JP2004016275A - Mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile body which includes an operating means adaptable to the natural sense of a human being, and conducts an action intended by an operator. <P>SOLUTION: A motor driven wheelchair 10 as the mobile body to be travelled on the ground having driver D seated on a seat 11 includes: an attitude sensor 100 arranged in the lower part of the seat 11 so as to detect change in the attitude of the driver D; a direction sensor 110 for detecting the direction of front wheels 12; a vehicle speed sensor 120 for detecting a mobile speed; a steering part 130 for changing the direction of the front wheels 12; a drive part 140 for driving rear wheels 13; a brake part 150 for braking the rear wheels 13; and a control part 160 to control the respective parts. The attitude sensor 100 detects the variable quantities and the physical quantity of the seat 11 which are generated in accordance with the attitude change occurring when the driver D inclines the body in one of the front, rear, left, and right directions. The control part 160 controls travelling by estimating the action on the basis of the detection result, which is intended by the driver D, such as acceleration, deceleration, right turn, or left turn. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving body that performs an operation for movement intended by a driver.
[0002]
[Prior art]
Conventionally, driving of a moving body traveling on land such as an automobile is often performed by a driver operating operation means such as a steering wheel, an accelerator pedal, and a brake pedal. Japanese Patent Laid-Open No. 2000-170553 discloses an example in which a so-called joystick is used as an operation means. This joystick is an operation in which a driver picks a bar-like member supported at one end so that it can rotate freely and moves it back and forth and to the left and right, and reads the angle of inclination of the bar-like member in each direction obtained by that operation. It is an input device. Furthermore, this joystick is often used as an operating means for an electric wheelchair driven by an electric motor. Since such operation means are operated by the driver's hands (and feet), the driver can control the automobile or the like in the intended traveling direction or traveling state by repeatedly learning this operation. .
[0003]
Conventionally, proposals have been made for moving bodies such as automobiles that can be driven while sitting in a wheelchair. For example, in Japanese Patent Application Laid-Open No. 11-28226, a driver who is seated in a wheelchair gets on the vehicle as it is, and the driver can drive the vehicle by operating an auxiliary operation member such as a joystick provided in advance. A vehicle is disclosed. According to this configuration, it is convenient for the driver to get on the vehicle without getting off the wheelchair, and it can be driven without using conventional operating means such as a steering wheel, an accelerator pedal, and a brake pedal. A driver with a disability can also drive easily.
[0004]
[Problems to be solved by the invention]
However, since the conventional operation means as described above does not necessarily match the natural sense of human beings, it is essential for the driver to master the operation by repeating the operation. Further, since the operation means is operated by a driver's limb, it is very difficult or impossible for a driver with a limb disorder to master the operation.
[0005]
In addition, since the vehicle operating means that can be driven while sitting in a conventional wheelchair are different operating means independent from the operating means of the electric wheelchair, the driver must be familiar with each operation, and When the moving object to be driven is changed from a vehicle to an electric wheelchair or vice versa, the driver may feel uncomfortable with the operation.
[0006]
Accordingly, an object of the present invention is to provide a moving body that performs an operation including a traveling direction and a traveling state intended by a driver by providing an operation unit that conforms to a human natural sense. In addition, another object of the present invention is to provide a moving body that can match an operating means in a moving body such as an electric wheelchair on which a pilot rides with an operating means in a transporting mobile body such as a vehicle that carries the moving body. Is to provide.
[0007]
[Means for Solving the Problems and Effects of the Invention]
A first invention is a moving body that performs an operation for movement intended by a pilot on board,
Attitude detecting means for detecting the attitude of the pilot;
An intention determination unit that determines an operation that is estimated to be intended by the driver based on a detection result of the posture detection unit;
Control means for outputting a control signal for controlling the operation based on a determination result of the intention determination means;
Driving means for realizing the operation based on a control signal from the control means;
It is characterized by providing.
[0008]
According to the first invention as described above, for example, an operation based on a posture change in which the operator's body is tilted back and forth and right and left is detected by the posture detection means, and the control operation is performed, so that no special learning is required. It is possible to provide a moving body that includes an operation means adapted to a human natural sense and performs an operation intended by a driver.
[0009]
According to a second invention, in the first invention,
The posture detection means detects a variable or a physical quantity generated in a seat seated by the driver in response to a change in the posture of the driver;
The intention determination unit is configured to determine an operation estimated to be intended by the driver based on a variable or a physical quantity detected by the posture detection unit.
[0010]
According to the second aspect of the invention, instead of operating means such as a steering wheel, an accelerator pedal, and a brake pedal, for example, an operation based on a posture change in which the operator's body is tilted back and forth and left and right is a variable amount of the seat. Or, it is a movement that performs the turning, acceleration, and deceleration operations intended by the operator, with operation means that adapts to the natural sense of human beings that do not require special learning, with a configuration that is detected as a physical quantity and control action is performed The body can be provided. The variable is a displacement amount or an inclination angle of the seat from a predetermined reference position, and the physical quantity is a load or acceleration at the predetermined position of the seat.
[0011]
According to a third invention, in the second invention,
A compensation change amount output means for outputting a change amount or physical amount of the seat as a compensation change amount to be generated by the acceleration given by the operation;
Compensation means for compensating for an influence of an unintended posture change of the driver, which should be caused by an acceleration given by the motion, is further provided based on the compensation change amount.
[0012]
According to the third aspect of the invention, the configuration is such that the influence of the change in the attitude of the driver to be caused by the acceleration is compensated based on the variation or physical quantity of the seat to be caused by the acceleration due to the movement operation. Even when a posture change unintended by the pilot due to the influence occurs, the influence due to the posture change is compensated, so that an operation unintended by the pilot is not caused.
[0013]
According to a fourth invention, in the third invention,
The compensation means displaces the seat according to the compensation change amount.
[0014]
According to the fourth aspect of the invention, the configuration in which the seat is actively displaced based on the variable or physical quantity to be generated by the acceleration, the direction in which the acceleration is generated by the movement operation is adjusted, and the steering is performed by the above operation. It is possible to prevent a posture change unintended by the person.
[0015]
According to a fifth invention, in the first invention,
The posture detection means is a motion capture means for detecting a change in posture of the driver.
[0016]
According to the fifth aspect of the present invention, a sensor having a special configuration for detecting the amount of change or physical quantity of the seat is omitted by the configuration including the optical or other motion capture means for detecting the posture change of the seated operator. It is possible to detect various driver postures including a posture change that does not cause a displacement of the seat, and to realize various corresponding driving operations.
[0017]
A sixth invention is a transporting mobile body capable of mounting the mobile body according to the first invention,
When the moving body on which the operator is boarded is mounted, control signal receiving means for receiving a control signal output from the control means,
When the moving body on which the operator is boarded is mounted, the moving body driving means for transport that realizes the operation based on the control signal received by the control signal receiving means;
It is characterized by providing.
[0018]
According to the sixth aspect of the invention, the driver can change the direction, accelerate, decelerate, and the like of the transporting mobile body based on the control signal output from the mobile body mounted therein. It is possible to make the operating means in the moving body on which the boarding board and the operating means in the transporting mobile body carrying the moving body coincide with each other. Therefore, even when the moving object to be driven is changed from, for example, an automobile to an electric wheelchair or vice versa, the operator does not feel uncomfortable.
[0019]
A seventh invention is a moving body that performs an operation for movement intended by a pilot on board,
Posture detecting means for detecting a change in posture of the pilot;
An intention determination unit that determines an operation that is estimated to be intended by the driver based on a detection result of the posture detection unit;
Control means for outputting a control signal for controlling the operation based on a determination result of the intention determination means;
Drive means for realizing the operation based on a control signal from the control means;
Transmitting means for wirelessly transmitting a control signal output from the control means to the steered mobile body in order to cause the steered mobile body located at a distant position to perform an operation for movement intended by the pilot; ,
Control switching means for stopping output of the control signal to the drive means when the control signal is wirelessly transmitted by the transmission means;
It is characterized by providing.
[0020]
According to such a seventh invention, for example, the direction change, acceleration, deceleration operation, etc. of the steered moving body for carrying the moving body is performed by the radio signal from the moving body, The steered vehicle can be remotely controlled. Therefore, for example, the pilot can easily board without moving to the steered moving body.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
<1. First Embodiment>
<1.1 Overall configuration>
The electric wheelchair as the moving body according to the first embodiment of the present invention has no operating means such as a steering wheel, an accelerator pedal, and a brake pedal operated by the driver, and the driver's body is front, rear, left and right. The direction change, acceleration, and deceleration operations are performed based on an operation based on a posture change such that the user is inclined. Hereinafter, the configuration of the electric wheelchair will be described.
[0022]
FIG. 1 is a left side schematic view showing a configuration of an electric wheelchair 10 as a moving body according to the first embodiment of the present invention. In the following, the left side (left direction) of the electric wheelchair 10 means the left side (left direction) facing the traveling direction, and the right side (right direction) means the opposite side (opposite direction). . The electric wheelchair 10 is a moving body that travels on the ground with two front wheels 12 and two rear wheels 13 in order to move a driver D seated on the seat 11, and is provided at the lower part of the seat 11. A posture sensor 100 that detects a change in posture D, a direction sensor 110 that detects the direction of the front wheel 12, a vehicle speed sensor 120 that detects the moving speed, a steering unit 130 that changes the direction of the front wheel 12, and a rear wheel 13. A driving unit 140 for driving, a braking unit 150 for braking the rear wheel 13, and a control unit 160 for controlling each unit are provided.
[0023]
The posture sensor 100 detects a variable or physical quantity of the seat 11 due to the driver D performing an action accompanied by a posture change, for example, an action of tilting the body in any of the front, rear, left, and right directions, and the variable or physical quantity is detected by the posture signal Sp. Output as. Here, the variable is a displacement amount or an inclination angle of the seat from a predetermined reference position, and the physical amount is a load or acceleration at the predetermined position of the seat. A detailed configuration of the attitude sensor 100 will be described later. The direction sensor 110 detects the direction of the front wheel 12 and outputs the angle as a direction angle signal Sa. The vehicle speed sensor 120 detects the moving speed of the electric wheelchair 10 and outputs it as a vehicle speed signal Sv.
[0024]
The control unit 160 receives the direction angle signal Sa, the vehicle speed signal Sv, and the posture signal Sp, and the operation of the electric wheelchair 10 intended by the driver D from the state of the posture change of the driver D indicated by the posture signal Sp, that is, acceleration, Estimate deceleration, left turn, or right turn motion. Further, the steering signal Ss is output to the steering unit 130 so that the estimated operation is performed, the driving signal Sd is output to the driving unit 140, or the braking signal Sb is output to the braking unit 150. To do. Detailed operation of the controller 160 will be described later.
[0025]
The steering unit 130 includes an electric motor, a reduction gear, a rack and pinion mechanism, a connecting member with the front wheel 12, and the like. This electric motor is driven based on the applied steering signal Ss, and the generated torque is applied to the rack and pinion mechanism via the reduction gear. Thus, when the pinion shaft rotates, the rotation is converted into a reciprocating motion of the rack shaft. Both ends of the rack shaft are connected to the front wheel 12 via a connecting member composed of a tie rod and a knuckle arm, and the direction of the front wheel 12 changes according to the reciprocating motion of the rack shaft. The drive unit 140 includes an electric motor, a reduction gear, a connecting member with the rear wheel 13, and the like. The electric motor is driven based on a given drive signal Sd, and is connected to the rear wheel 13 through the connecting member. Rotational force is transmitted. The braking unit 150 includes an actuator using an electric motor as a drive source, a brake pad, and a brake disk connected to the axle of the rear wheel 13. The actuator presses the brake pad against the brake disk based on the applied braking signal Sb, and the brake disk is braked by the frictional force to reduce the rotational speed of the rear wheel 13. Note that any or all of the steering unit 130, the driving unit 140, and the braking unit 150 may be configured to include a hydraulic actuator.
[0026]
<1.2 Configuration and Operation of Attitude Sensor>
FIG. 2 is a schematic perspective view showing a configuration example of the posture sensor 100 in the electric wheelchair 10 together with the seat 11. The posture sensor 100 includes a square plate-like member that forms a plane P, a front load sensor 101, a rear load sensor 102, a left load sensor 103, and a right side provided at predetermined positions below each corner. And a load sensor 104. The central part of the plate-like member is fixed in the horizontal direction to the lower end of the support member of the seat 11 provided in the vertical direction from the center of gravity of the seat 11 when the driver D is seated in a normal posture. Further, the front load sensor 101 and the rear load sensor 102 are arranged on a straight line (dotted line X in the figure) along the front-rear direction of the electric wheelchair 10, and the front load sensor 101 is a load at the front end corner of the plane P. The value Ff is detected, and the rear load sensor 102 detects the load value Fb at the rear end corner of the plane P. Similarly, the left load sensor 103 and the right load sensor 104 are arranged on a straight line (a dotted line Y in the drawing) along the left-right direction of the electric wheelchair 10, and the left load sensor 103 is a left end corner of the plane P. The right load sensor 104 detects the load value Fr at the right end corner of the plane P. These load values are given to the control unit 160 as the attitude signal Sp.
[0027]
According to this configuration, since the plane P is horizontal when the driver D is seated in a normal posture, the same load is applied to the load sensors 101 to 104. When the center of gravity of the seat 11 moves in the front-rear and left-right directions due to a change in the posture of the driver D, the control unit 160 determines the movement direction of the center of gravity based on the change in the load detected by each of the load sensors 101-104. judge. For example, when the driver D changes his / her posture to lean forward, the center of gravity of the seat 11 moves forward, and the load value Ff detected by the front load sensor 101 increases and is detected by the rear load sensor 102. The applied load value Fb decreases. The control unit 160 determines that the center of gravity has moved forward based on the change in load. Even if not configured as described above, according to the configuration in which the load values detected by the load sensors 101 to 104 when the driver D is seated in a normal posture are stored as initial values, the control is performed. The unit 160 can similarly determine the moving direction of the center of gravity based on the change in load from the initial value.
[0028]
FIG. 3 is a perspective external view showing another example of the configuration example of the posture sensor 100 in the electric wheelchair 10. The posture sensor 100 supports the lower end portion of the support portion of the seat 11 provided in the vertical direction from the center of gravity of the seat 11 when the driver D is seated in a normal posture so as to be swingable back and forth and left and right. The spring member is supported so as to return to the vertical direction, which is the neutral direction, and its swing angle is detected. That is, the roll angle θroll, which is the rotation angle with the front-rear direction (the dotted line X direction in the figure) of the electric wheelchair 10 as the rotation axis, and the pitch angle, which is the rotation angle with the left-right direction (the dotted line Y direction in the figure) as the rotation axis. θpit is detected and output as an attitude signal Sp. Further, the lower end portion of the support portion of the seat 11 is supported so as to be rotatable about a substantially vertical direction as a central axis, and the rotation angle thereof, that is, the rotation about the vertical direction of the electric wheelchair 10 (the dotted Z direction in the drawing) is the rotation axis. The yaw angle θyaw that is an angle may be detected.
[0029]
According to this configuration, when the center of gravity of the seat 11 moves in the front-rear and left-right directions due to the posture change of the driver D, the control unit 160 determines the center of gravity based on the roll angle θroll and the pitch angle θpit detected by the posture sensor 100. The moving direction can be determined. For example, when the driver D changes his / her posture forward, the center of gravity of the seat 11 moves forward and the pitch angle θpit decreases (ie, rotates counterclockwise when viewed from the left). The control unit 160 determines that the center of gravity has moved forward. Even in the case of not being configured in this way, according to the configuration in which the roll angle θroll and the pitch angle θpit when the driver D is seated in a normal posture are stored as initial values, the control unit 160 is the same as described above. It is possible to similarly determine the moving direction of the center of gravity based on the change in angle from the initial value. Further, in addition to or instead of a posture change in which the driver D tilts his / her body to the left / right, when performing a posture change in which the body is twisted in the left / right direction, the rotation with the substantially vertical direction of the support portion of the seat 11 as the rotation center axis is performed. With the configuration that detects the yaw angle θyaw, which is an angle, the control unit 160 can determine that the driver D has performed a posture change that twists the body in the left-right direction.
[0030]
<1.3 Configuration and operation of control unit>
The control unit 160 controls the electric motors (or other actuators) included in the steering unit 130, the driving unit 140, and the braking unit 150, a CPU, an internal memory (ROM and RAM), an I / O, and the like. It is comprised with the microcomputer containing. The control unit 160 sets a target current to be applied to each electric motor based on information from each sensor by executing a predetermined program stored in its internal memory (or external storage medium). Feedback control is performed for each by performing a proportional-integral calculation based on the deviation from the current flowing through the electric motor. Hereinafter, the processing procedure of the control unit 160 will be described with reference to FIG.
[0031]
FIG. 4 is a flowchart showing a processing procedure of the control unit 160. When the driver D sits on the seat 11 and turns on a start switch (not shown) for starting the electric wheelchair 10, the process shown in FIG. In addition, when it is detected that the driver D is seated by each of the load sensors 101 to 104 shown in FIG. 2, or when a change in the posture of the driver D is not detected within a predetermined time, The control unit 160 may be configured to start the process shown in FIG.
[0032]
First, the control unit 160 performs a load detection process for receiving the posture signal Sp including the load values Ff, Fb, Fl, and Fr detected by the load sensors 101 to 104 (step S10). Next, it is determined whether or not a value obtained by subtracting the load value Fb from the load value Ff is greater than a predetermined threshold value R1 (> 0) (step S12).
[0033]
If it is determined in step S12 that the value is larger than the threshold value R1 (in the case of Yes), it is estimated that the body of the driver D is tilted to some extent forward, and therefore an acceleration process for increasing the vehicle speed is performed ( Step S14). It is assumed that it is predetermined that the driver D intends to increase the vehicle speed when the driver D changes his / her posture to some extent forward. In this acceleration process, a corresponding drive signal Sd is given to the drive unit 140 so that the electric wheelchair 10 is accelerated by an acceleration corresponding to a predetermined acceleration or a value obtained by subtracting the load value Fb from the load value Ff. Next, the process proceeds to step S20.
[0034]
If it is determined in step S12 that the value is equal to or less than the threshold value R1 (in the case of No), whether or not a value obtained by subtracting the load value Fb from the load value Ff is smaller than a predetermined threshold value R2 (<0). Is determined (step S16).
[0035]
If it is determined in step S16 that the value is smaller than the threshold value R2 (in the case of Yes), it is presumed that the body of the driver D is tilted back to some extent, and therefore a deceleration process for reducing the vehicle speed is performed ( Step S18). It is assumed that it is predetermined that the driver D intends to lower the vehicle speed when the driver D changes his / her posture to some extent backward. In this deceleration process, a corresponding braking signal Sb is given to the braking unit 150 so that the electric wheelchair 10 is decelerated by a predetermined speed or a speed corresponding to a value obtained by subtracting the load value Ff from the load value Fb. Next, the process proceeds to step S20. Further, when it is determined in step S16 that the value is equal to or greater than the threshold value R2 (in the case of No), it is estimated that the body of the driver D is not inclined much in the front-rear direction, so that deceleration processing and acceleration processing are performed. Instead, the process proceeds to step S20.
[0036]
In step S20, the control unit 160 determines whether or not a value obtained by subtracting the load value Fl from the load value Fr is greater than a predetermined threshold value R3 (> 0). When it is determined that the value is larger than the threshold value R3 in this step S20 (in the case of Yes), it is estimated that the body of the driver D is tilted to the right to some extent. Processing is performed (step S22). It is assumed that it is predetermined that the driver D intends to steer right when the driver D changes his / her posture to the right to some extent. In this right turn process, a corresponding steering signal Ss is sent to the steering unit 130 so that the electric wheelchair 10 is steered rightward by a predetermined angle or an angle corresponding to a value obtained by subtracting the load value Fl from the load value Fr. give. Next, the process proceeds to step S28.
[0037]
If it is determined in step S20 that the value is equal to or less than the threshold value R3 (in the case of No), whether or not the value obtained by subtracting the load value Fl from the load value Fr is smaller than a predetermined threshold value R4 (<0). Is determined (step S24).
[0038]
If it is determined that the value is smaller than the threshold value R4 in this step S24 (in the case of Yes), it is estimated that the body of the driver D is tilted to some extent to the left. Is performed (step S26). It is assumed that it is predetermined that the driver D intends to steer to the left when the driver D changes his / her posture to the left to some extent. Since this left turn process is substantially the same as the right turn process described above except for the turn direction, the description thereof is omitted. Next, the process proceeds to step S28. Further, when it is determined in step S24 that the value is equal to or greater than the threshold value R4 (in the case of No), it is estimated that the body of the driver D is not tilted so much in the left-right direction. The process proceeds to step S28 without performing the process.
[0039]
In step S <b> 28, the control unit 160 determines whether or not the driver D has turned off the start switch and the operation has ended. If the operation is not terminated, the process returns to step S10 and the above process is repeated. Note that the driving may be terminated when a predetermined time has elapsed since it was detected by the load sensors 101 to 104 shown in FIG.
[0040]
The processing procedure of the control unit 160 described above can be considered substantially the same when the posture sensor 100 is another configuration example shown in FIG. That is, when the pitch angle θpit is smaller than the predetermined threshold value R′1 (when rotated counterclockwise when viewed from the left direction), acceleration processing (S14) is performed, and when the pitch angle θpit is larger than the predetermined threshold value R′2 ( When rotating clockwise as viewed from the left), deceleration processing (S18) is performed. Further, when the roll angle θroll is larger than the predetermined threshold value R′3 (when rotating in the counterclockwise direction when viewed from the front), the right turn process (S22) is performed and the roll angle θroll is smaller than the predetermined threshold value R′4. When it is rotated clockwise as viewed from the front, a left turn process (S26) is performed. Note that the yaw angle θyaw may be used instead of the roll angle θroll.
[0041]
<1.4 Effect>
According to the first embodiment, instead of operating means such as a steering wheel, an accelerator pedal, and a brake pedal, the posture sensor 100 performs an operation based on a posture change such that the body of the driver D is tilted back and forth and left and right. Detecting and moving to perform the operation intended by the operator, with operation means adapted to the natural sense of human beings, which does not require special learning, by the configuration in which the direction change, acceleration and deceleration operations are performed by the control unit 160 The body can be provided.
[0042]
<2. Second Embodiment>
In addition to the configuration of the electric wheelchair 10 according to the first embodiment, the electric wheelchair as the moving body according to the second embodiment of the present invention is affected by the acceleration due to the direction change, acceleration, or deceleration operation. Thus, the configuration is made such that an unintended posture change of the driver D occurs, and as a result, an unintended operation is not caused. Therefore, description is abbreviate | omitted about the structure and operation | movement similar to the electric wheelchair 10 which concerns on 1st Embodiment, and, below, the three structural examples centering on a different structure and operation | movement from the electric wheelchair 10 which concerns on 1st Embodiment. I will give you a description.
[0043]
As a first configuration example, the control unit 160 included in the electric wheelchair according to the present embodiment has a seat variable or physical quantity to be generated by acceleration given by a direction change, acceleration, or deceleration operation. Compensation change output that calculates the amount of change in the load values Ff, Fb, Fl, Fr to be generated based on the vehicle speed detected by the vehicle speed sensor 120 and the direction angle detected by the direction sensor 110, and is calculated as a compensation change amount. Process. This compensation change amount output process is performed, for example, after the load detection process (S10) shown in FIG. 4, and further, a corrected load value F obtained by subtracting the calculated compensation change amount to compensate for the influence caused by the acceleration. 'f, F'b, F'l, F'r are calculated. In the subsequent processing in FIG. 4, the corrected load value is used instead of the load value.
[0044]
According to the first configuration example, even when the posture change unintended by the driver D occurs due to the influence of the acceleration due to the direction change, acceleration, or deceleration operation, the change in each load value due to the posture change is described above. Therefore, the operation of the electric wheelchair not intended by the driver D is not caused.
[0045]
As a second configuration example, the electric wheelchair according to the present embodiment newly includes an acceleration sensor (not shown) that detects acceleration in the front-rear direction and the left-right direction, and outputs a compensation change amount in the first configuration example. In the processing, the compensation change amount is calculated using the acceleration detected by the acceleration sensor. Further, the acceleration sensor may be configured to detect an inclination angle from the vertical direction of the suspended weight to the front-rear direction and the left-right direction.
[0046]
According to this second configuration example, a more accurate compensation change amount can be calculated by a configuration that detects the acceleration actually received by the driver D. In addition, according to the configuration of the acceleration sensor that detects the tilt angle, the tilt angle is easily subtracted from the roll angle θroll and the pitch angle θpit output from the posture sensor 100 of another configuration example shown in FIG. A correction roll angle θroll ′ and a correction pitch angle θpit ′ corresponding to the correction load value can be calculated.
[0047]
As a third configuration example, the electric wheelchair according to the present embodiment actively cancels the displacement of the seat 11 that should be caused by the acceleration based on the compensation change amount output in the first or second configuration example. A seat driving unit 105 for displacing the seat 11 is newly provided. FIG. 5 is a perspective view showing a schematic configuration of the seat driving unit 105. The seat drive unit 105 includes a platform plate that forms a plane P, and first to sixth pistons and cylinders that move the platform plate in the forward / backward, left / right, up / down, roll, pitch, and yaw directions. It is a 6-axis motion stand comprised by the actuators 1-6. The seat 11 and the posture sensor 100 are fixed on the plane P of the platform plate, and the seat 11 (and the posture sensor 100) are displaced based on a compensation change amount indicating the displacement of the seat 11 to be caused by the acceleration. For example, when the electric wheelchair 10 is to turn to the right by turning left, the seat 11 is tilted to the left by a predetermined angle, so that the direction in which the acceleration is generated is a direction perpendicular to the plane P. In this case, since an equal load is applied to each of the load sensors 101 to 104, a change in posture due to a load difference between front and rear or left and right is not detected.
[0048]
According to the third configuration example, the direction in which the acceleration is generated by the direction change, acceleration, or deceleration operation of the electric wheelchair is always adjusted to the vertical direction with respect to the platform plate. It is possible to prevent a change in posture.
[0049]
<3. Third Embodiment>
The electric wheelchair as the moving body according to the third embodiment of the present invention images the posture of the driver D sitting on the seat 11 instead of the posture sensor 100 provided in the electric wheelchair 10 according to the first embodiment. Thus, an optical motion capture means for detecting the posture change is provided. Therefore, description is abbreviate | omitted about the structure and operation | movement similar to the electric wheelchair 10 which concerns on 1st Embodiment, and it demonstrates centering around a structure and operation | movement different from the electric wheelchair 10 which concerns on 1st Embodiment below.
[0050]
FIG. 6 is a schematic view of the upper side of the electric wheelchair 30 according to the present embodiment as viewed from the front. First to sixth markers 301 to 306 are pasted in the vicinity of a predetermined joint of the driver D, and these markers 301 to 306 are imaged by the first camera 310 and the second camera 320. When two cameras are provided to prevent occlusion (hidden), any one may be omitted as long as occlusion does not cause a problem. However, when three-dimensional position measurement by stereo vision is performed. Requires a plurality of cameras. Images captured by these cameras 310 and 320 are given to the control unit 160.
[0051]
The control unit 160 calculates a two-dimensional position on a predetermined plane or a three-dimensional position in a predetermined space from the positions of the first to sixth markers 301 to 306 in the captured image, and stores several drivers stored in advance. It is compared with the two-dimensional position or three-dimensional position of each of the markers 301 to 306 corresponding to the posture of the vehicle to determine what posture the driver D has taken (or what posture change has been made). . For example, when a posture change is performed in which the left hand is moved to the left outside the body and the right hand is moved to the vicinity of the front of the body (that is, when the posture of FIG. 6 is taken), the driver D steers to the left. When it is determined in advance that the intention is intended, the control unit 160 determines that the posture change has been performed from the two-dimensional position or the three-dimensional position of each of the markers 301 to 306 (step S26 in FIG. 4). )I do. As another example, the first to sixth markers 301 to 306 are omitted, and the control unit 160 matches the posture of the driver D imaged from the driver posture change patterns stored in advance. By selecting using a pattern matching method, it may be determined what posture the driver D is taking (or what posture change is performed). In addition, any method may be used as long as it is a method generally used in optical motion capture.
[0052]
Further, since various patterns can be considered for the posture change, each posture change pattern is associated with each driving operation and stored in the control unit 160 in advance, and the posture changing corresponding to a predetermined driving operation by the control unit 160 is performed. May be determined, and the corresponding device may be controlled so that the above driving operation is realized. The above driving operations include various driving operations of electric wheelchairs and automobiles, such as parking brake operations, power window opening / closing operations, direction indicator operations, headlight operations, wiper activation, radio activation and channel selection. Operation, navigation system operation, etc. can be considered.
[0053]
FIG. 7 is a diagram for explaining an example of a navigation system operated by the pointing operation of the driver D. The navigation system includes a reading device such as a CD-ROM that stores map data, a computer that calculates routes and performs various controls, a liquid crystal display that displays route guidance, and the like. The screen 400 of the liquid crystal display shows an intersection existing in front of the electric wheelchair 30 as the route guidance. Here, in order to specify the route from the start point 401 to the end point 403, the driver D performs an operation pointing to the start point 401 (operation of the driver D ′), then moves the finger along the trajectory 402, and the end point 403 The operation of pointing to (operation of the driver D) is performed. A marker or the like may be attached to the finger of the driver D. Such a pointing operation is picked up by the camera 410, and the control unit 160 uses the motion capture method to determine that it is a route instruction operation, and determines a start point position and an end point position. Given to the system. The navigation system calculates a route having a given position as a start point and an end point, and further displays it as a new route guide. Furthermore, the control unit 160 may perform automatic driving along the route by appropriately controlling the steering unit 130, the drive unit 140, and the braking unit 150 based on the route designation operation. Further, a lane change guide is displayed on the screen 400, and the control unit 160 may perform lane change by automatic driving based on a predetermined lane change operation of the driver D.
[0054]
As described above, the mobile body according to the present embodiment captures the posture of the driver D sitting on the seat 11 with the first camera 310 and the second camera 320 and detects the posture change. With the configuration including the capture means, it is possible to omit a specially configured sensor for detecting a seat variable or physical quantity, and various driver postures including posture changes that are not related to the seat variable or physical quantity. By detecting, various corresponding driving operations can be realized.
[0055]
<4. Fourth Embodiment>
An automobile as a moving body according to the fourth embodiment of the present invention is configured so that an electric wheelchair as a moving body can be mounted therein. Hereinafter, the configuration of this automobile will be described.
[0056]
FIG. 8 is a left side schematic view showing a configuration of an automobile 50 as a moving body according to the fourth embodiment of the present invention. The automobile 50 is a vehicle that is mounted on the electric wheelchair 40 while the driver D is seated and fixed on the position by the fixing device 24 and travels on the ground by the two front wheels 22 and the two rear wheels 23. A vehicle direction sensor 210 that detects the direction of the front wheel 22, a vehicle speed sensor 220 that detects the moving speed, a vehicle steering unit 230 that changes the direction of the front wheel 22, and a vehicle drive unit 240 that drives the rear wheel 23. The vehicle braking unit 250 that brakes the rear wheel 23, the vehicle control unit 260 that controls each unit, and the reception unit 280 that receives a radio signal from the electric wheelchair 40 are provided. The automobile 50 preferably further includes a carry-in device for mounting the electric wheelchair 40 from the outside of the vehicle to the inside of the vehicle, such as a lifting lift device.
[0057]
The electric wheelchair 40 mounted on the automobile 50 has the same configuration except that the electric wheelchair 10 according to the first embodiment further includes a transmission unit 170. Therefore, the direction sensor 110, the vehicle speed sensor 120, the steering unit 130, the drive unit 140, and the brake unit 150 provided in the electric wheelchair 40 are not illustrated and will not be described, and only different points will be described below.
[0058]
Similar to the posture sensor 100 of the electric wheelchair 10 according to the first embodiment, the posture sensor 100 of the electric wheelchair 40 detects a variable or physical quantity of the seat 11 generated according to the posture change of the driver D, and The variable or physical quantity is output as the attitude signal Sp. The control unit 160 stops the operation of controlling the electric wheelchair 40 only when it is detected that the electric wheelchair 40 is mounted on the automobile 50, and the steering direction, the steering amount, The acceleration amount and the braking amount are calculated, and a posture signal S′p including any or all of these is given to the transmission unit 170. When the steering direction, the steering amount, the acceleration amount, and the braking amount are calculated by the vehicle control unit 260 of the automobile 50, the posture signal S′p may be the same signal as the posture signal Sp.
[0059]
As a method for detecting that the control unit 160 is mounted on the automobile 50, a method for detecting that a switch (not shown) indicating that the control unit 160 is mounted is turned on by the driver D, or the electric wheelchair 40 using the fixing device 24. For example, a method of detecting that is fixed is conceivable. Specifically, the fixing device 24 is a latch member fixed on the floor surface of the vehicle 50, and a pin to be locked to the latch member protrudes at a predetermined position of the electric wheelchair 40. A configuration example in which a predetermined signal is given to the control unit 160 when the pin is locked to the latch member is conceivable.
[0060]
Transmitting section 170 converts attitude signal S′p into a radio signal and transmits it to receiving section 280. The radio signal may be any of a radio signal, an infrared signal, an ultrasonic signal, and the like. Further, the signal may be transmitted by wire. In that case, the transmitter 170 and the receiver 280 are omitted. The receiving unit 280 is provided in the vicinity of the transmitting unit 170 and gives the received attitude signal S′p to the vehicle control unit 260.
[0061]
When it is detected that the electric wheelchair 40 is mounted on the automobile 50 (for example, when the attitude signal S′p is received by the receiving unit 280), the vehicle control unit 260 receives the direction angle signal from the vehicle direction sensor 210. S′a and the vehicle speed signal S′v from the vehicle vehicle speed sensor 220 are received, and the steering signal S ′s to the vehicle steering unit 230 and the vehicle drive are similar to the control unit 160 according to the first embodiment. A driving signal S′d to the unit 240 and a braking signal S′b to the vehicle braking unit 250 are output. The vehicle direction sensor 210 is the direction sensor 110 of FIG. 1, the vehicle vehicle speed sensor 220 is the vehicle speed sensor 120 of FIG. 1, the vehicle steering unit 230 is the steering unit 130 of FIG. 1, and the vehicle drive unit 240 is the drive of FIG. The parts 140 and the vehicle braking part 250 perform the same configuration and operation as the braking part 150 of FIG. The vehicle control unit 260 performs the direction change, acceleration, and deceleration operations of the automobile 50 based on the attitude signal output from the attitude sensor 100 of the electric wheelchair 40 as described above. In addition, when it is not detected that the electric wheelchair 40 is mounted on the automobile 50, the vehicle control unit 260 receives an operation signal from normal operation means (a steering wheel, an accelerator pedal, a brake pedal, etc.) not shown. Based on the attitude signal S′p without performing the control operation based on the operation signal from the normal operation means when it is detected that the electric wheelchair 40 is mounted. It may be a configuration.
[0062]
Furthermore, according to the configuration in which the attitude signal S′p is transmitted by radio signal from the transmission unit 170 to the reception unit 280 as described above, even when the electric wheelchair 40 is not mounted on the vehicle 50 and is outside the vehicle, The vehicle 50 can be remotely controlled. That is, the receiving unit 280 is provided at a predetermined position where it is easy to receive a radio signal from the outside of the vehicle, and gives the attitude signal S′p from the transmitting unit 170 to the vehicle control unit 260. In addition, when the attitude signal S′p is received, the vehicle control unit 260 switches from the operation based on the normal operation means, and changes the direction, acceleration, and deceleration of the automobile 50 based on the received attitude signal. Perform the action. Note that such a switching operation from the normal operation means may be performed based on an instruction input from the driver D to an input unit (not shown). In addition, a camera (not shown) may be provided in the driver's cab of the automobile 50, and an image captured by the camera may be wirelessly transmitted and displayed on a liquid crystal display (not shown) of the electric wheelchair 40.
[0063]
As described above, based on the attitude signal Sp output from the attitude sensor 100 of the electric wheelchair 40, the driver gets on the vehicle by the configuration in which the vehicle controller 260 of the automobile 50 performs the direction change, acceleration, and deceleration operations. The operation means in a moving body such as a wheelchair can be matched with the operation means in a transporting mobile body such as a vehicle that transports the mobile body. Therefore, the driver does not feel uncomfortable even when the moving body to be driven is changed from an automobile to an electric wheelchair or vice versa. In addition, the driver D can remotely control the automobile 50 by a configuration in which the direction change, acceleration, and deceleration operations of the automobile 50 are performed by a wireless signal from the electric wheelchair 40. Therefore, the driver D can easily board the automobile 50 without moving to the automobile 50.
[0064]
<5. Modification>
In each of the embodiments described above, the braking unit brakes only the rear wheel and the driving unit drives only the rear wheel. However, the front wheel and the rear wheel may be braked and driven. Further, the steering unit is configured to steer by changing the direction of the front wheels, but the steering unit may be steered by stopping one of the two rear wheels or rotating the two rear wheels in opposite directions. Good. Further, in the above description, an electric wheelchair is used as an example of the moving body. However, the moving body may be an automobile or other land traveling vehicle having an engine composed of an internal combustion engine as a drive unit, and further, on water, underwater, It may be a moving body that travels in the ground or in the air. Furthermore, the automobile 50 according to the fourth embodiment may be a land traveling vehicle other than the automobile, or may be a moving body that travels on the water, in the water, in the ground, or in the air.
[0065]
The posture sensor 100 according to the first embodiment is configured to detect load changes in the front-rear direction and the left-right direction, but may be configured to detect load changes other than the two directions. Moreover, the structure provided with the sensor which detects variation | change_quantity other than a load change may be sufficient. For example, a displacement sensor that detects the amount of displacement in a predetermined direction, an acceleration sensor that detects acceleration in a predetermined direction, an angle sensor that detects a rotation angle around a predetermined axis, or angular acceleration on the yaw axis, roll axis, and pitch axis The configuration may include a yaw rate sensor, a roll rate sensor, and a pitch rate sensor.
[0066]
In the third configuration example in the second embodiment, the 6-axis motion base is illustrated, but the number of drive axes is not limited to 6 axes. For example, the configuration in which the seat 11 is tilted back and forth and right and left may be used, and when another example of the posture sensor 100 shown in FIG. 3 is used, a configuration in which three axes of roll, pitch, and yaw are driven may be used. . In this case, a roll driving motor having the rotation axis in the front-rear direction (dotted line X direction in the figure) of the electric wheelchair 10, and a pitch driving motor having the left and right direction (dotted line Y direction in the figure) as the rotation axis; A yaw driving motor having a rotation axis in the vertical direction (the dotted line Z direction in the drawing) is provided. Further, a configuration in which two axes excluding the yaw axis are driven is also possible. Furthermore, the structure which drives only the roll axis | shaft which has the largest influence with respect to the attitude | position change of the driver | operator D (or incline the seat 11 only in the left-right direction) is also possible.
[0067]
In the third embodiment, an optical motion capture technique is used. However, a general magnetic motion capture technique using a magnetic sensor may be used. Moreover, it replaces with each marker 301-306, an acceleration sensor, a speed sensor, a position sensor, etc. are used, and the attitude | position change of the driver | operator D is detected based on the acceleration information, speed information, and position information from the said sensor. It may be.
[0068]
In the fourth embodiment, the electric wheelchair 40 is configured to be mounted on the automobile 50. However, if the attitude sensor 100 (and the transmission unit 170) is mounted on the automobile 50, the electric wheelchair 40 is not necessarily mounted. There is no need to When the electric wheelchair 30 according to the third embodiment is mounted, it is sufficient that the cameras 310 and 320 (and the transmission unit 170) are mounted on the automobile 50.
[0069]
In each of the above embodiments, the function of each component is configured to be realized by software by the microcomputer executing a predetermined program, but some or all of the functions of these components are dedicated. It may be realized in hardware by an electronic circuit or the like.
[Brief description of the drawings]
FIG. 1 is a schematic left side view showing a configuration of an electric wheelchair as a moving body according to a first embodiment of the present invention.
FIG. 2 is a schematic perspective view showing a configuration example of a posture sensor according to the embodiment together with a seat.
FIG. 3 is a perspective view showing another example of the configuration example of the attitude sensor according to the embodiment.
FIG. 4 is a flowchart showing a processing procedure of a control unit according to the embodiment.
FIG. 5 is a perspective view showing a schematic configuration of a seat drive unit according to a second embodiment.
FIG. 6 is a schematic view of the upper side of the electric wheelchair according to the present embodiment according to the third embodiment as viewed from the front.
FIG. 7 is a diagram for explaining an example of a navigation system that is used by the electric wheelchair according to the embodiment and operated by a driver's pointing operation.
FIG. 8 is a left side schematic view showing a configuration of an automobile as a moving body according to a fourth embodiment.
[Explanation of symbols]
1-6 ... Actuator
10, 30, 40 ... Electric wheelchair
11 ... Seat
12, 22 ... front wheel
13, 23 ... rear wheel
24 ... Fixing device
50 ... car
100: Attitude sensor
101-104 ... Load sensor
105. Seat drive unit
110 ... Direction sensor
120 ... Vehicle speed sensor
130 ... Steering part
140 ... drive unit
150 ... braking part
160 ... control unit
170: Transmitter
210 ... Vehicle direction sensor
220 ... Vehicle vehicle speed sensor
230 ... Vehicle steering section
240 ... vehicle drive unit
250 ... Vehicle braking part
260 ... Vehicle control unit
280 ... receiver
301 to 306 Marker
310, 320, 410 ... camera
D ... Driver
Fb, Ff, Fl, Fr ... Load value
θpit… Pitch angle
θroll… Roll angle
θyaw ... Yaw angle
Sa: Direction angle signal
Sb ... Braking signal
Sd drive signal
Sp: Posture signal
Ss: Steering signal
Sv ... Vehicle speed signal

Claims (7)

A moving body that performs an operation for movement intended by a pilot on board,
Attitude detecting means for detecting the attitude of the pilot;
An intention determination unit that determines an operation that is estimated to be intended by the driver based on a detection result of the posture detection unit;
Control means for outputting a control signal for controlling the operation based on a determination result of the intention determination means;
A moving body comprising drive means for realizing the operation based on a control signal from the control means. The posture detection means detects a variable or a physical quantity generated in a seat seated by the driver in response to a change in the posture of the driver;
The mobile object according to claim 1, wherein the intention determination unit determines an operation estimated to be intended by the driver based on a variable or a physical quantity detected by the posture detection unit. A compensation change amount output means for outputting a change amount or physical amount of the seat as a compensation change amount to be generated by the acceleration given by the operation;
The moving body according to claim 2, further comprising compensation means for compensating for an influence of an unintended posture change of the driver, which should be caused by an acceleration given by the motion, based on the compensation change amount. . The mobile body according to claim 3, wherein the compensation means displaces the seat according to the compensation change amount. The moving body according to claim 1, wherein the posture detection unit is a motion capture unit that detects a change in posture of the pilot. A transporting mobile body capable of mounting the mobile body according to claim 1,
When the moving body on which the operator is boarded is mounted, control signal receiving means for receiving a control signal output from the control means,
When the mobile body on which the operator is boarded is mounted, the mobile body includes transport mobile body driving means for realizing the operation based on a control signal received by the control signal receiving means. A moving body that performs an operation for movement intended by a pilot on board,
Posture detecting means for detecting a change in posture of the pilot;
An intention determination unit that determines an operation that is estimated to be intended by the driver based on a detection result of the posture detection unit;
Control means for outputting a control signal for controlling the operation based on a determination result of the intention determination means;
Drive means for realizing the operation based on a control signal from the control means;
Transmitting means for wirelessly transmitting a control signal output from the control means to the steered mobile body in order to cause the steered mobile body located at a distant position to perform an operation for movement intended by the pilot; ,
A moving body comprising control switching means for stopping output of the control signal to the drive means when the control signal is wirelessly transmitted by the transmission means.

Images