JP2015047962A - Inverted two-wheeled movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute a continuous rehabilitation training using an inverted two-wheeled movable body.SOLUTION: An inverted two-wheeled movable body comprises: a vehicle body 11 to be boarded by a person; a pair of wheels 13 disposed coaxially on the right and left of the vehicle body 11; an operation unit 12 connected to the front part of the vehicle body 11; a revolution detection unit 112 for detecting the revolution of a predetermined first angle from a reference position set from a state, in which the vehicle body 11 is directed in a predetermined direction; and a control unit 114 for changing the direction of the vehicle body 11 into a direction to suppress the revolution, in the case where the turn of the first angle of the vehicle body 11 is detected by the revolution detection unit 112, and for controlling the actions of the wheels 13 so that a revolution angle may be smaller than a predetermined second angle.

Description

  The present invention relates to an inverted two-wheeled vehicle.

  In recent years, studies have been conducted on balance training using an inverted two-wheeled vehicle (vehicle) as a vehicle for rehabilitation. For example, a training method has been proposed in which an instruction screen is installed in front of a person who has boarded an inverted two-wheeled vehicle, and an operation is performed in accordance with instructions on the instruction screen.

  Patent Document 1 describes an inverted two-wheel moving body that prevents unintended turning by a driver when traveling on a cant road (an inclined surface that is inclined in the left-right direction when viewed from the moving body). .

JP 2012-236522 A

  However, when the inversion control is continued in a turn-inhibited state, a shift of the center of gravity and the center of the vehicle occurs due to symptoms such as paralysis of the occupant, causing a phenomenon that the inverted motorcycle turns during training. In addition, when a training instruction screen is arranged in front of the vehicle at the start of training, the passenger may find it difficult to see the screen due to a turning phenomenon, and the balance may be lost in order to turn the body toward the screen. Therefore, continuous rehabilitation training may be difficult.

An inverted two-wheel moving body according to the present invention includes a vehicle body on which a person rides, a pair of wheels provided on the left and right coaxial sides of the vehicle body, an operation unit provided connected to a front portion of the vehicle body, When the vehicle body is in a predetermined direction as a reference position, a turn detection unit that detects a turn at a predetermined first angle from the reference position, and a turn at the first angle of the vehicle body detected by the turn detection unit And a control unit that changes the direction of the vehicle body in a direction that suppresses turning, and controls the operation of the wheels so that the turning angle is smaller than a predetermined second angle.
Thereby, it can suppress that an inverted two-wheel mobile body turns contrary to a passenger's will.

  Can perform continuous rehabilitation training.

It is a block diagram which shows the structure of the inverted two-wheel mobile body concerning Embodiment 1. FIG. It is a figure which shows arrangement | positioning of the inverted two-wheel mobile body concerning Embodiment 1, and an instruction | indication screen. It is a figure which shows the mode of the turning suppression control concerning Embodiment 1. FIG. 3 is a flowchart of turning suppression control according to the first embodiment; 3 is a detailed flowchart of turning detection according to the first exemplary embodiment; 3 is a detailed flowchart of turning suppression according to the first embodiment;

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an inverted two-wheeled moving body 1.

  The inverted two-wheel moving body 1 includes a vehicle body 11, an operation unit 12, and wheels 13. The inverted two-wheel moving body 1 is a moving body that moves by individually controlling a set of wheels. FIG. 2 is a diagram illustrating a state where the instruction screen 2 is arranged in front of the inverted two-wheeled mobile body 1 and the passenger performs training.

  The vehicle body 11 includes an attitude detection unit 111, a turning detection unit 112, a calculation unit 113, a control unit 114, and a power unit 115.

  The posture detection unit 111 detects the posture of the passenger. Typically, the posture detection unit 111 includes an inclination angle sensor, and detects the inclination of the vehicle body 11 that has changed due to the movement of the center of gravity of the passenger. The posture detection unit 111 outputs information on the detected tilt angle to the control unit 114.

  The turning detection unit 112 detects turning of the inverted two-wheel moving body 1. For example, the turning detection unit 112 includes an angular velocity sensor. The turning detection unit 112 detects the angular velocities of the left and right wheels 13 of the inverted two-wheel moving body 1, respectively. The turning detection unit 112 outputs the detected angular velocities of the left and right wheels 13 to the calculation unit 113, respectively. Typically, the turning detection unit 112 detects the rotation angle of the motor used in the power unit 115 and detects the turning state by performing the calculation in the calculation unit 113.

  The calculation unit 113 is a calculation device such as a CPU. The computing unit 113 calculates the turning angle in the yaw direction of the inverted two-wheel moving body 1 based on the detected amount of the angular velocity of the wheel 13 input from the turning detection unit 112. More specifically, the calculation unit 113 calculates the deviation of the angular velocity of the wheel 13, calculates the angle of the wheel 13 based on the calculated deviation of the angular velocity of the wheel 13, and calculates the wheel based on the calculated angle of the wheel 13. The ground travel distance of 13 is calculated, and the turning angle of the inverted two-wheel moving body 1 in the yaw direction is calculated based on the calculated ground travel distance of the wheel 13. In addition, the calculation unit 113 turns the turn detection flag ON when the calculated turning angle of the inverted two-wheel moving body 1 in the yaw direction exceeds a predetermined threshold. Further, when the turning detection flag is ON, the calculation unit 113 calculates whether the turning direction is right turn or left turn, and outputs the calculation result to the control unit 114.

  The control unit 114 controls the operation of the wheel 13 based on the information on the tilt angle of the vehicle body 11 input from the posture detection unit 111. In addition, the control unit 114 controls the operation of the wheel 13 so as to suppress the turn when information related to the turning direction is input from the calculation unit 113 when the turning detection flag is ON. Typically, the control unit 114 controls the operation of the wheel 13 by controlling the operation of the power unit 115.

  The power unit 115 is a motor that supplies power to the wheels 13. The power unit 115 rotates each of the left and right wheels 13 in accordance with control from the control unit 114.

  The operation unit 12 is a handle that is held and operated by a passenger. For example, the operation unit 12 is provided in a substantially vertical direction from the front portion of the vehicle body 11. The operation unit 12 may be provided with a switch for instructing the turning angle initialization and the start of the turning prohibited state.

  The wheels 13 are a pair of wheels provided on the same axis of the inverted two-wheel moving body 1. The wheel 13 is operated by the power given from the power unit 115.

  Next, a procedure for suppressing turning of the inverted two-wheel moving body 1 will be described.

FIG. 3 is a diagram showing a state of turning control of the inverted two-wheel moving body 1. More specifically, FIG. 3 shows a case where a turn occurs in the inverted two-wheeled mobile body 1 facing the instruction screen direction, and when a certain turn is made, the turning state is detected and the turn is suppressed. The state until the suppression is stopped is shown. The dotted line in FIG. 3 indicates the front direction of the vehicle body, the alternate long and short dash line indicates the front direction of the instruction screen 2, and the solid arrow indicates the turning operation. FIG. 3 shows a turning detection angle (first angle) θ ₁ and a turning suppression angle (second angle) θ ₂ .

In the initial state, the inverted two-wheeled mobile body 1 faces the instruction screen 2 and is in a state where no turning has occurred. This state is defined as a turning angle θ _BYaw = 0.

Next, the inverted two-wheeled mobile body 1 is turned by the operation of the passenger. Here, the inverted two-wheel moving body 1 has a turning angle θ _{BYaw that} is _equal to or _smaller than a predetermined first angle θ ₁ , and operates according to the detection of the posture of the passenger.

Next, the inverted two-wheel moving body 1 detects turning. Specifically, the inverted two-wheel moving body 1 _detects that the turning angle θ _BYaw is larger than the first angle θ ₁ .

Next, the inverted two-wheel moving body 1 suppresses turning. Specifically, the inverted two-wheel moving body 1 continuously performs the turning suppression when the turning angle θ _BYaw is larger than the predetermined _second angle θ ₂ .

Next, the inverted two-wheel moving body 1 stops turning control. Specifically, the inverted two-wheel moving body 1 stops turning suppression when the turning angle θ _BYaw becomes equal to or _smaller than the second angle θ ₂ .

Here, typically, the relationship between the first angle θ ₁ used for turning detection and the second angle θ ₂ that is the turning suppression angle is θ ₁ > θ ₂ . That is, when the turning of the inverted two-wheel moving body 1 is excessively greater than θ ₁ , the turning suppression control is performed so that the turning angle is equal to or less than a predetermined θ ₂ .

  FIG. 4 is a flowchart of the turning suppression control of the inverted two-wheel moving body 1.

  The inverted two-wheeled mobile body 1 starts the inverted control (step S11). Specifically, it is a state in which a person has boarded the inverted two-wheeled mobile body 1, and is a state in which the inverted control is performed and the vehicle is stopped.

  The turning detection unit 112 initializes the turning angle (step S12). In other words, the turning detection unit 112 sets the state in which the inverted two-wheeled mobile body 1 is facing the instruction screen direction to a state where the turning angle is 0 ° (reference position).

  The inverted two-wheeled mobile body 1 starts a turning prohibited state (step S13). For example, the passenger operates a switch provided in the operation unit 12 to start a turning prohibition state and instructs the inverted two-wheel moving body 1 to suppress turning.

  The inverted two-wheel moving body 1 starts turning detection (step S14). FIG. 5 is a diagram showing a detailed flow of turning detection. In the initial state, the turning detection flag is in the OFF state.

とする。 The wheel angular velocity sensor of the turning detection unit 112 updates the sensor value by acquiring the angular velocity (step S21). The sensor values of the left and right wheel angular velocities acquired by the turning detection unit 112 are respectively

And

を算出する。 The calculation unit 113 calculates the angular velocity deviation of the wheel 13 (step S22). Specifically, the calculation unit 113 uses the difference between the sensor value of the wheel angular velocity calculated last time and the sensor value of the wheel angular velocity calculated this time to calculate the angular velocity deviation between the left and right wheels.

Is calculated.

を算出する。 The calculation unit 113 calculates the angle of the wheel 13 based on the angular velocity deviation of the wheel 13 (step S23). Specifically, the calculation unit 113 integrates the angular velocity deviations of the wheels obtained in step S22, respectively.

Is calculated.

により算出する。なお、αは車輪対地走行距離定数であり、あらかじめ定めておく。 The calculating part 113 calculates the ground distance of the wheel 13 (step S24). Specifically, the calculation unit 113 calculates the ground travel distance of the left and right wheels 13 using the angular velocity deviation calculated in step S23.

Calculated by Α is a wheel-to-ground travel distance constant and is determined in advance.

により算出する。ここでＬ_wdistは、車輪幅である。 The calculation unit 113 calculates the turning angle (step S25). Specifically, the calculation unit 113 uses the traveling distance to the ground of the wheel 13 of the hot water calculated in step S24 as the turning angle.

Calculated by Here, L _wdist is the wheel width.

The calculation unit 113 determines whether or not the current turning angle is greater than the first angle θ ₁ . In other words, the calculation unit 113 determines whether or not the absolute value | θ _BYaw (t) | of the turning angle calculated in step S25 is larger than the first angle θ ₁ (step S26). If the absolute value | θ _BYaw (t) | of the turning angle is larger than θ ₁ (Yes in step S26), the process proceeds to step S27. If the absolute value | θ _BYaw (t) | of the turning angle is equal to or _smaller than θ ₁ (No in step S26), the process proceeds to step S15.

  The inverted two-wheeled mobile body 1 turns on the turning detection flag (step S27). That is, when it is detected that the vehicle body 11 is turning more than a predetermined angle, the turning detection flag is turned ON. Thereafter, the process proceeds to step S15.

  The inverted two-wheel moving body 1 performs turning suppression control (step S15). Here, FIG. 6 is a diagram showing a detailed flow of turning control.

  The calculation unit 113 determines whether or not the turning detection flag is ON (step S31). If the turning detection flag is ON (Yes in step S31), the process proceeds to step S32. If the turning flag is OFF (No in step S31), the process proceeds to step S16.

The control unit 114 instructs the direction in which the inverted two-wheel moving body 1 turns in accordance with the turning angle θ _BYaw (t) (step S32). More specifically, if the turning angle θ _BYaw (t) is smaller than 0, the control unit 114 performs control so that the inverted two-wheel moving body 1 turns to the right, assuming that the inverted two-wheel moving body 1 is turning left. Similarly, if the turning angle θ _BYaw (t) is larger than 0, the control unit 114 performs control so that the inverted two-wheel moving body 1 turns to the left, assuming that the inverted two-wheel moving body 1 is turning to the right.

The computing unit 113 _compares the absolute value | θ _BYaw (t) | of the turning angle with the second angle θ ₂ (step S33). If the absolute value | θ _BYaw (t) | of the turning angle is larger than the second angle θ ₂ (Yes in step S33), the process proceeds to step S6. If the absolute value | θ _BYaw (t) | of the turning angle is equal to or _smaller than the second angle θ ₂ (No in step S33), the process proceeds to step S34.

  The inverted two-wheeled vehicle 1 turns off the turning detection flag (step S34). That is, if the turning angle of the vehicle body 11 is less than or equal to a predetermined value, it is assumed that turning suppression is unnecessary. Thereafter, the process proceeds to step S16.

  The calculating unit 113 determines whether or not the inverted two-wheeled vehicle 1 has completed the inversion control (step S16). If the inverted control has been completed (Yes in step S16), the process is terminated. If the inversion control is not completed (No in step S16), the process returns to step S13 and the process is repeated.

  As a result, when the inverted two-wheel moving body generates a turning deviation, a certain amount of turning deviation can be detected and the position control of the inverted two-wheel moving body can be performed. Therefore, it can suppress that an inverted two-wheeled mobile body turns contrary to a passenger's will. Moreover, since the state with the instruction screen in the forward direction of the inverted two-wheel moving body can be maintained without being interrupted due to the deviation of the turning, long-time continuous training can be performed.

  It should be noted that position control in the turning direction works as a disturbance for the inverted two-wheel control that stabilizes the center of gravity of the passenger at the equilibrium point, and therefore it is not preferable to continue to apply it constantly. Therefore, it is desirable to perform the turning suppression control only under a situation where a torque required for the inverted two-wheel control is small, a forward / backward movement amount is small, and a disturbance such as a training purpose is allowed.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Inverted two-wheel mobile body 2 Instruction screen 11 Car body 12 Operation part 13 Wheel 111 Posture detection part 112 Turning detection part 113 Calculation part 114 Control part 115 Power part

Claims (1)

An inverted two-wheeled vehicle whose running state changes according to the posture of the passenger,
The body on which the person boarded,
A pair of wheels provided on the left and right coaxial sides of the vehicle body;
An operation unit connected to the front portion of the vehicle body;
A turn detection unit that detects a turn at a predetermined first angle from the reference position, with the vehicle body facing a predetermined direction as a reference position;
When the turning detection unit detects turning at the first angle of the vehicle body, the direction of the vehicle body is changed to a direction in which turning is suppressed, and the operation of the wheel is performed so that the turning angle becomes smaller than the predetermined second angle. A control unit for controlling,
Inverted two-wheeled vehicle.

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