JP2010227491A - Individual moving implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an individual moving implement self-propelled to facilitate safe travel and performing travel control from the center-of-gravity position of a rider. <P>SOLUTION: The individual moving implement such as an in-line skate that moves with the rider thereon comprises a moving implement body with a section 30 for fixing the rider's foot, frames 3, 4 and wheels 6, 7 arranged; a motor 15 fixed to the frames 3, 4 to rotate the wheel 6; a center-of-gravity position detecting means 36 for detecting the center-of-gravity position of the rider from the front-rear direction of the pressure center of the sole of the foot; a control means 42 for computing a target speed from the center-of-gravity position; and a driving means 14 for outputting a driving current to the motor from the output of the control means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a moving tool for an individual that moves by rolling wheels, and more specifically, is mounted on both feet and moved by the rotational force of a motor.

  Until now, mankind has developed many mobile devices such as trains, cars, motorcycles, and bicycles. It can be roughly classified into transportation means for transportation and transportation means for sports. As a moving means attached to the foot, there is a roller skate or the like. This roller skate does not have a driving force and moves forward using the kicking force of a person's foot, but this is not attractive as an individual moving means.

  As a conventional example, Patent Document 1 can be shown as an example in which an electric motor (motor) is attached to footwear such as shoes. In this Patent Document 1, a wheel that is rotatable on the heel portion is provided on the back surface of the footwear, and this wheel is rotated by an electric motor so that the footwear and the person wearing it can be advanced. The applicant refers to an electric healing device.

  In this electric healing apparatus, as described in paragraph [0080] in the example, “FIG. 22 is a perspective view of the electric healing apparatus 1000 used in the present invention. The electric healing apparatus includes a battery 104. The belt 1002 has a control and a wired throttle 1006 controls the electric wheel assembly located in the heel opening of the footwear 1010. The throttle 1006 typically includes a circuit (eg, a speed controller). , The amount of power or energy supplied to the electric wheel assembly 1008 is controlled, In this method, the user walks at the toe portion 1012 of the footwear 1010 and then, for example, the body's center of gravity is placed on the footwear 1010. Move to the heel and pass the passive low on the wheel of the electric wheel assembly 1008 Then, electric power is supplied to the motor of the electric wheel assembly 1008 to perform rolling by electric drive. ”Further, in paragraph [0081],“ FIG. 23 is a side perspective view of the electric healing device 1020. In the figure, a DC motor 1020 according to one embodiment of the present invention is attached to the rear portion of the motor 1022. A rotating shaft of the motor 1022 is coupled to a side wheel 1026 of a heel portion of a belt 1024 and footwear 1028. In other embodiments, the sprag switch is used to couple the rotating shaft of the motor 1022 and the belt 1024 so that when the motor is not moving, the wheel is without the resistance of the motor winding, The wheel can be freely rotated. Torr (preferably wireless throttle) and the power supply (e.g., battery source) and. "And is described which comprises a.

  Further, Patent Document 2 is provided with a drive mechanism in the main body frame, swinging the drive mechanism around a fulcrum with the force of a foot, and changing the movement to a rotational force to accelerate and decelerate the traveling speed. In addition to that, a motor 15 incorporated as auxiliary power is disclosed. In paragraph [0025], “In this mechanism that uses another drive source, the potentiometer 13, the controller 14, the servo motor 15, and the power source 16 are placed at positions as shown in FIG. 5 and FIG. The potentiometer 13 is attached to the main body frame 3 through the gear 17 attached to the drive plate 2 and the gear 18 attached to the potentiometer 13 so that the shift angle of the drive plate 2 can be captured. A sprocket 7a, a chain 8c, and a one-way rotation clutch 9b integrated with the sprocket are added to transmit power from the servo data 15 to the shut 6b, and the sprocket 7a is attached to the rotating shaft of the servo motor 15 and integrated with the sprocket. The one-way rotary clutch 9b is the same as the one-way rotary clutch 9a in the shut 6b. In this way, assembly is performed so that power transmission is transmitted by the chain 8c.The potentiometer 13 transmits the change angle of the drive plate 2 as a signal to the controller 14 and controls the servo motor 15 via the controller 14. " Has been.

  Patent Document 3 provides an electric mobile body capable of coping with road surface unevenness and the like by performing speed acceleration / deceleration and turning only by weight movement without manually operating the controller, and a method for controlling the electric mobile body It is. The paragraph [0012] states that “the electric roller skate 1 has a base plate 2, a drive wheel 3, an electric motor 4, a control device 5, a front auxiliary wheel 6, a rear auxiliary vehicle 7, and a power supply device 8. And paragraph [0014] states that “the drive wheel 3 is a wheel-like member installed on the ground side of the base plate 2 and is supplied with power from the electric motor 4. ”To accelerate and decelerate the electric roller skater 1”.

  In paragraph [0021], “Next, the configuration of the control device 5 will be described with reference to a block diagram in FIG. 3. The control device 5 includes a driver 10, a CPU 11, a resolver 12, a current-voltage sensor 13, “It consists of the functions of the communication circuit 14 and the motion detection device 15”, and paragraph [0026] states that “the motion detection device 15 is a motion detection device for the body of the electric roller skate 1 and the rider. As an example, it is a detection means such as a vibrating gyroscope that detects the operation by detecting the Coriolis force applied to the rotating body, and detects the motion of the electric roller skate 1 by detecting the pressure applied to the rotating body. Then, the detection result is sent to the CPU 11. Also, a motion detection means such as a vibration gyroscope is attached to the rider's body, the movement of the rider's body is detected and signaled, and the detection result is converted to C. As an example of the attachment position to the rider's body, it is conceivable that the rider wears a belt at the waist position of the rider, but in that case, information transmission with the CPU 11 is possible by wire or wireless. When a vibration gyro or the like is used as the movement detection means 15, the movement in the X-axis direction, the Y-axis direction, or the Z-axis direction is detected by using a plurality of vibration gyros, thereby improving the movement detection accuracy. "."

Special table 2008-508953 JP 2003-299664 A JP2004-24614

  However, in Patent Document 1, as described above, when the amount of power or energy supplied to the electric wheel assembly 1008 is controlled by the throttle 1006, a picture controlled manually is shown in FIG. It has been. In this case, the hand must have a control throttle, and it is unstable in the way of taking the stability of the traveling (performed with both hands). In addition, since the center of gravity of the person wearing the footwear is shifted to the heel, there is always a problem from above the center of gravity, and in order to add rotational force, the center of gravity moves backward and there is a risk of falling. Yes.

  In Patent Document 2, a motor is used as an auxiliary power source in addition to the foot-finger type drive mechanism, and the power is assisted by detecting the transition angle of the drive plate 2. In this case, it cannot be moved only by the rotational force of the motor, and the swing of the drive plate 2 has a disadvantage that it cannot escape from unstable running.

  Further, in Patent Document 3, the motion detection device 14 is a vibration gyro, which detects the motion of the rider's body, converts it into a signal, and sends it to the CPU. Wearing a belt at the waist. If there is a vibration gyro in the waist position of this rider, the body must be actively moved, and the acceleration / deceleration operation is delayed, resulting in lack of agility.

  Therefore, the present invention is a personal movement device such as inline skate that is used by putting it on both feet, and can be self-propelled and can run safely, and the control of driving can be performed from the position of the center of gravity of the passenger. The purpose is to provide a personal mobility tool that can be used in the future.

  The personal movement tool according to the present invention includes a part for fixing a person's foot, a frame, a movement tool main body provided with wheels, a motor fixed to the frame by rotating a wheel of the movement tool main body, and the movement. Center-of-gravity position detection means for detecting the center-of-gravity position of a passenger riding on the tool body, control means for calculating a target speed from the center-of-gravity position obtained from the center-of-gravity position detection means, and rotation from the output of the control means to the motor And a driving means for outputting a driving current.

  From this configuration, when wearing a moving tool and standing up to move, the weight of the occupant is related to the moving tool, and the center of gravity position of the occupant is obtained by the center of gravity position detecting means, and the target speed is calculated from the center of gravity position by the control means. Then, from this calculation result, the motor is rotated by the drive output from the drive means, the wheels are driven, and the occupant is advanced while riding on the moving tool.

  Since the target speed is obtained from the position of the center of gravity of the occupant of this personal movement tool, the obtained speed can be arbitrarily and quickly changed by controlling the position of the center of gravity.

  Preferably, the center-of-gravity position detecting means comprises pressure sensors that measure pressures at least at two locations on the back and front of the foot. As a result, two front and rear pressures applied to the occupant's feet are obtained from the pressure sensor and used as an input for calculating the target speed.

  A microcomputer is preferably used as the front-rear control means. This microcomputer is equipped with a 16-bit CPU. It has an operation cycle of 25 (MHz), 512 kilobyte ROM and 8 kilobyte RAM.

  It is preferable that a speed reducer is provided between the motor and the wheel driven thereby. Thereby, the rotational speed of the motor can be reduced.

  The speed is preferably limited to the maximum speed (Claim 5). Thereby, the speed is limited to a predetermined speed, for example, about 6 km / h, and safety is maintained.

  It is preferable that the target speed is obtained from a value in the front-rear direction of the center of pressure on the sole of the foot. As a result, an axis in which the person's front direction is taken positively on the sole is considered, and the range of ± 15 mm from the pressure center in the upright stationary state is set as the origin. This is because the center of gravity of a person always shakes even without external force, so the origin is wide.

  The target speed may be obtained by calculating an acceleration from an inclination angle obtained from the position of the center of gravity. Thereby, by setting acceleration as a calculation condition, the swing width of the body angle (tilt angle) is reduced, and the posture of the passenger can be stabilized.

  As described above, according to the present invention, the center of gravity of the passenger on the moving tool is obtained from the center of gravity position detecting means, and the target speed is calculated from the center of gravity position by the control means. Based on the calculation result, the drive output from the drive means is controlled, the motor is rotated, and the wheels are driven. For this reason, the passenger on the moving device is advanced. Since the forward speed is determined at the position of the center of gravity, it can be arbitrarily controlled by changing the position of the center of gravity by the passenger himself (claim 1).

  Since the center-of-gravity position detecting means is composed of pressure sensors that measure pressures at least at the front and rear of the sole of the foot (Claim 2), the acceleration and deceleration command signals can be obtained quickly, and the movement of the passenger, It is possible to obtain a center-of-gravity position detecting means that tilts forward when accelerating and tilts backward when decelerating.

  The target speed is obtained from a value in front of or behind the pressure center of the sole, and the target speed is accelerated or decelerated so that the target speed becomes the target speed, and feedback control is performed to achieve the desired target speed ( Claim 6).

  The target speed is obtained by obtaining the human body angle (tilt angle) from the value of the center of gravity of the front or back of the pressure center of the sole, calculating the acceleration by the tilt angle, and using this acceleration as a calculation condition, The wheel is accelerated / decelerated so as to reach the target speed, and feedback control is performed to achieve the desired target speed. As a result, the swing width of the occupant's inclination angle can be further reduced, and the posture can be stabilized (claim 7).

In the perspective view of the personal movement tool according to the present invention, the microcomputer and the power source are removed. It is a side view same as the above. It is a perspective view in the upper body in which the part of the drive mechanism same as the above was inverted. It is a side view of the left foot side part of a personal movement tool. It is a flowchart which shows the control flow of this invention. It is explanatory drawing regarding an inverted pendulum. It is a characteristic diagram of the target speed and PMR speed of CoP control mode. It is a characteristic diagram of the target speed and PMR speed of the inverted pendulum control law mode. It is a characteristic diagram with the inclination angle of CoP control and an inverted pendulum control law mode.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, the first embodiment of the present invention will be described using an example in which inline skating is performed as a personal movement tool. 1 is a perspective view, and FIG. 2 is a side view, showing a right foot side portion of an individual moving device 1 made of in-line skates, and having a moving device body (body) 2 composed of a horizontal frame 3 and a vertical frame 4. The horizontal frame 3 is a thin flat plate made of metal sufficient to support weight, and has an elongated rectangle. The vertical frame 4 is made of metal and has a U-shaped cross section. The vertical frame 4 is screwed to the lower surface of the horizontal frame 3 at the center in the lateral direction and along the longitudinal direction. ing.

  As shown in FIG. 3, the vertical frame 4 has two U-shaped vertical surfaces 4 a and 4 b and a horizontal surface 4 c as viewed obliquely from the bottom side, and has a wheel 6 on the front side and a rear side on the rear side. Wheels 7 are provided. The front wheel 6 and the rear wheel 7 are supported by shafts 8 and 9, respectively.

  The front wheel 6 is fixed to the shaft 8 and is rotated by the rotational force input from the shaft 8. A pulley 11 is fixed to the right side of the shaft 8, and a rotational force is transmitted from a tension timing belt 12.

  A driving mechanism 14 for rotating the front wheels 6 is also attached to the vertical frame 4 below the horizontal frame 3. The drive mechanism 14 is mainly composed of a motor 15 and a speed reducer 16, and both are integrated via a mounting plate 17. The motor 15 employs a brushless motor, 24V. Specifically, the motor 15 is inserted into holes 18a and 18b formed in the vicinity of the center of the vertical surfaces 4a and 4b of the vertical frame 4, and with respect to the vertical surfaces 4a and 4b. Arranged at right angles. An encoder 19 for detecting the rotational speed is provided on the right side of the motor 15, and the rotational speed is returned to the microcomputer 42 described below as a feedback signal.

  The speed reduction mechanism 16 is a speed reduction device using planetary gears and has a cubic shape. An input side pulley 20 is provided on one side (left side), and an output side pulley 21 is provided on the other side (right side). In the vicinity of the center of 4b, it is arranged in a direction perpendicular to the vertical surfaces 4a and 4b on the front side of the motor 15 and fixed to the vertical surface 4a by screws.

  In the reduction gear 16, the rotational force of the motor 15 is transmitted from the input-side pulley 20 via the belt 22, and is decelerated in the reduction device 16 (having a reduction ratio of 25) and transmitted to the output-side pulley 21.

  Above the horizontal frame 3 of the moving tool body 2, two mounting posts 25, 26 are fixedly erected at the front and rear portions, and the horizontal portions 3 through the elastic bodies 27, 28 elastically deformed above them. A shell mounting plate 29 having the same shape as the frame 3 is mounted. The shell mounting plate 29 can be expanded and contracted in the vertical direction by the applied load (weight).

  A shell 30 for fixing the foot is fixed to the shell mounting plate 29. Then, on the side opposite to the shell mounting plate 29 (horizontal plate side), the push rods 33 and 34 are respectively directed toward the horizontal frame 3 at portions corresponding to the base of the thumb and the end of the heel. The pressure sensors 36 and 37 are disposed between the front end of the mounting unit and the horizontal frame 3.

  The pressure sensors 36 and 37 can take out pressure as an electrical signal of resistance value change, and the electrical signal is input to the microcomputer 42 described below. Based on the electrical signals of both the pressure sensors 36 and 37, it is determined in the microcomputer 42 whether or not the center of gravity of the occupant is at the front, rear or center of the foot.

  Reference numeral 40 denotes a motor driver serving as a driving means for driving the motor 15, which is fixed on the horizontal frame 3 and disposed under the shell mounting plate 29. The motor driver 40 is operated by an output signal from the microcomputer 42 described below, converted into a voltage suitable for driving the motor, and supplied to the motor 15.

  The microcomputer 42 is attached to the rear of the moving tool body 2 and is involved in the rotational force of the motor 15, that is, the driving of the front wheel 6. The microcomputer 42 is a 16-bit microcomputer having a known structure having a central processing unit (CPU), a RAM (ROM) storage device, an input / output port (1/0), and the like. It is.

  The computer 42 receives pressure signals from the pressure sensors 36 and 37, is calculated according to a predetermined program, and is output to the motor driver 40 described above. The calculation process in the computer 42 will be described in detail below with reference to the flowchart of FIG. A power source 43 supplies power to the motor driver 40 and the like. Reference numeral 44 denotes a remote controller for manual control, which turns on the drive switch 45 and rotates the knob 46 to output a resistance change signal and control the speed. The microcomputer 42 is provided with another power source (not shown).

  The configuration in which the present invention is applied to in-line skating as the personal movement tool 1 has been described above, and is an example in which the drive mechanism 14 is provided on the right foot side portion, and the left foot side portion is shown in FIG. As such, it does not have any drive mechanism 14 such as a motor.

  This left foot side personal movement tool 101 is provided with a vertical frame 104 formed in a U-shape as a movement tool main body 102, and four wheels 108, 109, 110, 111 are connected to a shaft 108, on the vertical frame 104. 109, 110, and 111 are rotatably attached. A shell 130 for fixing the foot is provided above the vertical frame 104. Reference numeral 150 denotes a spacer, which is provided in order to correspond to a configuration in which the right foot side portion is raised in the vertical direction by mounting the drive mechanism 14.

  Next, an example of maneuvering the personal movement tool (PMR) 1 according to the present invention will be described with reference to FIG. A passenger (not shown) turns on the start switch to bring the microcomputer 42 into an operating state, and the operation mode step 201 is reached. There are three patterns of operation modes: First, manual remote control, second, control using the foot pressure center (CoP), and third, control using an inverted pendulum control law. The choice of the operating mode is left to the passenger, but it can also be fixed to a specific operating mode.

  When the selection of the operation mode is completed, the signal input step 202 is reached. When the first remote control is selected, the remote control operation signal is selected when the second and third operation modes are selected. The pressure of the soles is input from the pressure sensors 36 and 37 as an electric signal. Then, the rotational speed is also fed back from the encoder 19 attached to the motor 15. Then, the next step 203 is reached.

  In step 203, the target speed of the personal movement tool 1 is calculated. When the first remote control is selected, in step 203, the target speed is calculated by the following formula 1.

  In this equation, Vd target speed, Kc is a speed gain, and E is a signal from the remote controller. Thus, in the first remote control, the input from the remote control is directly proportional to the target speed. It should be noted that there is a restriction so that the target speed does not exceed 5.80 km / h or 0 km / h.

  When the second sole pressure center (CoP) control is selected, in step 203, the target speed is obtained by the following formula 2.

  In the above equation, Kv is an abbreviation for velocity gain, and CoP is an abbreviation for the center of pressure on the right foot sole. The CoP coordinate system is as follows. Considering an axis with the person's front direction positive on the right foot sole, the origin is in the range of ± 15 (mm) from the center of pressure in an upright state. This is because the center of gravity of a person always shakes without any external force, so the origin is wide. Further, there is a restriction that the target speed is not higher than 5.80 km / h or 0 km / h.

  When the third inverted pendulum control law mode is selected, the target speed is obtained by Equation 3 below in Step 203.

  In the above formula, acceleration is used as a determinant of the target speed. This is because an inverted pendulum was modeled to improve stable running and operability because some people lost their balance due to sudden acceleration / deceleration. FIG. 6 shows an inverted pendulum model in the form of a cart with a mass of zero. Here, x in the figure represents the center of the fulcrum, δ represents the distance from the center of the fulcrum in the X-axis direction to CoP, θ represents the tilt angle of the pendulum, and l (el) represents the length from the fulcrum of the pendulum to the center of gravity. The center of the fulcrum is CoP in an upright posture, the X axis is the traveling direction, and the Z axis is the vertical direction. The equation of motion of the inverted pendulum in this model is as follows.

Cos [theta] ≒ 1 the above equation 4 at theta = 0 around, sinθ ≒ θ (= δ / l) and linear approximation, given a J = ^ml 2/3, as follows.

  The acceleration at the center of the fulcrum is regarded as an input, the fulcrum is accelerated and the posture of the pendulum is restored. The state equation of the continuous time system of this model is as follows.

  However, X: state variable (n × 1), Ac: n × n, Bc: n × r, C: m × n, n = 2, m = 1, r = 1. In order to perform digital control by the microcomputer, Equation 6 is discretized to obtain the following equation.

  However, k is a k-th physical quantity, and coefficients A and B are Equations 8 and 9 below.

T is a sampling period. Furthermore, the optimal l-type digital servo system is applied to Equation 7 to perform stabilization control. An error system in which θ _d (k) is a target angle, e (k) = θ _d (k) −θ (k) is an error signal, and Δ is a first-order differential operator is expressed by Equation 10 below.

However, _Im is m × m. Furthermore, Formula 10 is expressed as follows.

  In order to obtain the optimal control input of the error system, the evaluation function was introduced as follows.

  Q is a semi-positive definite symmetric matrix (m + n) × (m + n) weight function, and H is a positive constant. The optimum control input that minimizes the formula 12 is the following formulas 13, 14, and 15.

  Equation 15 is generally called the Riccati equation. The above formulas 13, 14, and 15 can be derived by modifying the above formula 12. As a result, the acceleration of the fulcrum is expressed by the following Equation 16.

  Note that the inclination angle θ is calculated by the pressure from the pressure sensors 36 and 37. Based on the acceleration obtained by the equation 16, the target speed is calculated from the equation 3.

  In step 204, driving power is output from the microcomputer 42 to the motor driver 40 according to the target speed obtained in the selected operation mode, and the motor 15 is rotated. Since the encoder 15 is attached to the motor 15, an actual rotational speed (equal to the actual speed) is obtained, and this actual rotational speed is fed back to the microcomputer 42.

  In step 205, the actual speed and the target speed are compared, the output to the motor 15 is controlled, and the personal moving tool reaches the target speed.

A basic driving experiment was conducted to evaluate the driving characteristics.
There are two control modes, a control mode using the second sole pressure center (CoP) (hereinafter referred to as a CoP control mode) and a third inverted pendulum control law mode. The passenger is an adult male weighing 58 kg. . The experiment was performed on a flat floor and traveled on a straight line 20 m. The first 10m accelerated to the maximum speed and the next 10m decelerated.

  The results of the experiment are shown in FIG. 7, FIG. 8, and FIG. 7 and 8 are graphs of speed in each mode, and FIG. 9 is a graph comparing the inclination angles in both modes. Through experiments, it was confirmed that the speed of the personal movement tool (PMR) 1 followed the target speed with almost no error in both control modes and reached a maximum of 5.80 km / h.

  Referring to FIG. 9, it can be seen that the inverted pendulum control law mode has a smaller inclination angle than the CoP control mode, and the inverted pendulum control law mode has a more stable posture of the occupant.

DESCRIPTION OF SYMBOLS 1 Personal moving tool 2 Moving tool main body 3 Horizontal frame 4 Vertical frame 6, 7 Wheel 8, 9 Axis 11 Pulley 12 Timing belt 14 Drive mechanism 15 Motor 16 Reducer 17 Mounting plate 19 Encoder 25, 26 Mounting support 27, 28 Elastic body
29 Shell mounting plate 30 Shell 33, 34 Push rod 35, 36 Pressure sensor 40 Motor driver 42 Microcomputer 44 Remote control 101 Personal moving device 104 on left foot side Vertical frame 108, 109, 110, 111 Axle 130 Shell 150 Spacer

Claims (7)

A part for fixing a person's foot, a frame, and a moving tool body with wheels,
Rotating the wheel of the moving tool body, a motor fixed to the frame,
A center-of-gravity position detecting means for detecting the position of the center of gravity of a person riding on the moving tool body;
Control means for calculating a target speed from the center of gravity position obtained from the center of gravity position detection means;
A personal moving tool comprising driving means for outputting a rotational driving current to the motor from the output of the control means.   2. The personal movement tool according to claim 1, wherein the center-of-gravity position detecting means comprises pressure sensors for measuring pressures at least at two positions on the back of the foot.   2. The personal movement tool according to claim 1, wherein the control means comprises a microcomputer.   The personal movement tool according to claim 1, further comprising a speed reducer between the motor and a wheel driven by the motor.   4. The personal movement tool according to claim 1, 2 or 3, characterized by having a maximum speed limit.   The personal movement tool according to claim 1 or 2, wherein the target speed is obtained from a value in the front-rear direction of the center of pressure of the sole of the foot.   3. The personal movement tool according to claim 1, wherein the target speed is obtained by calculating an acceleration from an inclination angle obtained from a center of gravity position.