed having a generally horizontal upper surface, such as an ambulance bed, the seat body 10
There is no supporting portion corresponding to the backrest 12 of the first embodiment. Thus, for example, with respect to the horizontal direction or the transverse direction, so that the top surface 151 of the bed 150 as shown in FIG. 5 (a) is perpendicular to the longitudinal acceleration alpha _v and synthetic vectors α1 lateral acceleration alpha _t Further, in the front-rear direction, as shown in FIG. 4E, the upper surface 151 of the bed 150 becomes _a composite vector α2 of the longitudinal acceleration _αv and the acceleration αa of the inertia force in the opposite direction accompanying the acceleration in the traveling direction. Bed 1 is oriented at right angles, ie, perpendicular to the total acceleration acting on the patient lying on upper surface 151 of bed 150, ie, the total acceleration vector α (α _a , α _t , α _v ).
What is necessary is just to control the inclination angle of the upper surface 151 of 50. For controlling or adjusting the tilt angle, for example, the mechanism shown in FIG. 1A or FIG. 2A can be used as it is. However, as the acceleration sensor 50, in addition to the lateral acceleration sensor 51 and the vertical acceleration sensor 52, it is needless to say that a vehicle traveling direction acceleration sensor should be provided. Obviously, the direction of the acceleration directly detectable by each of the three acceleration sensors constituting the three-dimensional acceleration sensor can be variously selected, for example, the longitudinal acceleration (for example, the vertical acceleration perpendicular to the traveling direction of the vehicle). Instead of detecting in-plane acceleration perpendicular to the horizontal direction and downward, acceleration in the vertical direction may be detected.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a preferred embodiment of a vehicle seat apparatus according to the present invention, in which (a) is an overall schematic view of the seat apparatus in a state where a seat body is viewed from the front (only the front side of an actuator is illustrated). (B) is an explanatory view of the outline of the main body and the support structure when the seat main body is viewed from behind (only the front side is shown for the actuator), and (c) is a state where the seat main body is viewed from the left side. Explanatory diagram similar to (b),
(D) is an explanatory view of a state in which the seat body of (b) is tilted to the left, (e) is an explanatory view of a state in which the seat body of (b) is tilted to the right, and (f) is a swing operation of the seat body. FIG.

2A and 2B show how the seat body of the vehicle seat apparatus shown in FIG. 1 can be swingably supported, wherein FIG. 2A shows details of an actuator arrangement of the seat apparatus shown in FIG. IIA-IIA cross-sectional explanatory view (the seat portion of the seat body is shown by imaginary lines and the pedestal is shown by solid lines), (b) is an explanatory view similar to (a) of the modification, and (c) is another view. (D) is an explanatory view similar to (a) of another modified example, and (d) is an explanatory view similar to (a) of still another modified example.

3A and 3B are diagrams for explaining a control unit for controlling the tilt angle of the seat body of the seat device of FIG. 1, wherein FIG. 3A is a block diagram of an example of a tilt angle controller, and FIG.

4A and 4B show a modification of the support mechanism of the seat body of the seat apparatus of FIG. 1 which is further different from that of FIG. 2; FIG. 4A is the same as FIG. (B) is a cross-sectional view taken along the line IVB-IVB in (c) of a modified example using an arc-shaped support portion, and (c) is (b)
FIG. 4 is an explanatory sectional view taken along line IVC-IVC of FIG.

FIGS. 5A and 5B are diagrams illustrating tilt control of an ambulance bed according to another preferred embodiment of the present invention, wherein FIG. 5A is an explanatory diagram viewed in a cross section perpendicular to the traveling direction, and FIG. Explanatory drawing seen in the cross section perpendicular to the direction.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Seat main body 11 Seat part (seat part) 12 Backrest 16 Seat surface 20,120 Pedestal 30 Undercarriage (vehicle floor) 40,40a, 40b, 40c, 40d, 40e, 40
f, 40g, 40h, 40j, 40k, 40m, 40
n, 40p, 40q, 40r, 40s Actuator 41, 41a, 41b, 41c, 41d, 41e, 41
f, 41g, 41h, 41j, 41k, 41m, 41
n, 41p, 41q, 41r, 41s Actuator main body 42, 42a, 42b, 42c, 42d, 42e, 42
f, 42g, 42h, 42j, 42k, 42m, 42
n, 42p, 42q, 42r, 42s Rod part of actuator 42f1, 42h1 Fixed length extension part 43 Lower end (base end) 44, 44a, 44b, 44c, 44d, 44j, 44
k, 44m Base-side ball joint structure 45 Extended end 46, 46a, 46b, 46c, 46d, 46j, 46
k, 46m Seat side ball joint structure 47a, 47b, 47c, 47d, 47r, 47s Pedestal bearings 47A, 47B, 47C, 47D, 47R, 47S Pedestal side shafts 48a, 48b, 48c, 48d, 48r, 48s Pedestal side Bearings 48A, 48B, 48C, 48D, 48R, 48S Pedestal side shaft 50, 50a, 50b Acceleration sensor 51, 51b Lateral acceleration sensor (lateral acceleration sensor) 52, 52b Vertical acceleration sensor (vertical acceleration sensor) 60 Controller 61 Right angle Direction calculation unit 62 Center of gravity stable position calculation unit 63 Actuator length calculation unit 64 Actuator drive control unit 65 Table 66 Interpolation calculation unit 80 Attitude control mechanism 90 Seat (seat device) 140 Swing mechanism (tilt mechanism) 141, 142 Arc-shaped leg 143 Arc gear part 144,14 5 Rail 146, 147, 148 Gear 150 Bed 151 Upper surface A Advancing direction (forward) B Backward G Virtual center of gravity (position) Ga axis (oscillation center) H Distance (height of center of gravity) La, Lb, Lc, Ld, le, Lf, Lg, Lh actuator length _{L 01,} L 02, L ₀₃ reference actuator length position of P seat body (orientation) position of the Pd seat body (posture) data S1 reference (standard) position (posture) Sd, Se inclined Seat position (swinging posture) α acceleration vector (synthetic acceleration) α1, α2 composite (acceleration) vector α _t , α _tx lateral (lateral) acceleration α _v , α _gd vertical acceleration α _g vertical acceleration (gravitational acceleration)

Claims (9)

[Claims] 1. detecting the direction and magnitude of acceleration applied to at least some of the seats other than the driver's seat of a running car in a plane perpendicular to the running direction of the car in a horizontal direction; Controlling the inclination of the seat such that the seat surface of the at least some seats is substantially perpendicular to the direction of acceleration acting on the seat in a plane perpendicular to the direction of travel. How to control the inclination of the seat. 2. An acceleration for detecting a direction and a magnitude of an acceleration horizontally applied to at least a part of seats other than a driver's seat of a running car in a plane perpendicular to a running direction of the car. Orientation detection means; and controlling the inclination of the seat surface of the at least some seats so that the seat surface of the seat is substantially perpendicular to the direction of acceleration acting on the seat in a plane perpendicular to the running direction. An inclination control device for an automobile seat, comprising: an inclination control means. 3. The control device according to claim 2, wherein the inclination control means is configured to control the inclination of the entire seat so as to change the inclination of the seat surface. 4. An automobile seat device comprising the tilt control device according to claim 2. 5. The seat device according to claim 4, wherein the seat device is configured to function as at least a part of a child seat. 6. The seat according to claim 4, wherein the at least a part of the seat is a seat for a disabled person or a passenger seat or a rear seat of a passenger car.
A seat device according to claim 1. 7. The direction and magnitude of an acceleration applied to a bed of a traveling ambulance are detected, and the inclination of the upper surface of the bed is controlled so that the upper surface of the bed is substantially perpendicular to the direction of the detected acceleration. A method of controlling the inclination of an ambulance bed. 8. An acceleration direction detecting means for detecting the direction and magnitude of acceleration applied to a bed of a traveling ambulance, and the upper surface of the bed is substantially perpendicular to the direction of the acceleration detected by the direction detecting means. And a tilt control means for controlling the tilt of the upper surface of the bed. 9. An ambulance bed device provided with the tilt control device according to claim 8.