JP2004129435A - Conveying apparatus, control method and drive mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying apparatus that can move to all arbitrary directions while favorably keeping a balance state by simple operation of a driver, to provide a control mechanism and a control method for the conveying apparatus, and to provide a drive mechanism and a drive method for driving the conveying apparatus. <P>SOLUTION: The conveying apparatus is stopped or moved by controlling the movement of a rotor by a control part while detecting the balance state and the movement state of a housing by a sensor. At this point, by moving the weight of a counter weight part and collaterally moving the center of gravity, the stability of the conveying apparatus is improved. <P>COPYRIGHT: (C)2004,JPO

Description

と表される。ここで、Θ_１は、角度センサ部５５０によりＹ平面における傾き角度Θ_ｃとして検出されるものであり、Ｘ平面における議論をする場合には、Θ_１はΘ_ｂである。また、重心点６１、中心点６２、及び接地点２７ａがなす三角形に注目すると、Θ_１、Θ_２、及びΘ_３の間には、
【数２】

の関係が成り立つ。なお、図９においてはΘ_１＞０とする。
【００８５】
一方、球状回転体１７に回転力が加わるとトルクＴ発生し、重心点６１において重心線６４と直交する方向にトルクＴに対してトルク反作用が加わるのであるが、このトルク反作用をＦ_２と表すと、その大きさは、
【数３】

と表される。ここで、Ｆ_２のうち、Ｆ_１とベクトルの方向が反対の成分をＦ_３とすると、Ｆ_３は、
【数４】

と表される。ここで、数５が成り立つ場合には、重力により落下する力とトルクによる落下に反する力が平衡して、筐体１３の位置は、バランスを保ち、球状回転体１７との関係において定位置に留まる。
【数５】

数１と数３と数４を数５に代入して数６を得る。
【数６】

【００８６】
数６の意味するところを以下に説明する。重心点６１の位置が球状回転体１７の外側にある場合、筐体１３及び操車者が走行面２７に対して接近していない範囲、すなわち、Θ_３＜９０°の範囲では、重心点６１と中心点６２との距離Ｌは重心点６１と接地点２７ａとの距離Ｍに較べて小さくなる。そのため、Θ_１＞Θ_２の関係が成り立ち、Θ_１を変化させたとき、各々の角度の変化量ΔΘ_１、ΔΘ_２についてΔΘ_１＞ΔΘ_２の関係が成り立つ。
【００８７】
数６において、Θ_１が単調増加（減少）したときｓｉｎΘ_１は単調増加（減少）し、Θ_２が単調増加（減少）したときｃｏｓΘ_２は単調減少（増加）する関数であるため、トルクＴを大きくする場合、Θ_１を大きくすると数６を成立させることができ、安定状態を保つことができる。逆に、重心点６１の位置を常に一定にして安定状態を保つためには、Θ_１及びΘ_２の大きさに応じて数６の条件を成立させるトルクＴを発生させなければならない。このとき、数２により、Θ_２はΘ_１により一意に定まるΘ_１の関数であるため、数２を通じてΘ_１の変化とΘ_２の変化とは同一視でき、Θ_１のみを検出し、Θ_１のみの大きさに応じてトルクＴを調整して重心点６１の位置を常に安定状態に維持することができる。また、トルクＴにより発生するＦ_３がＦ_１より大きいと重心点６１の位置は上方へと持ち上げられ、一方でトルクＴにより発生するＦ_３がＦ_１より小さいと重心点６１の位置は下方へと向かう。したがい、フィードバックループの作用でΘ_１とトルクＴとの関係が適切に維持されるならば、重心点６１、すなわち筐体１３の姿勢は適切に保たれ、操車者１２は、自ら安定化のための動作をすることなしで、椅子形状搬送装置１１に着座して走行することができる。
【００８８】
図９は筐体１３及び操車者１２が球状回転体１７上で操車者１２の前方に傾いた場合であるが、筐体１３及び操車者１２が球状回転体１７上で操車者１２の後方に傾く場合も前述のように、筐体１３及び操車者１２が球状回転体１７上で操車者１２の前方に傾いた場合、すなわち重心線６４と垂線６３とのなす角度Θ_１、が正となる場合と同様に説明される。筐体１３及び操車者１２が球状回転体１７上で操車者１２の後方に傾く場合、すなわち重心線６４と垂線６３とのなす角度Θ_１、が負となる場合、Ｆ_１の力の働く方向が後方向となる。したがって、トルクＴの方向を逆方向、すなわち球状回転体１７を逆方向に回転させ、椅子形状搬送装置１１はバランス状態を保って安定に走行することができる。なお、バランス状態を維持するのに必要なトルクＴが、回転機器２２の供給可能なトルクを超える場合には重心点６１の位置を維持することができず、重心点６１は下方へと向かい、筐体１３及び操車者１２は静止することができない。なお、Θ_１を零付近に保つと、細かく微動して走行しながら略一定の位置に椅子形状搬送装置１１は静止することができる。
【００８９】
椅子形状搬送装置１１全体を制御系とみなした場合のフィードバックループの作用を次ぎに説明する。数６は三角関数を含む式であり取り扱いが不便であるので、近似式で説明する。実際のフィードバックループの作用も近似式で表したものと大きな差は生じない。トルクＴの調整は回転機器２２への印加電力、例えば電動機が直流機である場合には、電機子に流れる電機子電流の量の調整により行うことができる。数６において、Θ_１が小さいとき、ｓｉｎΘ_１はΘ_１、ｃｏｓΘ_２は１で近似できるので、数６で表されるΘ_１とＴの関係は、
【数７】

と近似することができる。さらに、トルクＴと回転機器の電機子電流Ｉとには、一般的には略比例関係があるので、数７を書きなおして、
【数８】

を得る。ここで、Ｋは定数である。
【００９０】
数７で表されるΘ_１とトルクＴとの間の関係、数８で表されるΘ_１と電機子電流Ｉとの関係が、ｙ軸方向及びｘ軸方向のいずれの方向に移動する場合についても成り立つ。そのため、ｙ軸方向及びｘ軸方向の両方向に移動する場合に、同時に球状回転体１７をＸ平面とＹ平面において回転させ、前述のようにトルクの制御を行えば、椅子形状搬送装置１１は全方向に安定走行することができる。
【００９１】
操車者１２が、重心の位置を少しずらしΘ_１を零の近傍で正負に変化させた場合、駆動部１８は球状回転体１７にトルクＴを与えて前後方向（ｘ軸方向）や左右方向（ｙ軸方向）に移動するが、操車者に負担を課すことになるので、位置制御を行うことによりこのような負担を軽減することができる。すなわち、位置制御が行われている場合には、筐体１３をもとの位置に戻し、略一点で静止することができる。椅子形状搬送装置１１が走行して移動する際には位置制御のループを切れば最初の位置に戻ることなく操車者が行こうとする方向に体重を移動させるとその方向に安定した走行が可能となる。ここで、位置制御ループを切る操作は、位置センサ部５５１からの出力信号を零に置き換えることにより容易に実現できる。位置制御ループは後述する状態フィードバックの一要素であるので、後述する状態フィードバックの位置の状態変数に対応する係数を零とするか所定の値とするかによっても実現できる。
【００９２】
なお、表示部１６に設けられた操作ボタンにより操作信号を演算部５１に送出して位置制御のＯＮとＯＦＦの状態を切り替えることができるようにして静止モードと走行モードとを切りかえることができる。
【００９３】
前述のように、制御系はｙ軸、ｘ軸、及びｚ軸に沿ったそれぞれ個々に独立した制御機構から成り独立の制御系としてフィードバックループを構成する。以下にフィードバックループの内容を詳細に説明する。
【００９４】
ｙ軸方向を進行方向とする場合についてのフィードバックループの説明をする。センサ部５５の角度センサ部５５０のセンサ５５０ｂがＸ平面上での筐体１３の傾き角度としてΘ_ｂを検出し、角度センサ部５５０により検出されたΘ_ｂは、演算部５１に対して出力され、Θ_ｂを入力された演算部５１ではΘ_ｂに対して演算処理を施す。例えば、最も簡単な演算としては、演算部５１において制御ゲインを掛けられたり位相補償を施されて制御信号として回転機器２２ｂに出力される。
【００９５】
ここにおいて、位相補償は、制御系の応答を速くしたり、制御系の開ループのゲインを向上したりするために行う。駆動部の全体としての伝達特性は、主として回転機器２２の伝達特性により支配される。ここで、回転機器２２の伝達特性は零周波数に極を有する、すなわち、直流において無限大のゲインを有する二次系である。このような伝達関数を含む系の開ループのゲインを増加させて、かつ、周波数応答特性を向上させるためには、通常、低域で遅れ補償を行い低域のゲインを向上させ定常偏差を小さくし、広域で進み補償を行い広域での位相余有を増加させて広域でのゲインを増加することを可能として応答特性の向上を図る。
【００９６】
具体的には、ラプラス変換をした伝達関数をＧ（Ｓ）で表し、ω１乃至ω４を角周波数とすると、低域の位相補償ＧＬ（Ｓ）はＧＬ＝（Ｓ＋ω２）／（Ｓ＋ω１）、高域の位相補償ＧＲ（Ｓ）は、ＧＬ＝（Ｓ＋ω３）／（Ｓ＋ω４）であるので、全体の位相補償特性ＧＰは、ＧＰ＝（Ｓ＋ω２）／（Ｓ＋ω１）＊（Ｓ＋ω３）／（Ｓ＋ω４）となり、回転機器２２の電気子電流Ｉ２２＝Ｋｇ＊（Ｓ＋ω２）／（Ｓ＋ω１）＊（Ｓ＋ω３）／（Ｓ＋ω４）＊Θ１として演算される。ここで、Ｋｇはゲインを定める定数であり、ω１＞ω２＞ω３＞ω４である。このような位相補償を実現するためには、デジタル処理に適した離散時間処理をするためにＳ領域からＺ領域へ変換して、デジタルフィルタの演算式を求めて、演算部５１において、ラグ・リード・デジタル・フィルターを実現する演算を行えば良い。このような制御系は体重移動により生じる傾き外乱Θ_ｃｄに応じて自動的にトルクＴを制御して制御系を安定化する。すなわち、ｙ軸に設けられた回転機器２２ｂを制御して、球状回転体１７をＸ平面で回転させて、筐体１３をｘ軸方向を進行方向として定定走行させる。同様に、センサ部５５の角度センサ部５５０のセンサ５５０ｃがＹ平面上での筐体１３の傾き角度としてΘ_ｃを検出し、角度センサ部５５０により検出されたΘ_ｃは、演算部５１に対して出力され、Θ_ｃを入力された演算部５１ではΘ_ｃに対して位相補償の演算処理を施し、ｘ軸に設けられた回転機器２２ｃを制御して、球状回転体１７をＹ平面で回転させて、筐体１３をｙ軸方向を進行方向として定定走行させる。
【００９７】
筐体１３が、Ｘ平面とＹ平面の両方において傾いている場合には、ｘ軸、ｙ軸の両方のサーボループの作用により、球状回転体１７はＸ平面とＹ平面の両方において回転し、回転による合成力に応じた方向へと安定に進行する。
【００９８】
上述したように、傾き角度のみを制御変数としてフィードバック制御を行えば、原理的には安定走行を行うことができる。しかしながら、別の演算の例として、駆動部１８を制御系に含む場合には、これらの構成部分の動作に関する変数を状態変数として取りこんだ演算が性能向上に寄与する。すなわち、制御系のすべての制御変数をフィードバックする状態フィードバックに基づく制御演算である。ここで、各状態変数のフィードバック係数を所定の評価関数を最大または最小とするように定めながら、すべての状態を原点に収束させる制御は最適レギュレータとして従来から良く知られている。また、各係数を求める手法は、リカッチ方程式の解法として広く知られている。
【００９９】
表１は、以下で用いられる記号を示す。なお、筐体１３及び操車者１２の重心点６１と接地点２７ａとを結ぶ重心線６４をΩ軸とし、接地点２７ａから重心点６１へと向かう方向をΩ軸の正方向とする。また、トルク線６５と垂線６３とがなす角度Θ_１は、センサ５５０ｂが検出する傾き角度の値Θ_ｂまたは、センサ５５０ｃが検出する傾き角度の値Θ_ｃである。また、第１の実施例における状態変数は、すべて表１に示されている。
【０１００】
【表１】

【０１０１】
ブロック図１０及び図１１を用いて、状態フィードバックについて更に説明する。図１０はｙ軸についての（Ｘ平面における）制御系の全体図であり、図１１は、後述する数９乃至数１１に示した演算を実現する制御部２５での演算処理の一例を示すブロック図である。センサ部５５により検出された駆動状態検出信号および角度検出信号は、図中において実線矢印で示されるような流れで情報処理される。図中で添え字を付せられたＫは、上述した数式中の係数を表し、各種の駆動状態検出信号または角度検出信号に乗算されることを示している。また、図中におけるΣの記号は、各種情報の和を求めることを示している。
【０１０２】
数９に最適レギュレータの演算式を示す。数９における所定の定数であるＫ_ｃ１、Ｋ_ｃ２、Ｋ_ｃ３、Ｋ_ｃ４は前述のリカッチ方程式を解いて求められたものである。数９のΘ_ｃ、ｄΘ_ｃ／ｄｔ、Ｄ_ｃ、ｄＤ_ｃ／ｄｔは、回転機器２２ｃのトルクＴの関数、すなわち数８により回転機器２２ｃの電機子電流Ｉ_２２ｃの関数であるので、閉ループの制御系を構成して定数Ｋ_ｃ１、Ｋ_ｃ２、Ｋ_ｃ３、Ｋ_ｃ４の設定値を適切に設けると、時間の経過に従い、原点Ｏにすべての状態変数が収束する漸近安定特性を生じさせることができる。
【数９】

ここで、Ｋ_ｃ１、Ｋ_ｃ２、Ｋ_ｃ３、Ｋ_ｃ４はこの係数の組み合わせを変えることにより、例えば、応答特性を高周波まで伸ばし操車者１２の体重移動に早く追従する特性にしたり、消費電力を最小に設定したりすることができる。また、状態フィードバックは制御系のすべての状態変数を取り扱うために、Θ_ｃのみを取り扱う方法に比べてより高度の制御、例えば、位置制御や速度制御を傾き角度制御と組み合わせることが可能である。
【０１０３】
Θ_ｃｄは、体重移動により生じる外乱であり、サーボループが動作している場合には、この外乱Θ_ｃｄを打ち消すように回転機器２２ｃに電流が供給される。ここで、位置制御のゲインＫ_ｃ３を零ではなく所定の値に設定した場合においては、最初の点より筐体１３が移動するとＤ_ｃの大きさが大きくなり、最初の点に筐体１３を引き戻すように作用する。
【０１０４】
また、位置制御のゲインＫ_ｃ３を零として、定常的な外乱Θ_ｃｄを与えることによって、ｘ軸方向に筐体１３を移動させることができる。例えば、前方方向に重心を移動させて、重心点６１を垂線６３より常に前方となるように、すなわちΘ_ｃｄ＞０となるように設定しておくと筐体１３はｘ軸方向の正方向つまり筐体１３の正面方向へと移動し続ける。
【０１０５】
また、位置制御のゲインＫ_ｃ３を零として、後方方向に重心を移動させて、重心点６１を垂線６３より常に後方となるように、すなわちΘ_ｃｄ＜０となるように設定しておくと筐体１３はｘ軸方向の負方向つまり筐体１３の裏面方向へと移動し続ける。
【０１０６】
ｙ軸に沿った制御機構により構成される制御系のフィードバックについては、回転機器２２ｂが直流電動機である場合には回転機器２２ｂの電気子の電流をＩ_２２ｂとして、数１０は状態フィードバックを実現する演算部５１における演算則である。この演算則で実現される制御系は、時間の経過に従い、原点Ｏにすべての状態変数が収束する漸近安定特性を生じさせることができる。
【数１０】

【０１０７】
ｙ軸方向の沿った制御機構が構成するフィードバックループ及びｘ軸方向に沿った制御機構が構成するフィードバックループに加えて、重心線６４であるΩ軸に沿ったフィードバックループが構成されており、これによりΩ軸に沿ったフィードバック制御が行われる。
【０１０８】
Ω軸を中心とする回転の制御は、重心線６４を軸とした回転の制御であり、ｚ軸に沿った球状回転体１７の回転の制御である。例えば、Ω軸を中心とする回転の制御は、操車者１２が、表示部１６の操作ボタンを操作することにより左右方向などに回転運動を行うことができる。すなわち、右回転の操作ボタンをＯＮとすれば、現在の球状回転体１７の接地点２７ａを中心として右回転を行う。逆に左回転の操作ボタンをＯＮとすれば、左回転を行う。なお、Ω軸を中心とする回転の制御はｘ軸の制御、ｙ軸の制御と同時に行うことができる。
【０１０９】
Ω軸に沿った回転の制御は、回転機器２２ａの電気子の電流をＩ_２２ａとすると数１１で表される演算則に従い行われる。
【数１１】

ここで、Ｋ_Ω１、Ｋ_Ω２は所定の定数であり、Ω_ｉ及びｄΩ_ｉ／ｄｔは筐体１３の所定の点を基準とする角度、及び角速度である。
【０１１０】
Ｋ_Ω１＝０とした場合において、Ｋ_Ω２に値を代入するに、例えば、右回転の操作ボタンを押しときにはＫ_Ω２に正の値、左回転の操作ボタンを押したらＫ_Ω２に負の値が代入されるようにすると、回転方向を制御することができる。また、Ω_ｉに所定の値を代入する場合には、所定の角度だけ回転した後に回転動作を終了させることができる。Ω_ｉとして、所定の基準方向角度Ω_ｉ、Ｋ_Ω１、Ｋ_Ω２に所定の値を代入すると、常に一定の方角がｙ軸となるように球状回転体１７と筐体１３の位置関係を保つことができる。なお、ここにおいて、角速度ｄΩ_ｉ／ｄｔをフィードバックしているが、Ｋ_Ω２の大小により制御系の即応性が決まる。基準方向角度Ω_ｉは、磁気コンパスやジャイロコンパスにより検出するのであるが、基準方向角度Ω_ｉとして一定の方位を入れれば、その一定の方位へ常に移動することとなる。
【０１１１】
また別の制御方法を示す。図１１のブロック図において、Ｋｂを零とし、すなわち回転機器２２ｂを動作させることなく、Ｋｚを所定の値とし、本来回転機器２２ｂを動作させるべき信号に基づき回転機器２２ａを動作させるものである。
【０１１２】
このような制御を実現するために、Ｋ_Ω１、Ｋ_Ω２、Ｋｂのいずれをも零としてＫｚを所定の値とする場合においては、筐体１３はｙ軸方向へと進行することはなく、替わりに筐体１３は回転を行い、その結果、操車者１２の顔が常に進行方向へ向くように制御される。重心点６１の移動により操車者１２から見て横に移動したり後ろに移動したりする動作においては、操車者１２の視界は前方に限られるため危険な場合もあるが、このような制御を行えば、進行方向と視界の方向とを常に一致させることができ、操車者１２は視界に進行方向の状況を確認することができ、安全に椅子形状搬送装置１１を操車することができる。
【０１１３】
なお、このような制御をおこなうためには、最小限、必要な信号はΘ_ｂであり、演算部５１において、Θ_ｂに位相補償を行い、適切なゲインに調整後、回転機器２２ａの駆動信号としても良い。既に述べたように、すべての状態変数をフィードバックすると、種々の評価関数を最小あるいは最大にするという意味での最適化が図れるので、より特性の向上が図れる。
【０１１４】
ここにおいて、Ｚ平面における制御が高速でなされれば、結果として、ｙ軸方向、すなわちＸ平面における傾きはＺ平面の回転という手法により零とすることができるので、ｙ軸方向に進行させるための駆動力が働くことはないので、ｙ軸方向の制御は不要ということになり、その結果、ｙ軸制御に関連する機構部分は不用となる。これにより、装置の簡略化に寄与することとなる。また、Ｋ_ｂ、Ｋ_ｚ、Ｋ_Ω１、Ｋ_Ω２、のいずれをも零ではない所定の値に設定すれば、回転機器２２ａの作用によりＸ平面における傾きを修正しつつ、回転機器２２ｂはｙ軸方向へ進行をさせるより小さい駆動力を発生させれば、安定状態を保つことができるので、ｙ軸に関する機構の簡略化、省電力化及び小型化が図れる
【０１１５】
このような制御系においては、上述した制御が作用している限りは重心の移動方向へ球状回転体１７は移動することとなるため、例えば、操車者１２が、行きたい方向へ重心を移動させるだけで自由に進行方向を選択でき、重心の移動量を大きくすれば、それに伴い移動速度も増加することとなるので、操車が簡便なものとなり、体の不自由な人やこでも容易に操車ができる。
【０１１６】
このように、第一の実施例における椅子形状搬送装置１１は球状回転体１７を回転させて移動するため、車輪が球状という形状を有するため、全方向に滑らかに移動することができ、複数の駆動部１８の各々を組み合わせて駆動させて容易に全方向に移動させることができる。
【０１１７】
［第二の実施例］
次に、図１２に他の形状の搬送装置として第二の実施例である板形状搬送装置を示す。図１２は板形状搬送装置３１上に搬送対象であり板形状搬送装置３１を操車する操車者３３が立った状態で乗車する板形状搬送装置の概略斜視図を示す。ここにおいて、第一の実施例における部材と第二の実施例における部材について、同一の構成、作用をする部材にはその対応を示して説明を省略する。球状回転体３７は球状回転体１７に、筐体３２は筐体１３に、操車者３３は操車者１２に、表示部３６は表示部１６にそれぞれ対応する。
【０１１８】
図１２に示すように、板形状搬送装置３１は球状回転体３７と筐体３２と足台３４とを有する。ここで、板形状搬送装置３１においては、操車者３３の全体重は足台３４によって受けられ、足台３４と筐体３２とは操車者３３の重心の移動が筐体３２に伝わる程度に固定されている。足台３４と筐体３２とは一体に形成されたものであっても良い。
【０１１９】
さらに、椅子形状搬送装置１１では球状回転体１７を駆動および制御する駆動部、センサ部、及び制御部に関する情報を表示する表示部１６が形成さていたが、板形状搬送装置３１に表示部を形成する場合、操車者３３を保持する足台３４が操車者３３の目線より下となるために、またスポーツ感覚で操車者３３が足台３４に乗るために余計な突起物をなくすために例えば、手元のリモコン３５に小型の表示部３６を設け、表示部３６に表示される表示内容に応じてリモコン３５に設けられた図示しない操作ボタンにより指令をだし、操車することができるようにしても良い。この際、リモコン３５は制御部と無線で通信を行い、リモコン３５に設けられた操作ボタンの操作により図示しない制御部を介して板形状搬送装置３１を操車する。
【０１２０】
板形状搬送装置３１では、従来例における遊戯やスポーツで用いられるスケート・ボードのように、操車者３３の体重移動により移動方向を操作するとともに、手元のリモコン３５に設けられた操車ボタンで球状回転体３７の回転角度や回転速度の制御を行えば、スポーツ感覚の搬送装置として、体重移動に加えてボタン操作により、より複雑な操車を行うことができる。
【０１２１】
前述の椅子形状搬送装置１１と同様に、板形状搬送装置３１は球状回転体３７により駆動されるため、板形状搬送装置３１に操車者３３が最初に乗車して発車する際や移動後に停車して降車する際に板形状搬送装置３１が不安定となった場合に対する補助として筐体３２または足台３４に図示しないスタンドを設けても良い。スタンドは棒状の支持物又は板状の支持物であり、板形状搬送装置３１を水平に立たせることができる支持物であれば良い。スタンドは、前述の椅子形状搬送装置１１のように３つ形成しても良いし、また例えば従来例における自転車のように１つであっても良く、板形状搬送装置３１の発進時や停止時に不安定となる場合に板形状搬送装置３１を支持することができれば良い。また、スタンドの設置位置に関しても、板形状搬送装置３１を支持することができる位置に設けられるのであれば、スタンドの取りつけ位置に特に制約はない。
【０１２２】
［第三の実施例］
図１３は、第三の実施例である支持部付搬送装置の概略斜視図である。第一の実施例における部材と第三の実施例における部材について、同一の構成、作用をする部材にはその対応を示して説明を省略する。球状回転体４７は球状回転体１７に、筐体４３は筐体１３に、操車者４２は操車者１２にそれぞれ対応する。
【０１２３】
図１３に示すように、支持部付搬送装置４１は球状回転体４７と筐体４３と足台４４と支持部４５とを有する。筐体４３には、操車者４２が立つ足台４４が結合され、この足台４４に操車者４２の身体部を支持する支持部４５が形成されている。筐体４３と足台４４と支持部４５とが一部材で一体成形されていても良い。
【０１２４】
さらに、支持部付搬送装置４１には、図示しない表示部が備えられており、例えば、表示部は支持部４５に形成される。支持部付搬送装置４１を操車する上で、例えば、第二の実施例において用いたリモコン３５により、表示部に表示される表示内容に応じて操車することができるようにしても良く、この際にはリモコンは制御部と無線で結合し、リモコンの操作は制御部を介して支持部付搬送装置４１を操車する。
【０１２５】
前述の椅子形状搬送装置１１と同様に、支持部付搬送装置４１が球状回転体４７により駆動されるため、支持部付搬送装置４１に操車者４２が最初に乗車して発車する際や移動後に停車して降車する際に支持部付搬送装置４１が不安定となった場合に対する補助として筐体４３または足台４４にスタンドを設けても良い。
【０１２６】
【第二の実施形態】
第二の実施形態における搬送装置について図面を参照して説明する。第二の実施形態における搬送装置の形状の一例である第四の実施例として、椅子形状をした筐体に操車者が着座した状態で搬送される車椅子の形状をした搬送装置（これを以下では椅子形状搬送装置と呼ぶ）について説明する。また、第一の実施形態と同様に、板形状搬送装置や支持部付搬送装置の形状であってもよい。また、第一の実施例で定義したｘ軸、ｙ軸、ｚ軸及びｘ軸正方向、ｘ軸負方向、ｙ軸正方向、ｙ軸負方向、ｚ軸正方向、ｚ軸負方向、及び筐体正面方向、筐体裏面方向、筐体左方向、筐体右方向、筐体重力方向、筐体反重力方向、及びＸ平面、Ｙ平面、Ｚ平面及び筐体横平面、筐体前後平面、筐体水平平面の定義は第二の実施の形態でも同様である。
【０１２７】
［第四の実施例］
図１４は第四の実施例である椅子形状搬送装置８１の概略斜視図である。第一の実施例乃至第三の実施例におけるのと同一の構成、作用をする部材にはその対応を示して説明を省略する。
【０１２８】
図１４に示すように、椅子形状搬送装置８１は導電性材料から構成される球状回転体８７と、球状回転体８７上に設けられた筐体８３並びに、操車者を保持するための部材である座席８４と支持部８５ａと足台８５ｂ及び操車者とのマンマシンインターフェイスである表示部８６とを有する。ここで、第一の実施例との対応関係は、支持部８５ａは支持部１５ａに、足台８５ｂは足台１５ｂに、座席８４は座席１４に、表示部８６は表示部１６に対応する。
【０１２９】
球状回転体８７は、渦電流を生じさせるために導電性を有する材料であって、電気伝導度の大きい材料から構成される。球状回転体８７は、一例として、アルミニウム、鉄、銅などの金属材料を用いて形成することができる。また、後述するように回転磁界により発生する渦電流は球状回転体８７の表面に発生するため、球状回転体８７の内部は中空にしても良いし、また中実としても良い。椅子形状搬送装置８１としての乗り心地を考慮した場合には、弾力性を有する素材を用いて球状回転体８７を構成することにより走行面との接触の振動を防ぐことが好ましく、椅子形状搬送装置８１の使用用途により球状回転体８７の材料は選択される。
【０１３０】
このように第一の実施形態における搬送装置では駆動部が有する回転部のローラー部材が球状回転体を圧接して力学的な力により球状回転体を回転させるのに対し、第二の実施の形態においては球状回転体は導電性材料から構成され、駆動部が有する駆動回路部が導電部材に印加する電気信号により磁界を発生させ、この磁界と球状回転体８７に生じる渦電流との相互作用により球状回転体８７が回転する。
【０１３１】
第四の実施例における搬送装置の略球形状の回転体を駆動させる駆動機構について説明するに際して、まず図１５乃至図１８を用いて駆動機構の構造について説明し、次に図１９乃至図２２を用いて略球状の回転体の動作原理及び動作の制御について説明する。なお、以下において、前述の図１４に示す椅子形状搬送装置を用いて説明するが、第一の実施形態の実施形態における第二の実施例の板状搬送装置（図１２）や第三の実施例の支持部付搬送装置（図１３）に関しても同様な駆動機構により駆動することができる。
【０１３２】
第四の実施例においては、駆動部の構成が第一の実施の形態とは異なり、駆動部は、コアとこのコアに設けられた導電部材とから構成される。図１５は駆動部のコアを示す概略斜視図である。駆動部は円環状の部材であるコア９０を複数組み合わせた形状を成しており、コア９０の内側には球状回転体８７が配置される。コア９０ａには複数の巻線収容溝９４ａ、９４ｂ、９４ｃが形成され、コア９０ｂ、コア９０ｃにも図示しない巻線収容溝が同様に設けられている。巻線収容溝９４ａ、９４ｂ、９４ｃは、コア９０ａの一部を切り欠いて設けられ、コア９０ｂ、コア９０ｃに設けられた巻線収容溝についても同様である。導電部材がこの巻線収容溝に埋設されているので、コア９０ａ、コア９０ｂ、コア９０ｃの表面の位置より導電部材が突出し球状回転体８７と接触をすることはない。
【０１３３】
コア９０と球状回転体８７とのアセンブリは、以下の順序で行われる。まず製造時にいくつかのブロックであるコア９０ａ、コア９０ｂ、コア９０ｃに切断した状態で製造され、次ぎにコア９０ａ、コア９０ｂ、コア９０ｃに導電部材を埋設した後、ベアリング保持部にベアリング８８ａ乃至８８ｄをマウントし、更に球状回転体８７を所定の位置に装着した後に各ブロックを組み合わせる。これによりコア９０ａ乃至コア９０ｃによって構成されるコア９０に球状回転体８７を内包するアセンブリ工程が完成する。
【０１３４】
巻線収容溝９４ａ、９４ｂ、９４ｃが形成される位置として、図１５においては各ブロックの中心点９７を中心として対称な位置としているが点対称な配置には限定されない。なお、駆動部の駆動回路部及びコア材の組数については、球状回転体８７が全方向に駆動する際に駆動回路部部が発生させるトルクによる回転を合成した方向に球状回転体８７は回転するので、３次元空間においては互いに独立な３個のベクトルにより任意のベクトルを張ることができるため、コア材は、９０ａ乃至９０ｃの３組設けるのが生産コストを低減する上で好ましい。更にコア９０ａ乃至９０ｃを直交配置とするのが効率の点よりより好ましい。
【０１３５】
また、導電性部材の個数、すなわちコア当たりの巻線収容溝の数は、コア材である９０ａ、コア９０ｂ、コア９０ｃの各々について回転磁界を発生させるのに十分な個数が必要とされ、正方向、負方向の回転に必要な磁界を発正させるための三相の交番磁界に対応して少なくとも３個必要とされる。ここにおいて、巻線の利用率を向上させるために、上述したように中心点９７に対象な位置に設けた２つの巻線収容溝に１個の巻線構造に成形した導電性部材を３個用いるのが望ましい。しかしながら、交番磁界の相数も三相に限られるものではなく、導電性部材の個数も３個以上であっても良い。
【０１３６】
コア９０は、後述するように球状回転体８７が回転する際に磁路となるため、磁気材料から構成され、一例として、軟鉄やパーマロイの積層板を積み重ねたり、あるいはフェライトなどを用いたりすることにより形成することができる。ここで、軟鉄やパーマロイの積層板を積み重ねて形成する場合には、交番磁界による渦電流の損失を低減することができ、あるいは交番磁界の周波数が低い場合には軟鉄の塊を用いたとしても大きな性能劣化を生じることがない。
【０１３７】
図１６は椅子形状搬送装置８１の筐体８３の内部を示す概略断面図である。図１６に示すように、椅子形状搬送装置１１の筐体８３には回転体保持部が設けられており、回転体保持部は、複数のベアリング８８ａ、８８ｂ、８８ｃと図示しないベアリング保持器とを有し、各ベアリングは図示しないベアリング保持器に収められている。各ベアリングはベアリング保持器の中で自由に回転可能とされており、その結果として球状回転体８７は、筐体１３に対して自由に回転することができる。ここにおいて、ベアリング保持器はコア９０ａ、コア９０ｂ、コア９０ｃに設けても、コア９０ａ、コア９０ｂ、コア９０ｃとは別の部材を設け、その部材にベアリング保持器を設けても良い。図１６はコア９０ａ方向に関する断面であるが、効率を最高にするために、コア９０ａ、コア９０ｂ、コア９０ｃはお互いに直交するように配置されている。なお、第二の実施の形態においては、コアは、三組に限られず、また、お互いに直交しないものであっても良い。
【０１３８】
さらに筐体８３には、垂線に対する筐体８３の傾き角度と、球状回転体８７の回転速度などの駆動状態を検出するセンサ部１１５が形成される。ここで、センサ部１１５の構成、作用は、第一の実施例と略同様であるが、筐体８３の位置や速度の検出は回転軸２３を介して行うことができないので、球状回転体８７にロータリエンコーダを圧着する等により検出が可能である。また筐体８３には、駆動部とセンサ部との間で信号の入出力を行って、センサ部が検出する傾き角度や駆動状態に応じて駆動部を制御し、球状回転体８７の動作状態及び筐体８３の傾き姿勢を制御する制御部１１０が形成される。制御部１１０には駆動回路部１１２ａ乃至駆動回路部１１２ｃから成る駆動回路部１１２が設けられている。駆動回路部は回転磁界を発生させるための交番電流電力発生回路であるインバータにより構成される。ここで、第一の実施の形態において、回転機器２２として三相誘導電動機、あるいは、三相同期機が用いられる場合においては、略同様の構成で良い。
【０１３９】
図１７はコア９０ａを示す概略斜視図である。コア９０ａの両側面のそれぞれには、導電部材を設けるための溝が形成されており、巻線収容溝９４ａと巻線収容溝９４ａ’の内部に導電部材９１ａが巻回され、巻線収容溝９４ｂと巻線収容溝９４ｂ’の内部に導電部材９１ｂが巻回され、巻線収容溝９４ｃと巻線収容溝９４ｃ’の内部に導電部材９１ｃが巻回される。
【０１４０】
導電部材９１ａ，９１ｂ，９１ｃは駆動回路部１１２ａが印加する電圧により電流が流れる予めコイル状に形成された部材を用いることができる。導電部材９１ａ，９１ｂ，９１ｃとしてコイルを用いる場合、巻線収容溝９４ａの中に巻かれるコイルはコア９０ａの側面に沿って、巻線収容溝９４ａ’に至り、巻線収容溝９４ａ’の中を通ってコア９０ａの反対側の側面に至り、再び、巻線収容溝９４ａの中を通るようにして巻回される。このときのコイルの巻数は単数でも複数で良い。また、コア９０ｂ、またはコア９０ｃとコア９０ａとの接合部において、他のコアについての巻き線と交差するように各コイルは配設される。
【０１４１】
図１８はコア９０ａを平面に展開して、コイルと巻線収容溝との関係を示す図である。図１８に示すように、コア９０のブロックであるコア９０ａには、一例として三対の導電部材９１ａ、９１ｂ、９１ｃが設けられ、導電部材９１ａ、９１ｂ、９１ｃは駆動回路部１１２ａに接続される。後述するような駆動回路部１１２ａは三相交番電流を導電部材９１ａ、９１ｂ、９１ｃに印加する。
【０１４２】
ここで、駆動回路部１１２ａが印加する交番電流の相数は三相だけでなく種々の相数とすることができるが、駆動回路部１１２ａが印加する交番電流の相数の整数倍の導電部材９１がコア９０ａに設けられる。ここで、この整数倍の数は極数と称され、球状回転体８７の外周部の一週に加わる回転磁界の振幅の山と谷の数である。
【０１４３】
図１７に示すように、複数の導電部材９１がコア９０ａの両側面に設けられる場合には、それぞれの対の導電部材９１が相互に交わって導通するのを防ぐために相互に接触しないように絶縁処理が施されるか接触しないように交差される。導電部材９１は、駆動回路部１１２ａが印加する交番電流の相数や後述するような回転磁界の極数により配設構造が異なるが、導電部材９１に電流が流れて導電部材９１の周辺部に回転磁界が発生しているとき、回転磁界の発生にとって有効に作用する部分と有効には作用しない部分とが存在する。
【０１４４】
図１８に示すように、コア９０ａの巻線収容溝９４ａ、９４ｂ、９４ｃの内部に通された有効部分９２ａ，９２ｂ，９２ｃが回転磁界の発生にとって有効に作用する部分である。また、コア９０ａの両側面の溝に設けられた非有効部分９３ａ，９３ｂ，９３ｃが回転磁界の発生にとって有効には作用しない部分である。このように、回転磁界の発生にとって有効な部分である有効部分９２は、導電部材９１に流す交番電流の相数や多相交番電流により発生する回転磁界の極数を多くすることにより、増加させることができる。さらに、回転磁界の発生に有効な有効部分９２を増やすことにより、コア９０ａの両側面に設けられる導電部材９１の長さ、つまり回転磁界の発生に寄与しない非有効部分９３の長さを低減することができ、導電部材を効率良く利用することができる。
【０１４５】
駆動回路部１１２ａが導電部材９１ａ、９１ｂ、９１ｃに電圧を印加して電流を流すと、導電部材９１には回転磁界が発生する。図１９に示すように、導電部材９１の周辺部に発生する回転磁界に誘導されて、球状回転体８７表面近傍には渦電流９５が生じ、導電部材９１の回転磁界と球状回転体８７の渦電流９５との相互作用により球状回転体８７は回転する。このとき、磁界の進行方向と球状回転体８７に働くトルクの回転方向とは一致し、トルク軸９６を回転の中心軸として球状回転体８７が回転する。
【０１４６】
すなわち、球状回転体８７上に発生する渦電流９５の方向と、有効部分９２に発生する回転磁界の方向とが垂直となる。そのため、フレミングの左手の法則により、球状回転体８７には渦電流９５と回転磁界とに直交する力が働き、球状回転体８７を回転させる力を発生させることができる。このような駆動機構は、一般には回転磁界と渦電流により円盤を回転させる原理である「アラゴの円盤」として著名なものである。
【０１４７】
駆動部は複数の駆動回路部である駆動回路部１１２ａ、駆動回路部１１２ｂ、駆動回路部１１２ｃを有し、第四の実施例においては、駆動回路部１１２ａは導電部材９１ａ乃至導電部材９１ｃに、駆動回路部１１２ｂ、駆動回路部１１２ｃは図示しない各々三組の導電部材に、接続されている。
【０１４８】
コア９０ａ、コア９０ｂ、コア９０ｃのそれぞれごとに一つの方向の回転磁界を発生させ、コア９０では三方向の回転磁界を発生させる。三方向の回転磁界に対応した回転力が球状回転体８７に働き、球状回転体８７は合成した回転力により３６０°いずれの方向にも回転する。このため、前述の第一の実施形態における回転機器２２ａ乃至２２ｃと、回転軸２３ａ乃至２２ｃと、ローラー部材２４ａ乃至組み合わせにより実現できものと同様の運動が第四の実施例でも実現できる。
【０１４９】
図２０は、駆動回路部１１２と導電部材９１により生じるトルクＴとすべりＳとの関係、及び導電部材９１に流れる電流ＩとすべりＳとの関係を示すグラフである。ここですべりＳとは、導電部材９１への電圧印加によって発生する回転磁界と球状回転体８７との相対速度、及び回転磁界の同期速度との比を表すものとする。グラフ中Ｓａで示される位置は、トルクＴが最大値を取るすべりＳの値であり、すべりＳの値がＳａより右側の領域では電流Ｉの増加にともなってトルクＴは増加し、すべりＳの値がＳａより左側の領域では電流Ｉの増加にともなってトルクＴは減少する。
【０１５０】
そのため、駆動回路部１１２が球状回転体８７に対して与えるトルクＴを制御する場合、すべりＳの値がＳａに対して左右のどちらの領域にあるかを知ることにより、駆動回路部１１２が導電部材９１に流す電流Ｉの変化とトルクＴの変化を知ることができる。このような電流ＩとトルクＴとの関係を知ることにより、球状回転体８７が駆動する時に検出されるすべりＳの値に従って駆動回路部１１２を制御するための制御信号を算出し、駆動回路部１１２が発生させるトルクＴを所望の値とするために導電部材９１に印加する電気信号の信号量を増加させるか又は減少させるかを知ることができ、導電部材９１に印加する信号量を制御して駆動回路部１１２により発生するトルクＴを制御することができる。
【０１５１】
トルクＴが最大となるすべりＳの値であるＳａは、設計により定まる機械定数である。Ｓａの値の測定方法は、例えば、回転磁界の同期速度Ｎ１と球状回転体８７の回転速度Ｎ２とを検出し、トルクＴが最大となったときのすべりＳの値を計測すると、そのときのすべりＳの値がＳａとなる。
【０１５２】
トルクＴが最大となるときのすべりＳの値Ｓａを計測する際、同期速度Ｎ１は駆動部が発生させる回転磁界の速度であるために実際に検出することは可能であり、また球状回転体８７の回転速度は回転磁界が発生する軸上に設けた小型発電機などの速度エンコーダからの出力により検出することが可能である。同期速度Ｎ１及び球状回転体の回転速度Ｎ２を検出すると、制御部１１０のＤＳＰなどの演算部ですべりＳの値を演算処理により算出する。さらに、制御部１１０の演算部１１１においては、予め既知の機械定数であるＳａと動作中のＳの値からトルクと電流との関係が演算されて、導電部材に流れる交番電流電流Ｉを増加させるか減少させるかを判断することにより、フィードバック制御に必要な演算を行うことができる。ここで、交番電流電流Ｉの電流値を大きくするには交番電流の電圧を大きくすれば良く、交番電流電流Ｉの電流値を小さくするには交番電流の電圧を小さくすれば良い。
【０１５３】
なお、球状回転体８７の駆動時の回転軸上に設けた速度エンコーダは、速度検出の目的に使われる小型発電機であり、球状回転体８７に対して機械的な負荷を掛けることなく球状回転体８７の回転速度を検出することができる。また、球状回転体８７の回転速度を検出するのに、例えば光や音波を物体に向けて発し、その反射する成分により速度を検出するドプラ速度計を用いることができる。この場合、球状回転体８７と筐体８３との相対速度や走行面と筐体８３との相対速度を検出することができ、球状回転体８７の回転速度を容易に検出することができる。また、ドプラ速度計を用いる場合には、球状回転体８７に接触することなく回転速度を検出することができ、球状回転体８７に対して機械的負荷を全く与えることなく球状回転体８７の回転速度を検出することができる。
【０１５４】
球状回転体８７の駆動状態を制御する際、制御のために変化させることができるのは駆動回路部１１２が発生させる電圧の周波数と導電部材９１に流される電流の電流量である。ここで、駆動回路部１１２が導電部材９１に周波数ｆ［Ｈｚ］の三相交番電流を印加すると、球状回転体８７の回転数Ｒｍ［ＲＰＭ］とすべりＳとの間に、
【数１２】

の関係が成立する。
【０１５５】
そのため、導電部材９１に印加する三相交番電流の周波数ｆ［Ｈｚ］、球状回転体８７の駆動時に検出されるすべりＳから、制御部１１０の演算部で球状回転体８７の回転数Ｒｍ［ＲＰＭ］を算出し、球状回転体８７の回転数Ｒｍ［ＲＰＭ］を所望の値に制御することができる。また、球状回転体８７を所望の回転数Ｒｍ［ＲＰＭ］で回転させる場合には、制御部１１０の演算部において駆動する球状回転体８７と所望の回転数Ｒｍ［ＲＰＭ］とから三相交番電流の周波数ｆ［Ｈｚ］を算出し、駆動回路部１１２が印加する電圧を制御して所望の回転数Ｒｍ［ＲＰＭ］で球状回転体８７を駆動させることができる。なお、図２０において、駆動回路部１１２が発生させるトルクＴのトルク曲線は、導電部材９１に流れる電流Ｉを増加させると、電流Ｉの増加にともないトルクＴが増加し、トルクＴの軸方向に曲線全体が移動する。
【０１５６】
図２１及び図２２は、三相交番電流をコア９０ａの導電部材９１ａに印加した場合の球状回転体８７上に発生する回転磁界を示す模式図である。コア９０ａには３組の導電部材９１ａ、９１ｂ、９１ｃが巻かれており、導電部材９１に三相の交番電流を流して回転磁界が発生する様子を示す。他のコア９０ｂ、コア９０ｃについても同様な磁界が発生する。
【０１５７】
なお、図２１及び図２２においては導電部材９１の周辺部に発生する回転磁界は二極であるが、導電部材９１の形成方法、個数、配置の選択により、二極以上の多極とすることができ、多極構成とした場合には、巻線の非有効部分の割合が減少し、巻線の利用効率を向上させることができ、また回転磁界の移動速度も極数に比例して遅くなる。交番電流の相数は三相だけでなく種々の相数とすることができる。このように、三相以上の相数の場合、回転磁界を発生させる電流を制御するのに行う演算が複雑となるが、例えば、制御部１１０の演算部にＤＳＰなどを用いることにより、効率良く導電部材に流れる電流の電流量を算出することができる。
【０１５８】
図２１（ａ）は、駆動回路部１１２ａが導電部材９１ａ、９１ｂ、９１ｃのそれぞれに印加する三相交番電流の電流値の時間変化を示すグラフである。三相の電流は交番電流Ｉと、交番電流Ｉに対して位相が１２０度異なる交番電流ＩＩと、交番電流Ｉに対して位相が２４０度異なる交番電流ＩＩＩとからなる。交番電流Ｉ乃至ＩＩＩは導電部材９１ａ、９１ｂ、９１ｃのいずれかに印加され、三相交番電流の印加にともなって各導電部材９１に回転磁界が発生する。なお、図２１（ａ）に示すグラフ図では各時刻ｔ_０乃至ｔ_７は等間隔である。
【０１５９】
図２１（ｂ）乃至図２１（ｄ）、並びに図２２に示す模式図は、球状回転体８７のコア９０ａに沿った断面と、導電部材９１ａ、９１ｂ、９１ｃの有効部分９２に流れる電流と、電流によって発生する回転磁界を模式的に示したものである。図中○に・を組み合わせた記号は紙面裏側から紙面表側に向かって電流が流れることを示し、○に×を組み合わせた記号は紙面表側から紙面裏側に向かって電流が流れることを示す。
【０１６０】
図２１（ｂ）は時刻ｔ_０における各導電部材９１に流れる電流と、回転磁界の磁気曲線を示す。交番電流Ｉは導電部材９１ａ′部分から紙面表側を通って導電部材９１ａ部分に至り、紙面裏面側を通って導電部材９１ａ′部分に戻る。交番電流ＩＩは導電部材９１ｂ部分から紙面表側を通って導電部材９１ｂ′部分に至り、紙面裏面側を通って導電部材９１ｂ部分に戻る。交番電流ＩＩＩは導電部材９１ｃ部分から紙面表側を通って導電部材９１ｃ′部分に至り、紙面裏面側を通って導電部材９１ｃ部分に戻る。このとき、交番電流Ｉ乃至ＩＩＩの流路の周辺部分には図中に閉曲線で示した磁界が発生するが、時間経過と共に図２１（ｂ）から図２２（ｈ）に示すように、各導電部材９１に流れる電流が変化するため、発生する磁界の方向が径時的に変化し、球状回転体８７を貫通する磁界が回転することになる。この磁界が回転磁界であり、前述のように球状回転体８７表面に発生する渦電流９５との相互作用によって球状回転体８７が回転する。
【０１６１】
次に図２３に制御系のブロック図をしめす。基本的な構成は第一の実施例について示す図７と同じである。センサ部１１５はセンサ部５５に、角度センサ１１５０は角度センサ５５０に、位置センサ１１５１は位置センサ５５１に、速度センサ１１５２は速度センサ５５２に、表示部８６は表示部１６に、制御部１１０は制御部２５に、演算部１１１は演算部５１に、駆動回路部１１２ａ乃至１１２ｃは駆動回路部５２ａ乃至５２ｃに対応する。各部材の構成作用は第一の実施の形態に置けるのと同様であるので説明を省略する。なお、駆動部１１３は上述した導電部材とコアとの組み合わせにより構成されるものであり、駆動信号は上述したように、周波数と導電部材の電流を変化させるものである。
【０１６２】
このように、第二の実施形態における搬送装置は球状回転体８７を回転磁界を三次元方向に発生させ球状回転体８７を任意の方向に回転させ、回転力により生じるトルクの大きさを任意に制御することができる。また、第一の実施例とは異なりローラー部材２４に接触させることなく回転させるために、回転に寄与するローラ部材が負荷となり生じる損失が無く、効率的に球状回転体８７を全方向に回転させて搬送装置を移動することができる。
【０１６３】
【第三の実施の形態】
第三の実施形態における搬送装置について図面を参照して説明する。第三の実施形態における搬送装置の形状の一例である第五の実施例として、椅子形状をした筐体に操車者が着座した状態で搬送される車椅子の形状をした搬送装置（これを以下では椅子形状搬送装置と呼ぶ）、及び第六の実施例として筐体上に操車者が立った状態で搬送され、操車者が捉まる手摺などの支持部を有する搬送装置（これを以下では支持部付搬送装置と呼ぶ）について説明する。駆動部については、第一の実施の形態における回転機器と回転軸とローラ部材との組み合わせであっても、第二の実施の形態における回転磁界と導電性の球状回転体を用いたもののいずれであっても良い。また、第一の実施例で定義したｘ軸、ｙ軸、ｚ軸及びｘ軸正方向、ｘ軸負方向、ｙ軸正方向、ｙ軸負方向、ｚ軸正方向、ｚ軸負方向、及び筐体正面方向、筐体裏面方向、筐体左方向、筐体右方向、筐体重力方向、筐体反重力方向、及びＸ平面、Ｙ平面、Ｚ平面及び筐体横平面、筐体前後平面、筐体水平平面の定義は第二の実施の形態でも同様である。
【０１６４】
［第五の実施例］
図２４、図２５の斜視図に示す第五の実施例の椅子形状搬送装置１３１について説明する。図２４は椅子形状搬送装置上に搬送対象であり椅子形状搬送装置の操車する操車者が着座した状態で乗車する椅子形状搬送装置の概略斜視図であり、図２５は椅子形状搬送装置の概略斜視図である。
【０１６５】
なお図２４及び図２５に示すように、直交座標系の座標軸としてｘ軸、ｙ軸、及びｚ軸を定義するが、この定義は第一の実施例における場合と同様であり、Ｘ平面、Ｙ平面、Ｚ平面の定義も第一の実施例と同様である。
【０１６６】
ここで、第五の実施例における部材の構成、作用が他の実施例におけるものと同じ場合については、対応関係を示して、説明を省略する。球状回転体１３７は、球状回転体１７であっても導電性を有する球状回転体８７であっても良い。球状回転体１３７が球状回転体１７である場合においては、筐体１３３に含まれる各部材は第一の実施例において示した筐体１３に含まれる部材による構成をとることができ、回転機器からの回転力を球状回転体１３７に伝えることができる。１３７が球状回転体８７である場合においては、筐体１３３に含まれる各部材は筐体８３に含まれる部材による構成をとることができ、電磁誘導作用により球状回転体１３７を回転機器の一部として用いることができる。
【０１６７】
図２６に示す第五の実施例のスタンド１４６は第一の実施例におけるスタンド２６と同一の構成、作用をする。
【０１６８】
図２７は、椅子形状搬送装置１３１の重心位置を変更するための部材である第一カウンタウェイト部１４９ｃ、第二カウンタウェイト部１４９ｂを、椅子形状搬送装置１３１の筐体１３３に設けた様子を示す内視図である。第一カウンタウェイト部１４９ｃ、第二カウンタウェイト部１４９ｂの詳細な構造例は後述するが、椅子形状搬送装置１３１の重心位置を変更する程度の重量を有する部材の位置を変動させる部材である。また、第一カウンタウェイト部１４９ｃはｘ軸方向に重量の移動を行うように配置され、第二カウンタウェイト部１４９ｂはｙ軸方向に重量の移動を行うように配置されている。このため、第一カウンタウェイト部１４９ｃと第二カウンタウェイト部１４９ｂとにより二次元的に重心位置の変更を行うことが出来る。
【０１６９】
筐体１３３のＹ平面に平行な面に対する断面図を示す。図２８に示すように、椅子形状搬送装置１３１の構成は、第一カウンタウェイト部１４９ｃ及び第二カウンタウェイト部１４９ｂを除き、すべて第一の実施例と同じ構成となっているので、それらの部分については対応を示して説明を省略する。回転機器１４２と回転軸１４３とローラー部材１４４とは、第一の実施例の回転機器２２と回転軸２３とローラー部材２４とに対応し、ベアリング保持器１４０及びベアリング１４１は、第一の実施例のベアリング保持器２０及びベアリング２１に対応する。
【０１７０】
図２９は、椅子形状搬送装置１３１の重心位置の変更を行う部材であるカウンタウェイト部の構造を示す模式図である。ここでは第一カウンタウェイト部１４９ｃについてのみ説明するが、第二カウンタウェイト部１４９ｂも同様の構造である。
【０１７１】
第一カウンタウェイト部１４９ｃは、カウンタウェイト２０１ｃと、磁性体より構成される磁路部２０２ｃと、導電部材２０３ｃと、永久磁石２０４ｃとにより構成されている。カウンタウェイト２０１ｃは搬送装置の重心位置を変更することが出来る程度の重量を持った部材であり、導電部材２０３ｃに固定して取り付けられ導電部材２０３ｃと一体となり自由に移動可能となされている。磁路部２０２ｃはカウンタウェイト部１４９ｃの外形を形成する外枠部材であり、枠内部には永久磁石２０４ｃが固定配置されている。永久磁石２０４ｃの発生する磁界方向はカウンタウェイト２０１ｃの移動方向と垂直方向である。導電部材２０３ｃはコイル状の電気伝導体であり、永久磁石２０４ｃをコイル内側に挿入した状態で磁路部２０２ｃの枠に沿って移動可能となるように配置されている。
【０１７２】
図３０は、他の構成を有するカウンタウェイト部の構造を示す模式図である。上述のカウンタウエイト部は、ｘ軸、ｙ軸方向に移動可能とされ、Ｚ平面内の所定の範囲における重心の移動を可能とした。しかしながら、この構成によれば、二個のカウンタウェイト部を設ける必要がある。他の構成は、カウンタウエイト部全体を回転させることにより一個のカウンタウエイト部により同じ作用を生じさせることができるものである。ここにおいて重心の移動点の特定は、二個のカウンタウエイト部を用いた場合においては、ｘ軸、ｙ軸からなる直交座標を用いて行うが、一個のカウンタウエイト部を用いる場合には、ｘ軸、ｙ軸からなる二次元の直交座標を半径ｒと、角度ηからなる二次元の極座標に変換することによりこの構成を達成できる。
【０１７３】
回転カウンタウエイト部１６９の全体を回転させるための回転軸２０６に、図示しない回転動作を行うカウンタウエイト電動機の回転軸を結合することにより角度ηを可変とし、回転軸２０６からカウンタウエイト２０１ｄの中心までの半径ｒ（図３０の一点鎖線で表した長さ）を可変とすることによって同様の作用をなすものである。ここにおいて、カウンタウェイト２０１ｄはカウンタウェイト２０１ｃと、磁路部２０２ｄは磁路部２０２ｃと、導電部材２０３ｄは導電部材２０３ｃと、永久磁石２０４ｄは永久磁石２０４ｃとに対応しているので、構成、作用の説明は省略する。また、ｘ、ｙ座標からｒ、η座標への変換は、演算部１８１において、公知である直交座標から極座標への変換式に基づき行うことができる。
【０１７４】
回転カウンタウエイト部１６９を用いれば、制御部に形成されたカウンタウェイト駆動回路部から出力されるカウンタウェイト駆動信号に従って、導電部材２０３ｄに電流が流れることにより、導電部材２０３ｄと永久磁石２０４ｄの組み合わせによるリニアモータが動作し、カウンタウェイト２０１ｄおよび導電部材２０３ｄが磁路部２０２ｄの長手方向に沿って移動し、制御部に形成されたカウンタウエイト電動機から出力されるカウンタウエイト電動機駆動信号に従って、回転カウンタウエイト部１６９の全体が回転をする。このように、カウンタウエイトの長手方向及び回転方向への運動により重心の移動が行われる。以上において、制御部、カウンタウェイト駆動回路部、カウンタウェイト駆動信号、ウンタウエイト電動機、カウンタウエイト電動機駆動信号のいずれも図示されていない。
【０１７５】
次に制御系のブロック図３１を用いて、制御系全体の構成を説明する。センサ部１８５はセンサ部５５に、角度センサ部１８５０は角度センサ部５５０に、位置センサ部１８５１は位置センサ部５５１に、速度センサ部１８５２は速度センサ部５５２に、表示部１３６は、表示部１６に、駆動回路部１８２は駆動回路部５２に、駆動回路１８２ａ乃至駆動回路１８２ｃは駆動回路部５２ａ乃至駆動回路部５２ｃに、駆動部１３８は駆動部１８に、回転機器１４２ａ乃至１４２ｃは回転機器２２ａ乃至２２ｃに、回転軸１４３ａ乃至１４３ｃは回転軸２３ａ乃至２３ｃローラ部材１４４ａ乃至１４４ｃはローラー部材２４ａ乃至２４ｃに、球状回転体１３７は球状回転体１７に対応した構成と作用をなす。
【０１７６】
なお、第五の実施例の駆動部１３８及び球状回転体１３７を駆動部１１３及び球状回転体８７に替えても第三の実施の形態においては発明の本質を変更することなく実施することができる。演算部１８１は演算部５１と同様に、ＤＳＰ，ＣＰＵ、ハードウエアにより構成されるが、処理内容は演算部５１により行われるものとは異なる。すなわち、第一の実施の形態及び第二の実施の形態において備えられていなかった構成であるカウンタウエイト駆動回路２１１ｂとカウンタウエイト駆動回路２１１ｃとが設けられているので、これを制御するカウンタウエイト制御信号を発生する。カウンタウエイト制御信号はカウンタウエイト駆動部２１１ｂ及びカウンタウエイト駆動部２１１ｃとからカウンタウエイト駆動信号とを更に発生する。
【０１７７】
カウンタウエイト駆動信号は、二系統出力され、カウンタウエイト駆動回路２１１ｃからの信号は第一カウンタウェイト部１４９ｃに、カウンタウエイト駆動回路２１１ｂからの信号は第二カウンタウエイト部１４９ｂに加えられる。第一カウンタウェイト部１４９ｃに加えられたカウンタウエイト駆動信号は導電部材２０３ｃに電流を流しカウンタウェイト２０１ｃを移動させ、第二カウンタウエイト部１４９ｂに加えられたカウンタウエイト駆動信号は導電部材２０３ｂに電流を流し、第二カウンタウエイト２０１ｂを移動させ、二次元方向に重心の移動を行う。
【０１７８】
なお、第一カウンタウェイト部１４９ｃ及び第二カウンタウエイト部１４９ｂに変えて前述した回転カウンタウエイト部１６９を用いることができる。この場合においては、カウンタウエイト駆動回路部２１１ｂ及びカウンタウエイト駆動回路部２１１ｃに変えて、導電部材２０３ｄに電流を流すためのカウンタウエイト駆動回路部２１１ｂまたはカウンタウエイト駆動回路部２１１ｃと同様な図示しないカウンタウエイト駆動回路部と、カウンタウエイト電動機に電流をながすためのカウンタウエイト電動機駆動回路部とを設ける必要がある。なお、この場合においては、センサ部１８５の角度センサ部１８５０に設けられた直交座標についての傾き角度を検出するセンサ１８５０ｂと１８５０ｃからの信号を演算部１８１において座標変換し、傾き角度の絶対値ＲΘと角度方向の成分Θηを求める演算を予め行い、その後の所定の制御則に関する演算をしなければならない。ＲΘに基ずく信号が、カウンタウエイト駆動回路部に入力され、Θηに基づく信号が、カウンタウエイト電動機駆動回路部に入力される。
【０１７９】
あるいは、角度センサ部１８５０において、当初より、回転カウンタウエイト部の移動と座標が一致する半径ｒに対応する傾き角度の絶対値ＲΘと回転カウンタウェイト部１６９における筐体１３３の所定の位置を基準とした角度Θηを直接検出し、座標変換の処理を経ることなく用いても良い。
【０１８０】
第五の実施例における制御部１４５の構成を図３２のブロック図を用いて説明する。ここにおいて、センサ部１８５は、センサ部５５と同一の構成、作用をなし、演算部１８１は、細部の演算則は上述したように異なるものの、演算部５１と同様の構成である。バスラインの制御により、センサ部１８５、表示部１３６、駆動回路部１８２と信号のやり取りを行う点においても同様である。表示部１３６は表示部１６と同様の構成で、同様の作用をなす。
【０１８１】
図３３を用いてどのように椅子形状搬送装置１３１が制御されるかの原理を説明する。図３３は球状回転体１３７が回転状態における力関係を示す断面模式図である。ここで、筐体１３３や操車者１３２の重量を代表させる点を重心点１９１、球状回転体１３７の中心を中心点１９２とし、走行面に垂直な直線を垂線１９３、重心点１９１と接地点１４７ａとを結ぶ直線をトルク線１９５、重心点１９１と接地点１４７ａとの距離をＭとおく、重心点１９１と中心点１９２とを結ぶ直線を重心線１９４、重心点１９１と中心点１９２との距離をＬとし、さらに垂線１９３とトルク線１９５とのなす角度をΘ_１、重心線１９４とトルク線１９５とのなす角度をΘ_２、垂線１９３と重心線１９４とのなす角度をΘ_３とする。ここでは重心点１９１にカウンタウェイト部１４９の重量を含めないで考える。
【０１８２】
図３３は、Ｙ平面に平行な面上での球状回転体１３７での断面模式図であるが、他の断面においても同様に説明される。
【０１８３】
図３３に示すように、球状回転体１３７は走行面の接地点１４７ａにおいて略一点で接するのであるが、重心点１９１の位置が接地点１４７ａより高い位置にあるため、接地点１４７ａを通る重心線１９４と垂線１９３とが一致する場合に静止状態を保つことができる。重心線１９４と垂線１９３とが略一致して重心点１９１が静止状態位置の近傍にある場合は、制御系として不安定平衡点であるため、前後方向や左右方向のいずれかに重心点１９１の位置がずれると、重力により球状回転体１７が回転して重心点１９１が走行面の下方へと移動し、平衡状態が維持できない。そこで、第一の実施形態における搬送装置では、操車者１３２に負担を負わせてバランスを取らせるのではなく、球状回転体１３７を移動させることにより重心点１９１が安定状態に位置するようにバランスを保ち球状回転体１３７の静止状態を安定に維持するものであり、一点において静止を行おうとすると現実には前後左右に細かく常に微動を繰り返す必要がある。第三の実施の形態は、球状回転体１３７の移動を行うことなく、完全な静止を行うことができる。
【０１８４】
このような球状回転体１３７を静止させて椅子形状搬送装置１３１が安定したバランス状態を維持する場合と、椅子形状搬送装置１３１が移動して走行する場合の動作についての説明は、第一の実施の形態において数１乃至数１１を用いて説明したものと同様である。
【０１８５】
次に、図３４を用いてカウンタウェイト部の駆動による搬送装置の重心位置制御について説明する。第一カウンタウェイト部１４９ｃのカウンタウェイト２０１ｃは、ｘ軸方向に移動可能であるので、ｘ軸方向のバランスのずれを調整できる。第二カウンタウェイト部１４９ｂのカウンタウェイト２０１ｂは、ｙ軸方向に移動可能であるので、ｙ軸方向のバランスのずれを調整できる。以下においては第一カウンタウェイト部１４９ｃの動作および制御についてのみ説明を行うが、第二カウンタウェイト部１４９ｂにおいても同様の動作および制御を行うものとする。
【０１８６】
図３４は、球状回転体１３７が静止して椅子形状搬送装置１３１が静止した際の球状回転体１３７の静止状態におけるバランス状態の維持を示す断面模式図である。
【０１８７】
重心点１９１に働いている、接地点１４７ａを中心とする回転モーメントＭＦ_１１は、数１３に示される。ここでＬｔは、接地点１４７ａと重心点１９１との距離である。
【数１３】

一方、可動重心点１９６に働く接地点１４７ａを中心とする回転モーメントＭＦｃは、数１４に示される。
【数１４】

ここで、Ｌｃは第一カウンタウェイト部１４９ｃが動く軸の原点からの移動距離であり、Θ_ｃは、接地点１４７ａと可動重心点１９６を結ぶ直線が垂線１９３となす角度で、Ｌｓは、接地点１４７ａと第一カウンタウェイト部１４９ｃが動く軸の中心位置との距離であり、Ｗｃは第一カウンタウェイト部１４９ｃの重量である。搬送装置が静止時においてバランスを保つには、次式が成り立たねばならない。
【数１５】

【０１８８】
ここで、数１５が成り立つためには、ｓｉｎΘ_１とｓｉｎΘ_ｃの極性が反対でなければならないことが解る。すなわち、第一カウンタウェイト部１４９ｃを移動させて、ＭＦｃの極性と大きさを変化させて、バランス状態を保つことができる。Θ_１とΘ_ｃのいずれもが、零に近い微少量であるときには、近似値ｓｉｎΘ_１＝Θ_１、ｓｉｎΘ_ｃ＝Θ_ｃを代入して、数１５は数１６で近似できる。
【数１６】

この式を変形して、次式を得る。
【数１７】

【０１８９】
一方、Θ_ｃは、次式で表される。
【数１８】

したがって、数１７と数１８より数１９を得る。
【数１９】

したがって、Θ_１を検出して、これに対応するΘ_ｃを発生するＬｃを求め、このＬｃの位置に第一カウンタウェイト部１４９ｃを移動させれば、バランス状態を保つことができる。ここで、Θ_１からＬｃを計算するために演算部１８１が使われる。このような、フィードフォワードによってもバランスを保つことができるが、より安定した動作のためには、フィードバックによることがより望ましい。フィードバック制御によれば、Θ_１の大きさに応じて自動的にバランスを保つ、すなわちカウンタウエイト部を制御して重心の位置を平衡点に常に移動させることができる。
【０１９０】
次に、搬送装置が移動している場合のバランス維持について説明をする。搬送装置が移動している場合にには、球状回転体１３７のトルクＴの影響も加わるので、数２０が成り立つ。
【数２０】

左辺の第１項は、重心点１９１の移動により発生する力であり、第２項は第一カウンタウェイト部１４９ｃの移動により発生する力である。右辺のトルクに対して、第１項、第２項のどちらのちからを作用させてもバランスをたもつことができるが、その割合は任意に設定できる。例えば、移動速度が所定の速度以上であるときは、第２項の力を零、たとえば、第一カウンタウェイト部１４９ｃを中心位置（Ｌｃ＝０）に固定し、移動速度が所定の速度以下となったときは、第２項による制御を働かせれば、低速高速を問わず安定した走行が可能となる。このような制御を行えば、低速における移動に際しては第２項による制御が働き球状回転体１３７の回転が静止したときにおいても安定して操車者１３２を椅子形状搬送装置１３１上に保持することができる。
【０１９１】
また、第１項と第２項の成分にＫｃ１、Ｋｃ２なる係数を掛けた和を電機子の電流Ｉａとする数２１で表されるフィードバック制御を行えば、傾き角のみの調整ではなく駆動部１３８への駆動信号を表示部１３６に設けられた操作ボタンにより直接任意の値に設定すれば、重心の制御が可能な範囲において、所定の速度で、椅子形状搬送装置１３１は走行面１４７の上を安定して走行するように走行速度の制御が行えるので、制御部において筐体の傾き角度を検出して傾き角度が所定の値を上回った場合にはカウンタウエイト部を含む制御系の効果を一巡のゲインを上げることにより高めれば、走行速度が速くなっても無理な前傾姿勢を保つ必要がなくなる。
【数２１】

【０１９２】
上述の説明においては、ｘ軸のみの制御について述べたが、ｙ軸についても同じ制御を行えば、全方向に渡り安定したバランス制御を行って移動を行うことが可能となる。
【０１９３】
以上の説明においては、説明を簡単にするためにΘ_１は、第一のカウンタウエイト１２１及び第二カウンタウェイト部１４９ｂの影響がない場合に検出される傾き角であるとして説明を行ったが、装置の動作中に、このような角度を検出することは不可能である。したがって実際には、第一カウンタウェイト部１４９ｃ及び第二カウンタウェイト部１４９ｂ並びに搬送装置および操車者１３２の重量の影響も含んだ傾き角をΘ_１として検出し、フィードバック制御により、カウンタウエイト部１４９の位置の制御を行うことが望ましい。この場合においては、フィードバックループの作用により、最終的に必ずバランス状態となるようにカウンタウエイト部１４９の位置が自動的に調整されるからである。
【０１９４】
図３５は、数１３乃至数２１に示した制御部１４５での演算処理の一例を示すブロック図である。センサ部１８５により検出された駆動状態検出信号および角度検出信号は、図中において実線矢印で示されるような流れで情報処理される。図中で添え字を付せられたＫは、上述した数式中の係数を表し、各種の駆動状態検出信号または角度検出信号に乗算されることを示している。また、図中におけるΣの記号は、各種情報の和を求めることを示している。このように、図３５に示したブロック図による演算を行うことにより、センサ部１８５から制御部１４５に出力された駆動状態検出信号および角度検出信号に基づいて、数１３乃至数２１に示された演算が実行され、導電部材２０３ｃ、２０３ｂに対してカウンタウェイト駆動信号が出力され、カウンタウェイト２０１ｃ、２０１ｂの移動が行われ、重心位置のフィードバックループ制御を行うことができる。
【０１９５】
リモコン１６５により操車する場合、後述するようにサーボループを閉じた状態で、リモコン１６５の操作により、前進、後退、右方向、左方向、回転等の運動を手元で制御することができ、椅子形状搬送装置１６１を部屋や駐輪場などから操車者１６２の手元へと運ぶことができる。具体的には、カウンタウエイト部１４９の制御と駆動部１３８との制御を全く独立に行う。すなわち、駆動部１３８は、第一の実施例に示したような、カウンタウエイト部には無関係な制御が行われているとする。その状態で、リモコンを介してより、カウンタウエイト部１４９に制御信号を送り、椅子形状搬送装置１３１の前方に重心位置を移動させると椅子形状搬送装置１３１は前方に移動し、椅子形状搬送装置１３１の後方に重心位置を移動させると椅子形状搬送装置１３１は後方に移動し、椅子形状搬送装置１３１の右手方向に重心位置を移動させると椅子形状搬送装置１３１は右手方向に移動し、椅子形状搬送装置１３１の左手方向に重心位置を移動させると椅子形状搬送装置１３１は左手方向に自由に移動する。
【０１９６】
また別の方法としては、カウンタウエイト部におけるフィードバック制御を働かせつつ、駆動部１３８に印加する駆動信号をリモコンを介して制御すれば、リモコンからの信号に応じて、椅子形状搬送装置１３１を移動させることができる。より具体的には、例えば、ｄΘｂ／ｄｔで表せるｙ方向の加速度に電気オフセットを与えると、その電気オフセットに応じた一定の速度で椅子形状搬送装置１３１はｙ軸方向に移動をし、例えば、ｄΘｃ／ｄｔで表せるｘ方向の加速度に電気オフセットを与えると、その電気オフセットに応じた一定の速度で椅子形状搬送装置１３１はｘ軸方向に移動をする。このとき、カウンタウエイト部がバランスを保つ制御を行っているので椅子形状搬送装置１３１は安定して走行することができる。
【０１９７】
［第六の実施例］
次に、図３６に第六の実施例である椅子形状搬送装置１６１上に搬送対象であり椅子形状搬送装置１６１を操車する操車者１６２が着座状態で乗車する椅子形状搬送装置の概略斜視図である。
【０１９８】
図３７は、椅子形状搬送装置１６１の重心位置を変更するための部材である第一カウンタウェイト部１６９ｃ、第二カウンタウェイト部１６９ｂを、椅子形状搬送装置１６１の座席１６４内部に設けた様子を示す内視図である。また、第一カウンタウェイト部１６９ｃはｘ軸方向に重量の移動を行うように配置され、第二カウンタウェイト部１６９ｂはｙ軸方向に重量の移動を行うように配置されている。このため、第一カウンタウェイト部１６９ｃと第二カウンタウェイト部１６９ｂとにより二次元的に重心位置の変動を行うことが出来る。第一カウンタウェイト部１６９ｃ及び第二カウンタウェイト部１６９ｂの構成、作用は第一カウンタウェイト部１４９ｃ及び第二カウンタウェイト部１４９ｂと同様である。その他の部材である球状回転体１６７、筐体１６３、足台１６４ａ、座席１６４、表示部１６６、リモコン１６５の構成、作用は他の実施例におけると同様である。
【０１９９】
［第七の実施例］
図３８は、第七の実施例である支持部付搬送装置上に搬送対象であり支持部付搬送装置を操車する操車者が立って支持部に捉まった状態で乗車する支持部付搬送装置の概略斜視図である。
【０２００】
図３８に示すように、支持部付搬送装置１７１は球状回転体１７７と筐体１７３とを有する。筐体１７３は、上側筐体１７３ａと下側筐体１７３ｂと筐体連結部１７３ｃとによって構成され、球状回転体１７７の上に搭載された下側筐体１７３ｂ上に操車者１７２が搭乗し、下側筐体１７３ｂから上方に柱状の支持部材である筐体連結部１７３ｃが配され、筐体連結部１７３ｃ上に上側筐体１７３ａが配置されている。
【０２０１】
上側筐体１７３ａには、操車者１７２の身体部を支持する支持部１７５が形成されている。また、上側筐体１７３ａには支持部付搬送装置１７１の重心位置を変更するための部材である回転カウンタウェイト部１７９が配置されている。回転カウンタウェイト部１７９の構造例は、図３０において回転カウンタウエイト部として説明したものである。支持部付搬送装置１７１の重心位置を変更する程度の重量を有する部材の位置を変動させる部材であり、回転カウンタウェイト部１７９自体が上側筐体１７３ａに対して回転移動するように接地されている。このため、回転カウンタウェイト部１７９内部での重量移動と、回転カウンタウェイト部１７９自体の回転移動とにより二次元的に重心位置の変動を行うことが出来る。ここにおいて、カウンタウエイト部を二個設け、ｘ軸、ｙ軸方向に移動する構成としても良い。第六の実施例における支持部付搬送装置１７１は、回転カウンタウエイト部が高い位置にあるために、重量の小さいカウンタウエイトを用いても重心の制御に大きな効果を生じるものである。
【０２０２】
このように、第三の実施形態における搬送装置は球状回転体１３７を回転させて移動するため、複数の駆動部１３８を独立に駆動することによって全方向に移動することができる。さらに、第三の実施形態における搬送装置は、球状回転体１３７を駆動して全方向に移動する際、球状回転体１３７が車輪としての役割を果たし、車輪が球状という形状を有するため、全方向に滑らかに移動することができ、複数の駆動部１３８の各々を組み合わせて駆動させて容易に全方向に移動させることができる。
【０２０３】
また、第三の実施の形態における搬送装置は、球状回転体１３７の回転や操車者の体重移動だけではなく、カウンタウェイト部１４９を制御して重心位置の変更を行うことにより重心位置の安定を図ることが可能となる。
【０２０４】
【第四の実施の形態】
［第八の実施例］
第四の実施形態における搬送装置について図面を参照して説明する。第四の実施形態における搬送装置の形状の一例として、第八の実施例である筐体上に操車者が立った状態で搬送され、操車者が捉まる手摺などの支持部を有する支持部付搬送装置について説明する。図３９及び図４０は支持部付搬送装置の概略斜視図を示し、図３９は支持部付搬送装置上に搬送対象であり支持部付搬送装置を操車する操車者が搭乗した状態である支持部付搬送装置であり、図４０は支持部付搬送装置の概略斜視図である。
【０２０５】
なお図３９乃至図４２に示すように、筐体２２３を基準とした直交座標系の座標軸としてｘ軸、ｙ軸、及びｚ軸を設ける。操車者が、図３９に示す通常の姿勢で着座した場合における顔が正面を向く方向をｘ軸正方向あるいは筐体正面方向と、筐体正面方向と１８０°反対方向をｘ軸負方向あるいは筐体裏面方向と、操車者の左手方向をｙ軸正方向あるいは筐体左方向と、操車者の右手方向をｙ軸負方向あるいは筐体右方向と、頭から足元に向かう方向をｚ軸正方向あるいは筐体重力方向と、頭から足元に向かう方向の１８０°反対方向をｚ軸負方向あるいは筐体反重力方向と定義する。
【０２０６】
また、ｙ軸とｚ軸とにより張られる平面をＸ平面あるいは筐体横平面、ｚ軸とｘ軸とにより張られる平面をＹ平面あるいは車輪回転平面、上述の座標軸と平面とは、筐体２２３に付随した座標系であり、筐体２２３の姿勢に依存して、垂線や磁北を基準とする地球上での絶対座標系や走行面を基準とする座標系に対しては相対的に運動する座標系である。例えば、椅子形状搬送装置が坂道や上り坂、中央部が盛り上がった道路等を走行する場合においては、走行面に対して相対的に筐体２２３の姿勢は変化し、筐体２２３を基準とする座標と走行面を基準とする座標系との関係は刻々変化する。また、走行面が水平であるとしても、操車者を含めた搬送物の重心の位置により筐体２２３の姿勢は異なり、筐体２２３を基準とする座標と絶対座標系との関係は刻々変化するものである。
【０２０７】
図３９及び図４０に示すように、支持部付搬送装置２２１は車輪形状の回転体である車輪２２７と筐体２２３と支持部２２５とを有する。支持部付搬送装置２２１としての乗り心地を考慮した場合には、弾力性を有する素材、例えば、従来の空気入りのタイヤ等を用いて車輪２２７を構成することにより走行面との接触に起因する振動を防ぐことが好ましく、後述するローラー部材からの駆動力を車輪２２７に効率良く伝達することを考慮した場合には、ある程度の剛性を有する材料を用いることが好ましく、支持部付搬送装置２２１の使用用途により車輪２２７の材料は選択される。また車輪２２７上に設けられる筐体２２３には、操車者２２２の身体部を支持する支持部１３５ａが形成されている。さらに、筐体２２３には車輪２２７を駆動させる駆動部、駆動部の制御を行う制御部、支持部付搬送装置２２１の状態を検出するセンサ部が形成されている。
【０２０８】
図４１は、支持部付搬送装置２２１の重心位置を変更するための部材であるカウンタウェイト部２２９を、支持部付搬送装置２２１の筐体２２３に設けた様子を示す内視図である。カウンタウェイト部２２９の詳細な構造例は後述して説明するが、支持部付搬送装置２２１の重心位置を変更する程度の重量を有する部材であるカウンタウエイトとカウンタウエイトの位置を変更する機能とを備えた部材である。また、カウンタウェイト部２２９はｙ軸方向に重量の移動を行うように配置されている。
【０２０９】
次に、支持部付搬送装置２２１における車輪２２７の駆動部に関する説明を行う。図４２に支持部付搬送装置２２１の筐体２２３部分でのＸ平面に平行な面に対する断面図を示す。図４２に示すように、支持部付搬送装置２２１の車輪２２７上の筐体２２３には、回転機器２３２と回転軸２３３とローラー部材２３４とからなる駆動部が形成される。さらに筐体２２３には、接地面に対する筐体２２３の傾き角度と、車輪２２７の回転速度などの駆動状態を検出するセンサ部が形成される。また筐体２２３内部には、カウンタウェイト部２２９がｙ軸方向に沿って重量移動を行うように配置されている。
【０２１０】
図４２に示した例においては、車輪２２７の回転中心軸に車軸２３１が形成されており、筐体２２３に形成された軸受け２３０に車軸２３１が挿入されている。これにより、車輪２２７が回転して駆動する際には軸受け２３０内で車軸２３１が滑らかに回転し、車輪２２７が回転する。
【０２１１】
図４２に示すように、車輪２２７上に形成される駆動部は筐体２２３に固着して形成され、回転機器２３２と回転軸２３３とローラー部材２３４によって車輪２２７が駆動するための駆動力を発生する。回転機器２３２は、人力、内燃機関、電動機等によって生じたエネルギーを回転力に変換するモーター等の装置であるが、車輪２２７上の筐体２２３のバランスを保つために、回転時のトルクを高速に制御できるような動力源であることが好ましい。回転軸２３３は剛性を有する材料から構成され、回転機器２３２からの回転力をローラー部材２３４に伝達する。回転軸２３３は回転機器２３２が発生する回転の軸上に配置される。ローラー部材２３４は回転軸２３３と結合すると同時に車輪２２７の内側に圧接して形成される。ローラー部材２３４の材料としては車輪２２７に圧接して回転機器２３２からの回転力を伝達するために圧接する表面部の摩擦係数の適度に高い材料を用いられる。
【０２１２】
車輪２２７は、回転機器２３２に連動するローラー部材２３４を介して回転力を得て回転機器２３２が発生させる駆動力により回転する。回転機器２３２に連動するローラー部材２３４は、回転機器２３２に結合している回転軸２３３と結合しており、回転機器２３２が回転軸２３３を介してローラー部材２３４に回転力を与えると、ローラー部材２３４は回転機器２３２が供給する回転方向に回転する。ローラー部材２３４の最外輪部は車輪２２７の内側に圧接しており、回転機器２３２がローラー部材２３４を回転させると、ローラー部材２３４と車輪２２７との間で生じる摩擦力により、ローラー部材２３４が回転する方向とは反対方向の力が車輪２２７に加わる。従って、車輪２２７はローラー部材２３４を介して回転機器２３２の回転方向と反対方向に回転する。
【０２１３】
図４３は、支持部付搬送装置２２１の重心位置の変更を行う部材であるカウンタウェイト部２２９の構造を示す模式図である。カウンタウェイト部２２９はリニアモータであり、カウンタウェイト２４１と、磁路部２４２と、導電部材２４３と、永久磁石２４４とにより構成されている。カウンタウェイト２４１は搬送装置の重心位置を変更することが出来る程度の重量を持った部材であり、導電部材２４３に固定して取り付けられている。磁路部２４２はカウンタウェイト部２２９の外形を形成する外枠部材であり、枠内部には永久磁石２４４が固定配置されている。永久磁石２４４は棒状の磁性体であるが、その磁界方向はカウンタウェイト２４１の移動方向と垂直方向である。導電部材２４３はコイル状の電気伝導体であり、永久磁石２４４をコイル内側に挿入した状態で磁路部２４２の枠に沿って可動に配置されている。
【０２１４】
制御部２３５に形成されたカウンタウェイト駆動回路部から出力されるカウンタウェイト駆動信号に従って、導電部材２４３に電流が流れることにより、導電部材２４３と永久磁石２４４の組み合わせによるリニアモータが動作し、カウンタウェイト２４１および導電部材２４３が磁路部２４２の長手方向に沿って移動を行う。これにより、カウンタウェイト部２２９内部における重量の移動を制御することができるため、搬送装置の重心位置の変更を制御する。
【０２１５】
第四の実施形態における車輪２２７を回転させ、カウンタウェイト部２２９の駆動制御を行う制御機構の構成について、図４４のブロック図を用いて説明する。
【０２１６】
制御部２３５は、入力された信号に基づいて演算処理を行って新たに信号を生成するための演算部２５１と、演算部２５１で生成された車輪２２７を制御するための信号を駆動部２２８に対して出力する駆動回路部２５２と、演算部２５１で生成されたカウンタウェイト部２２９を制御するための信号をカウンタウェイト部２２９に対して出力するカウンタウェイト駆動回路部２５６とを有する。演算部２５１は、支持部付搬送装置２２１の駆動部の制御をするために行う演算処理の中心となる部分であり、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）などにより構成される。また、特定の演算処理を迅速に行うことができるＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）により構成したり、あるいはハードウエアによる演算機能などを用いて構成したりしても良い。
【０２１７】
センサ部２５５は筐体２２３に形成され、角度センサ部２５５０、及び位置センサ部２５５１と速度センサ部２５５２とのどちらか一方若しくは両方を有する。角度センサ部２５５０が検出するのはタイヤが進行する方向であるｘ軸方向への筐体２２３の傾きと、進行方向に垂直であるｙ軸方向への筐体２２３の傾きである。位置センサ部２５５１は車輪２２７の回転方向に対する移動変位を監視して検出し、速度センサ部２５５２は車輪２２７の回転方向に対する速度を監視して検出する。センサ部２５５の角度センサ部２５５０、位置センサ部２５５１、速度センサ部２５５２は、制御部２３５と演算部２５１との間で傾き角度及び駆動状態を表す信号の入出力を行う。各装置間での信号の伝達はバスラインなどの有線により実現されるが、電波、超音波、又は光などの無線により実現しても良い。
【０２１８】
角度センサ部２５５０は、ｘ軸方向への傾き角度Θｃを検出する角度センサ２５５０ｃとｙ軸方向への傾き角度Θｂを検出する角度センサ２５５０ｂとを備える。角度センサは一例として、筐体２２３のある一点から錘を垂らして錘の先端の位置が傾き角度に応じて移動するのを検出するセンサでも良いし、可変抵抗器の回転軸に錘を付けて傾き角度に応じた抵抗値を検出するものであっても良いし、ジャイロ素子により検出するものであっても良い。
【０２１９】
位置センサ部２５５１および速度センサ部２５５２は、駆動部２２８の回転軸２３３またはローラー部材２３４に設けられ、駆動部２２８の駆動状態である回転角度や回転速度を監視して検出する。位置センサ部２５５１および速度センサ部２５５２は、検出した回転角度や回転速度を信号として制御部２３５に対して出力する。
【０２２０】
位置センサ部２５５１は、支持部付搬送装置２２１の移動距離を監視・検出するのであるが、一例として、各駆動部２２８のローラー部材２３４に結合する回転軸２３３にロータリーエンコーダを設け、ローラー部材２３４の回転角度から車輪２２７の回転角度を算出して車輪２２７の回転角度を移動距離に換算するセンサでも良いし、支持部付搬送装置２２１の走行面２３７に対する移動量を移動検出器により検出するセンサでも良い。
【０２２１】
速度センサ部２５５２は、前後方向や左右方向への支持部付搬送装置２２１の速度を監視・検出するのであるが、一例として、駆動部２２８のローラー部材２３４の回転角速度から車輪２２７の回転により生じる支持部付搬送装置２２１の換算した移動の速度を検出するセンサでも良いし、あるいは支持部付搬送装置２２１の走行面２３７に対する速度を検出する速度検出器により車輪２２７の回転方向に対する速度を検出するセンサでも良い。また、位置と速度との間には微分・積分の関係があるので、位置センサ部２５５１及び速度センサ部２５５２の一方を検出して、微分若しくは積分して他方を導出することができるため、位置センサ部２５５１及び速度センサ部２５５２の一方を設けて他方を制御部２３５の演算部２５１で微分・積分の関係から算出すようにしても良い。なお、速度センサ部２５５２が複数の駆動部２２８の各々に入力される信号の信号量に基づいて車輪２２７の回転速度を監視・検出するセンサである場合には、位置センサ部２５５１は、回転角度が複数の駆動部２２８の各々に関する回転速度を合成した方向から算出されるから、複数の駆動部２２８の各々に入力される信号の信号量を比較して回転角度を監視・検出することができ、複数の駆動部２２８の各々への信号量を比較して検出される回転角度に基づいて車輪２２７の移動距離を算出することができる。
【０２２２】
制御部２３５は、駆動部２２８に対して車輪２２７を駆動させるための駆動信号を出力し、カウンタウェイト部２２９に対してカウンタウェイト２４１の位置を変更するためのカウンタウェイト駆動信号を出力し、センサ部２５５から、角度センサ部２５５ａが検出した傾き角度を角度検出信号として入力されるとともに、位置センサ部２５５１や速度センサ部２５５２が検出した駆動状態を駆動状態検出信号として入力される。
【０２２３】
制御部２３５は駆動部２２８に対して車輪２２７を駆動させるための駆動信号を出力することにより駆動部２２８を制御して駆動させるのであるが、駆動信号は、駆動回路部２５２から複数の駆動部２２８の各々に対して独立に出力され、複数の駆動部２２８を独立に駆動させて車輪２２７を動作させる。このとき、駆動信号を出力された駆動部２２８では、回転機器２３２にの駆動信号が入力され、入力された駆動信号を基にして回転し、ローラー部材２３４及び回転軸２３３を介して車輪２２７を回転させる。
【０２２４】
また、制御部２３５はカウンタウェイト部２２９に対してカウンタウェイト２４１の位置を変更させるためのカウンタウェイト駆動信号を出力することにより、導電部材２４３に電流を流してリニアモータを駆動させ、カウンタウェイト２４１の位置を変更することにより、重心位置の制御を行う。
【０２２５】
また制御部２３５は表示部２５７との間で、車輪２２７の動作状態及び筐体２２３の位置状態や、駆動部２２８、カウンタウェイト部２２９、センサ部２５５、及び制御部２３５の状態に関する情報などを表示する信号の入出力を行う。表示部２５７を介して、車輪２２７の動作状態及び筐体２２３の位置状態や、駆動部２２８、カウンタウェイト部２２９、センサ部２５５、及び制御部２３５の状態に関する情報などを操車者２２２に伝達するとともに、筐体２２３の傾き角度や車輪２２７の駆動状態を調節することができる。つまり表示部２５７は、操車者２２２の意思により車輪２２７を所望の速度で駆動させ、所望の方向に回転させるために、制御部２３５と操車者２２２との間で情報の相互伝達をする媒体となる。
【０２２６】
制御部２３５と表示部２５７間での信号の入出力には、バスラインなどの有線による接続や、電波、超音波、又は光などの無線での情報通信が行われる。表示部２５７が制御部２３５に直接にバスラインで接続されるのではなく、独立した構造として筐体２２３の本体から切り離され、電波、超音波、又は光などの無線により制御部２３５と信号の入出力を行う場合には、表示部２５７は演算部２５１と無線で通信し、操車者１２が、支持部付搬送装置２２１に乗って、あるいは支持部付搬送装置２２１から離れて、手元で支持部付搬送装置２２１を操作することができる。
【０２２７】
制御部２３５は、表示部２５７に対して車輪２２７の動作状態及び筐体２２３の位置状態や、駆動部２２８、カウンタウェイト部２２９、センサ部２５５、及び制御部２３５の状態に関する情報などを表示させる情報表示信号を出力して表示部２５７に種々の情報を表示させ、表示部２５７から車輪２２７の動作状態や筐体２２３の位置状態を調節するための調節信号を入力される。情報表示信号は制御部２３５の演算部２５１で生成されて表示部２５７に対して出力され、情報表示信号に基づいて表示部２５７に種々の情報が表示される。
【０２２８】
演算部２５１は調節信号と角度検出信号と駆動状態検出信号とに基づいて演算処理を行い、駆動部２２８を制御する駆動部制御信号と情報表示信号とが生成し、駆動回路部２５２に対して駆動部制御信号を出力し、カウンタウェイト駆動回路部２５６に対してカウンタウエイト制御信号を出力する。ここにおいて、角度検出信号であるΘｃは演算部２５１において処理される。すなわち、Θｃに基づき制御ゲインの設定や位相補償の演算が行われ駆動回路部制御信号が生成される。演算部２５１における位相補償の処理は第一の実施の形態におけると同様である。
【０２２９】
具体的には、位相補償は、制御系の応答を速くしたり、制御系の開ループのゲインを向上したりするために行うものである。駆動部２２８の全体としての伝達特性は、主として回転機器２３２の伝達特性により支配されのであるが、回転機器２２の伝達特性は零周波数に極を有する、直流において無限大のゲインを有する二次系である。このような伝達関数を含む系の開ループのゲインを増加させて、かつ、周波数応答特性を向上させるためには、通常、低域で遅れ補償を行い低域のゲインを向上させ定常偏差を小さくし、広域で進み補償を行い広域での位相余有を増加させて広域でのゲインを増加することを可能として応答特性の向上を図る。
【０２３０】
このような位相補償は演算部２５１において、ラグ・リード・デジタル・フィルターを実現する演算を行えば良い。演算部２５１において処理の結果発生した駆動回路部駆動信号は駆動回路部２５２において駆動信号を発生させる。駆動信号は駆動部２２８に供給され車輪２２７を回転させる。このような制御系は体重移動により生じるｘ軸方向への傾き外乱Θ_ｃｄに応じて自動的にトルクＴを制御して制御系を安定化する。すなわち、角度センサ部２５５０に設けられた角度センサ２５５０ｃが、外乱が加わることによるｘ軸方向への傾き角度Θｃを検出し、これに応じてｙ軸に設けられた回転機器２３２を制御して、球状回転体２２７をＸ平面で回転させて、筐体２２３をｘ軸方向へ進行させて定定走行させる。一方、角度センサ部２５５０のセンサ２５５０ｂがＹ平面上での筐体２２３の傾き角度としてΘ_ｂを検出し、Θ_ｂは、演算部２５１に対して出力され、Θ_ｂを入力された演算部２５１ではΘ_ｂに対してラグ・リード・デジタル・フィルターを用いた位相補償の演算処理を施してカウンタウエイト駆動信号を発生する。カウンタウエイト駆動信号はカウンタウエイト駆動回路部２５６を経てカウンタウエイト部２２９に供給されカウンタウエイトのｙ軸方向の位置を変化させる。
【０２３１】
上述したように、傾き角度のみを制御変数としてフィードバック制御を行えば、原理的には安定走行を行うことができる。しかしながら、ｘ軸方向に進行するための駆動部２２８を制御系に含む場合には、これらの構成部分の動作に関する変数を状態変数として取りこんだ演算を行えば性能向上に寄与する。すなわち、別の演算の例として、制御系のすべての制御変数をフィードバックする状態フィードバックに基づく制御演算である。ここで、各状態変数のフィードバック係数を所定の評価関数を最大または最小とするように定めながら、すべての状態を原点に収束させる制御は最適レギュレータとして従来から良く知られている。また、各係数を求める手法は、リカッチ方程式の解法として広く知られている。この回転機器２３２に流れる電流である駆動信号Ｉ２３２は数２２で示すように演算部２５１で演算される。
【数２２】

また、カウンタウエイト部２２９についても、カウンタの位置Ｄ_ｂ、移動速度ｄＤ_ｂ／ｄｔを検出して導電部材に流す電流Ｉ２４３を数２３に示す制御則に基づき制御することもできる。
【数２３】

【０２３２】
このような制御が行われる結果として、ｘ軸方向については、操車者２２２がｘ軸の正方向、すなわち前方に体重を移動させればΘｃは正方向に増加して、これに応じたトルクを発生させるように前方に支持部付搬送装置２２１は進行し、ｘ軸の負方向、すなわち後方に体重を移動させればΘｃは負方向に増加して、負方向のトルクを発生させるように後方に支持部付搬送装置２２１は進行することにより安定走行を維持することができる。一方、ｙ軸方向に関しては、センサ部２５５の角度センサ部２５５０は、ｙ軸方向に対する傾き角度Θｂを検出してこの傾き角度に基づきカウンタウエイト部２２９に対してカウンタウエイト駆動信号を送出する。これによりｙ軸方向に倒れることなく走行を続けることができる。
【０２３３】
次ぎに、左右方向への回転動作について説明をする。回転動作は車輪の走行面に接地する断面が円弧を描いている事を利用して行う。このような断面形状を有する車輪２２７は走行面２３７に直立している場合には直進走行をする。しかしながら、走行面２３７に対して右に傾斜すると右旋回をし、左に傾斜すると左旋回をする。その理由は、車輪２２７の中心から外れるに従い車輪の直径が小さくなるため車輪の最外周部における周速も遅くなり、車輪２７７の中央部との周速の速度差によりｙ軸方向への力が働くためである。そのため、右旋回を鋭角に行うためには、右方向に車輪２２７を大きく傾け、右旋回を鈍角に行うためには、右方向に車輪２２７を小さく傾けなければならない。左旋回についても同様である。
【０２３４】
ここで、車輪を走行面に対して走行方向と直角方向、すなわちｙ軸方向に傾けつつ、所定のｙ軸方向の傾きを維持する方法を以下に説明する。操車者に負担を強いる方法は、ｙ軸方向に対する、フィードバック制御を切断し、操車者が自らバランスを取りつつ回転することである。この場合においては、カウンタウエイト部カウンタウエイトを予め定めた所定の位置に固定して、カウンタウエイト部の制御を働かなくし、操車者が体重移動を行い、回転による遠心力とｙ軸方向への重力とのバランスを取ることにより安定走行をすることができる。遠心力の調整は操車者が前後方向、すなわちｘ軸方向に体重移動をして、ｘ軸方向への移動速度を調整し、かつｙ軸方向への体重移動を行い旋回の回転半径を調整することにより行うことができる。この場合、遠心力ベクトルとｙ軸への体重移動により生じる重力により生じる向心力であって、遠心力と方向が１８０°異なるベクトルとの大きさが等しくなる場合に安定走行をする。
【０２３５】
しかし、この方法は、操車者の熟練を要する。誰にでも乗れる方法として、カウンタウエイト部を用いた制御を利用する方法を次ぎに説明する。制御を用いる第一の方法は、カウンタウエイト部を含む制御系の一巡の伝達関数を大きく設定する場合についての制御方法である。一巡の伝達関数が大きいと、定常偏差も小さくなる。このことは、操車者が車輪を傾けようと重心を移動しても、カウンタウエイトが応答して操車者の重心移動をキャンセルしてしまうことを意味する。従い、車輪は常に垂直状態となり、走行面が水平であれば直進を続ける。このとき、ｙ軸における制御系は図３５に示すのと同様の制御系の構成となっているので、Θｂは零となるようにカウンタウエイト部が働いていると言える。このとき、図３５において、Θｂｉとして所定の値の電気信号をオフセット信号として入力すると、Θｂ＝Θｂｉとするようにカウンタウエイトが移動する制御が働くために、車輪を傾けて旋回することができる。ここで、Θｂｉの入力の方法は、図示しないリモートコントローラを介して行っても、支持部２２５の操車者が手で持つハンドル部の回転操作によっても良い。
【０２３６】
制御を用いる第二の方法は、制御系の一巡伝達関数を適当な大きさ、すなわち定常偏差であるΘｂｉ―Θｂが適当に残るように制御系を構成することである。このようにすると、操車者がｙ軸方向に体重を移動させると、カウンタウエイト部は体重移動をキャンセルする方向に移動するものの、そのすべてをキャンセルしないため車輪は垂直方向から傾き旋回をすることができる。このとき、制御系の作用で、傾きが減少する方向へのカウンタウエイト部における制御が働いているので、車輪は倒れることなく安定走行ができる。いずれの制御方法をとってもカウンタウエイト部の制御作用により操車者は容易に装置の旋回運動を行うことができる。一巡伝達関数をどのように設定するかは、カウンタウエイトの重さ及びカウンタウエイト部の配置位置と演算部２５１の演算処理の内容で定め得る設計事項である。
【０２３７】
次に表示部２５７の説明をする。演算部２５１では、センサ部２５５からの角度検出信号と駆動状態検出信号とを受け取り、表示部２５７に情報を表示するための情報表示信号とを生成し、表示部２５７には情報表示信号を基にした情報が表示される。例えばセンサ部２５５が監視・検出する車輪２２７の回転速度や回転方向を基づいて制御部２３５が支持部付搬送装置２２１の速度や進行方向を算出し、支持部付搬送装置２２１の速度や進行方向を表示したり、あるいは制御部２３５を介してセンサ部２５５で検出された筐体２２３の傾き角度を表示したりしても良い。さらに、駆動部２２８やセンサ部２５５の異常動作、車輪２２７の回転速度や回転方向の異常、筐体２２３の走行面２３７に対する傾き角度の異常、駆動部２２８の回転機器に電力を送る発電装置の異常や回転機器２３２自体の異常など、特に支持部付搬送装置２２１の異常状態を警告信号として表示部２５７に視覚、聴覚、触覚を通じて表示することができ、この場合には、操車者２２２は支持部付搬送装置２２１の状態を容易に知ることができる。このように、表示部２５７として、操車者２２２に支持部付搬送装置２２１の状態を知らせるマンマシーン・インターフェイスを用いることができる。
【０２３８】
第四の実施の形態では、車輪２２７の回転面は一平面のみであるため、第三の実施の形態において三平面に関して行っていた制御を一つの平面でのみ行うことで、操車者２２２が体重移動を行うことで進行方向に行うことが出来る。また、カウンタウェイト部２２９はｙ軸方向に沿っての重心移動を行うため、左右方向での重心移動を制御するだけで駆動を行うことができる。
【０２３９】
【発明の効果】
本発明の搬送装置は、略球状の車輪と、少なくとも２方向に球状車輪を駆動する機構と、搬送装置の位置を検出するセンサ部と、制御機構とを備えているため、略球状という安定性の悪い車輪でありながら、安定した走行が可能となる。それに加え、略球状の車輪を用いるため全方向へと瞬時に移動可能であるため、回転半径が小さく、移動が俊敏な搬送装置を提供するものである。
【０２４０】
また、本発明の他の搬送装置は、車輪と車輪を駆動する機構と、搬送装置の位置を検出するセンサ部と、センサ部からの信号に応じてカウンタウエイトの位置を制御する制御機構とを備えているため、安定性の悪い搬送装置であっても、安定した走行が可能となる。
【図面の簡単な説明】
【図１】第一の実施例としての椅子型搬送装置に操車者が着座した様子を示す概略斜視図である。
【図２】第一の実施例としての椅子型搬送装置を示す概略斜視図である。
【図３】第一の実施例としての椅子型搬送装置の側面図であり、スタンドを用いて安定した静止状態を示すものである。
【図４】第一の実施例としての椅子型搬送装置の筐体内部の構造を示す側方部分断面図である。
【図５】球状回転体と複数のベアリングの位置関係を示す模式図である。
【図６】球状回転体の回転方向を説明するための概略斜視図である。
【図７】第一の実施例での制御機構での、各要素の関係と情報の流れを示すブロック図である。
【図８】第一の実施例での駆動機構の各要素の関係を示すブロック図である。
【図９】走行している状態における椅子形状搬送装置のＹ平面における断面模式図である。
【図１０】ｙ軸についての（Ｘ平面における）制御系の全体図である。
【図１１】第一の実施例におけるフィードバックループ制御での演算処理の一例を示すブロック図である。
【図１２】第二の実施例としての板形状搬送装置に操車者が搭乗している様子を示す概略斜視図である。
【図１３】第三の実施例としての支持部付搬送装置に操車者が搭乗している様子を示す概略斜視図である。
【図１４】第四の実施例としての椅子型搬送装置を示す概略斜視図である。
【図１５】駆動部のコアを示す概略斜視図である。
【図１６】椅子形状搬送装置の筐体の内部を示す概略断面図である。
【図１７】コアの構造を模式的に示す概略斜視図である。
【図１８】コアを平面に展開して、コイルと巻線収容溝との関係を示す模式図である。
【図１９】球状回転体表面に発生する渦電流と回転方向を示す模式図である。
【図２０】導電部材に流れる電流Ｉと、球状回転体に発生するすべりＳと、球状回転体に加わるトルクＴとの関係を示すグラフである。
【図２１】複数の導電部材に流れる電流を説明する図であり、図２１（ａ）は各導電部材に流れる電流の時間変化を示すグラフであり、図２１（ｂ）乃至（ｄ）は各時間での回転磁界の方向を示す模式図である。
【図２２】各時間での回転磁界の方向を示す模式図である。
【図２３】第四の実施例での制御機構の、各要素の関係と情報の流れを示すブロック図である。
【図２４】第五の実施例としての椅子型搬送装置に操車者が着座した様子を示す概略斜視図である。
【図２５】第五の実施例としての椅子型搬送装置を示す概略斜視図である。
【図２６】第五の実施例としての椅子型搬送装置の側面図であり、スタンドを用いて安定した静止状態を示すものである。
【図２７】カウンタウェイト部を、椅子形状搬送装置１の筐体に設けた様子を示す内視図である。
【図２８】第五の実施例としての椅子型搬送装置の筐体内部の構造を示す側方部分断面図である。
【図２９】椅子型搬送装置に配置されたカウンタウェイト部の構造の一例を示す模式図である。
【図３０】カウンタウェイト部の他の構造を示す模式図である。
【図３１】第五の実施例での制御機構での、各要素の関係と情報の流れを示すブロック図である。
【図３２】第五の実施例での駆動機構の各要素の関係を示すブロック図である。
【図３３】走行している状態における椅子形状搬送装置のＹ平面における断面模式図である。
【図３４】カウンタウェイト部を加味した場合における球状回転体に加わるトルクに関して説明を行うための断面模式図である。
【図３５】第五の実施例におけるフィードバックループ制御での演算処理の一例を示すブロック図である。
【図３６】第六の実施例としての他の形状をした椅子型搬送装置に操車者が着座した様子を示す概略斜視図である。
【図３７】カウンタウェイト部を、椅子形状搬送装置の座席内部に設けた様子を示す内視図である。
【図３８】第七の実施例としての支持部付搬送装置に配置されたカウンタウェイト部と、支持部付搬送装置に操車者が搭乗した様子を示す概略斜視図である。
【図３９】第八の実施例としての支持部付搬送装置に操車者が搭乗している様子を示す概略斜視図である。
【図４０】第八の実施例としての支持部付搬送装置を示す概略斜視図である。
【図４１】カウンタウェイト部を、支持部付搬送装置の筐体に設けた様子を示す内視図である。
【図４２】第八の実施例としての支持部付搬送装置の筐体部分でのＸ平面に平行な面に対する断面図である。
【図４３】支持部付搬送装置に配置されたカウンタウェイト部の構造の一例を示す模式図である。
【図４４】第八の実施例での制御機構での、各要素の関係と情報の流れを示すブロック図である。
【符号の説明】
１１，８１，１３１，１６１　　椅子形状搬送装置
３１　　板形状搬送装置
４１，１７１，２２１　　支持部付搬送装置
１２，３３，４２，１３２，１６２，１７２，２２２　　操車者
１３，３２，４３，８３，１３３，１６３，１７３，２２３　　筐体
１４，８４，１６４　　座席
１５ａ，４５，８５ａ，１３５ａ，１７５，２２５　　支持部
１５ｂ，３４，４４，８５ｂ，１６４ａ　　足台
１６，３６，８６，１３６，１６６，２５７　　表示部
１７，３７，４７，８７，１３７，１６７，１７７，２２７　　球状回転体
１８，１１３，１３８，２２８　　駆動部
２０，１４０　　ベアリング保持器
２１，８８ａ，１４１　　ベアリング
２２，１４２，２３２　　回転機器
２３，１４３，２３３，２０６　　回転軸
２４，１４４，２３４　　ローラー部材
２５，１１０，１４５，２３５，　　制御部
２５，５２，１１２，１８２，２５２，　　駆動回路部
２６，１４６　　スタンド
２７ａ，１４７ａ　　接地点
２７，１４７，２３７　　走行面
３５，１６５　　リモコン
５１，１１１，１８１，２５１　　演算部
５５，１１５，１８５，２５５　　センサ部
６１，１９１　　重心点
６２，９７，１９２　　中心点
６３，１９３　　垂線
６４，１９４　　重心線
６５，１９５　　トルク線
９０　　コア
９１　　導電部材
９２　　有効部分
９３　　非有効部分
９４　　巻線収容溝
９５　　渦電流
９６　　トルク軸
１２１，２０１，２４１　　カウンタウエイト
１４９，２２９　　カウンタウェイト部
１６９，１７９　　回転カウンタウエイト部
１７３ａ　　上側筐体
１７３ｂ　　下側筐体
１７３ｃ　　筐体連結部
１９６　　可動重心点
２０２，２４２　　磁路部
２０３，２４３　　導電部材
２０４，２４４　　永久磁石
２１１，２５６　　カウンタウエイト駆動回路部
２２７，２７７　　車輪
２３１　　車軸
５５０，１１５０，１８５０，２５５０　　角度センサ部
５５１，１１５１，１８５１，２５５１　　位置センサ部
５５２，１１５２，１８５２，２５５２　　速度センサ部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a transport device, and more particularly to a novel transport device that moves by one wheel. More specifically, the present invention relates to a transport device having substantially spherical wheels and one wheel. Further, the present invention relates to a method for controlling such a transport device and a drive mechanism for such a transport device.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a movable transfer device, there are a four-wheeled vehicle represented by an automobile and a two-wheeled vehicle represented by a motorcycle, and a three-wheeled vehicle having two driving wheels and one steering wheel. Various configurations have been proposed, such as a two-wheeled vehicle that drives two wheels provided on an axle extending in a direction perpendicular to the traveling direction, or a one-wheeled vehicle that also serves as a driving wheel and a steering wheel. In such a transfer device, the traveling wheel generates a driving force due to contact friction between a rotating wheel and a running surface of a wheel such as the ground, a pavement road, or a sloping road, and travels simultaneously due to contact friction between the wheel and the running surface. The traveling direction is controlled by a steering wheel which is the same as or separate from the driving wheel.
[0003]
For example, a torque control of a wheel driving control motor of a coaxial coaxial two-wheeled vehicle to perform a posture control, a use of state feedback, a device and a control method for controlling by a discrete time calculation, and a posture control arm for controlling a position of a center of gravity And a control method for further improving the control characteristics by using the control of the posture control arm together (for example, see Patent Document 1). Further, as an example of a mobile robot for work, there is known a parallel two-wheeled mobile robot that travels independently, is stabilized by moving a control arm in a direction opposite to the tilt of the mobile robot, and travels independently. ing. In this mobile robot, the control arm, the wheels, and the rotation angle are detected by a rotary encoder directly connected to a motor that rotates the wheels, and the tilt angle of the mobile robot with respect to the ground is detected by a magnetic encoder to stabilize (for example, Patent Document 2). reference). Further, as a self-contained carrier, there is known a carrier provided with two wheels and a drive motor to move a two-wheeled vehicle upside down. In this transporter, two wheels are operated by a drive motor, and a minute tilt of the inverted transporter is detected by an equilibrium sensor using a rotary encoder combining a gyro and a pendulum, and the tilt of the transporter is controlled. Moving. Further, in this self-contained transfer machine, the moving direction is controlled by stopping independently at a predetermined position, or by rotating the left and right wheels at different rotational speeds or directions (for example, Patent Document 3).
[0004]
Furthermore, in the United States, a transport device (Human Transpotter) for transporting humans has been patented. In this transport device, it is possible to stably travel on a running surface having irregularities, and to move up and down stairs with a person or the like placed on the transport device (for example, see Patent Document 4).
[0005]
In addition to such a transport device, as a control technology for small vehicles, a large number of small drive wheels that generate driving force in many directions are provided to enable movement in all directions, and selectively switch these. Transport devices that move in all directions have also been proposed. For example, as an omnidirectional vehicle, an actuator that drives each of a pair of wheels arranged in different directions in each direction is rotated, and a translational motion is performed in all directions by rotating the wheels via a differential gear on the wheel side. What does is known (for example, refer to Patent Document 5). Further, for example, as an omnidirectional driving wheel, a plurality of stators of a linear motor are arranged around a spherical rolling ball formed by a magnetic material and an electric conductor, and the rolling ball is directly used as a driving wheel. What moves is known (for example, refer to patent document 6). Further, a sphere driving device for driving the sphere by pressing the sphere from the side with a driving roller member and a line detecting device attached to the front wheel are attached to the front wheel sphere driving line trace on a robot body having two wheels whose rear wheels can rotate independently of each other. A robot is known (for example, see Patent Document 7).
[0006]
[Patent Document 1]
JP-A-63-305082
[Patent Document 2]
JP-A-2-292185
[Patent Document 3]
JP-A-1-316810
[Patent Document 4]
U.S. Pat. No. 5,701,965
[Patent Document 5]
JP-A-8-67268
[Patent Document 6]
Japanese Utility Model Laid-Open No. 1-98073
[Patent Document 7]
JP 2001-233260 A
[0007]
[Problems to be solved by the invention]
However, in the conventional transport device described above, since the traveling direction is gradually changed by directing the steered wheels in the traveling direction, it is necessary to change the traveling direction while performing a moving operation other than the intended direction, thereby requiring a turning radius. It becomes. Therefore, it is difficult to perform fine and quick movement in a narrow space. For example, in a parallel two-wheeled mobile robot disclosed in Patent Literature 2 and a self-contained transporter in which a two-wheeled vehicle is inverted and moved in Patent Literature 3, it is difficult to move quickly when changing the traveling direction.
[0008]
Also, in the transfer device disclosed in Patent Document 4, since the rotation is performed by two wheels, the traveling operation is performed after the rotation operation, so that it is difficult to move quickly.
[0009]
In the transfer machine disclosed in Patent Documents 2 to 4 for moving a two-wheeled vehicle inverted, the balance sensor detects a small inclination of the inverted transfer device and controls the inclination of the transfer device to move. Therefore, the inclination of the transfer machine with respect to the direction perpendicular to the wheel axis of the two wheels can be controlled, but the inclination of the transfer machine cannot be controlled in a direction other than the direction perpendicular to the wheel axis. However, the width of the two wheels must be secured to some extent or more, and the size in the axle direction must be increased.
[0010]
On the other hand, a transport device having a large number of small drive wheels capable of directly moving in all directions has a complicated control mechanism and drive mechanism, and is difficult to put into practical use. In the omnidirectional vehicle described in Patent Literature 5, the control mechanism and the driving mechanism are not only complicated, but also wheels are provided in each of the four directions and moved in all directions by a combination of driven wheels. When changing the traveling direction, the traveling direction cannot be smoothly changed due to friction between the wheels and the running surface, and it is not easy to change the traveling direction.
[0011]
Patent Document 6 proposes an omnidirectional drive wheel that drives in all directions using a spherical drive wheel. However, although it can move in all directions, a drive device and a drive method that drive a spherical drive wheel are disclosed. It is difficult to realize, and it is difficult to obtain the balance of the entire device including the drive wheels. In particular, there is no disclosure of a technique in which an operator who operates a transport object or traveling on a transport device keeps a predetermined positional relationship with a traveling surface such as the ground and travels.
[0012]
Further, for example, in the case of the front wheel sphere drive line tracing robot in Patent Document 7, a spherical front wheel that is driven by compression by a drive roller member is used, but the same wheel as the conventional wheel different from the spherical wheel is used for the rear wheel. Used. Therefore, although it is not necessary to consider a stable driving method or the like, it is not possible to smoothly and easily drive in all directions, which is an advantage of a spherical driving wheel.
[0013]
Therefore, the present invention has been proposed in order to solve the inconvenience of the related art, and uses a unicycle or a substantially spherical rotating body to move in any arbitrary direction while maintaining a good balance. It is an object of the present invention to provide a transfer device capable of controlling the transfer device, a control mechanism and a control method of the transfer device, and a drive mechanism and a drive method for driving the transfer device.
[0014]
[Means for Solving the Problems]
The transfer device according to the present invention includes a substantially spherical rotating body, a housing including a rotating body holding unit, a driving unit, and an angle sensor unit, and a control unit, and the rotating body holding unit is configured to freely rotate the rotating body. The drive unit applies rotational force in a plurality of different planes including the center point of the rotator to the rotator, and the angle sensor unit detects a signal corresponding to a tilt angle of the housing in a plurality of different planes including a perpendicular line. The control unit controls the magnitude of the rotational force based on a signal corresponding to the tilt angle.
[0015]
The transfer device of the present invention includes a substantially spherical rotating body, a housing including a rotating body holding unit, a driving unit, and an angle sensor unit, and a control unit. Since the rotator holding unit holds the rotator freely, the rotator can rotate freely. Since the driving unit applies the rotating force to the rotating body in a plurality of different planes including the center point of the rotating body, the rotating body is driven in the plurality of planes, and the rotating body applies the driving force in the direction of the combined vector of the rotating force. Rotated. Since the angle sensor unit detects a signal corresponding to the inclination angle of the housing in a plurality of different planes including the perpendicular, the signal corresponding to the inclination angle represented by the vector is decomposed into components in the plurality of planes and detected. You. Here, the perpendicular is a trajectory drawn when an object freely falls due to gravity. Since the control unit controls the magnitude of the rotational force based on the signal corresponding to the tilt angle, the torque and the signal corresponding to the tilt angle are related as a variable of the feedback loop, and the tilt angle of the housing is maintained. As described above, the rotating body rotates, and the transport device travels. Here, the signal corresponding to the tilt angle includes not only the case where the signal is the tilt angle itself, but also all the signals indirectly indicating the tilt angle. As an example, the signal may be a signal that detects that the position of the tip of the weight moves according to the tilt angle by hanging the weight from a certain point, and the rotation of the variable resistor whose resistance value changes according to the rotation angle. The signal may be a signal for detecting a resistance value according to a tilt angle by coupling a weight to a shaft, or a signal for detecting a resistance value by a gyro element. The distance between the distance sensor and the distance sensor is detected at a plurality of detection points, and the distance between the two distance sensors and the difference between the distance between the fluid surface and the distance sensor measured by the sensor between the two sensors are determined. A signal for detecting the ratio may be used.
[0016]
Since the driving unit is provided in the housing, the driving unit applies a rotational force in two different planes including the center point of the rotating body, that is, in two or more planes, using the housing as a coordinate reference. Corner
Since the degree sensor part is provided in the housing,
A signal corresponding to the inclination angle of the housing with respect to a plane including the perpendicular is detected in a plurality of, that is, two or more different planes. Since the inclination of the housing in an arbitrary direction can be expressed as a vector sum of the inclinations of two different planes detected by the angle sensor unit, the plane on which the driving unit applies the rotational force is a signal corresponding to the inclination angle of the angle sensor unit. The desired control can be performed by the coordinate conversion in the control unit even when the plane is different from the plane for detecting
[0017]
In the case where any one of the planes on which the driving unit applies the rotational force is orthogonal to any one of the planes on which the angle sensor unit detects the inclination, the control unit determines the vector of the inclination of two different planes detected by the angle sensor unit. Calculates the components in the plane where the driving unit gives the rotational force as a sum and is not orthogonal to the detection plane of the signal according to the tilt angle, and controls the driving force in the plane not orthogonal to the detection plane of the signal according to the tilt angle Then, a component orthogonal to a component on a plane which is a plane to which the driving unit applies a rotational force and which is not orthogonal to a detection plane of a signal corresponding to the inclination angle is calculated by a vector sum of inclinations of two different planes detected by the angle sensor unit. And the driving force on a plane orthogonal to the plane detected by the angle sensor unit.
[0018]
In the case where the driving unit applies a rotational force in three or more planes, or in the case where the angle sensor unit detects a signal corresponding to the tilt angle in three or more different planes, the degree of freedom of control increases or the amount of information increases. The control accuracy is improved as much as that.
[0019]
In the transfer device of the present invention, the driving unit is provided in the housing so as to generate a rotational force in the housing horizontal plane and a front and rear plane perpendicular to the housing horizontal plane, and the angle sensor unit is provided in the housing horizontal plane. Since the housing is provided so as to detect a signal corresponding to the inclination angle of the housing in the front-rear plane, control can be performed without performing coordinate conversion in the control unit, and the use of orthogonal coordinates allows for efficient control. The transport device can be run. Here, the horizontal plane of the housing and the front and rear planes of the housing are planes defined on the basis of the housing, and change with respect to the running surface and the plane based on the absolute coordinates in accordance with the posture of the housing of the transfer device. Is a plane that
[0020]
In the transport device according to the aspect of the invention, the driving unit is provided on the housing so as to generate a rotational force on the front-rear plane of the housing and the horizontal plane of the housing. The casing horizontal plane is a plane orthogonal to both the front and rear planes of the casing and the horizontal plane of the casing. The rotational force in the horizontal plane of the housing generates a force for rotating the housing on the running surface. Since the control unit controls the rotational force in the housing horizontal plane based on the signal corresponding to the tilt angle in the housing horizontal plane, the signal corresponding to the tilt angle in the housing horizontal plane converges to zero with the rotation of the housing, Since the rotational force in the front-rear plane of the housing is controlled based on a signal corresponding to the tilt angle in the front-rear plane of the housing, the transport device travels in the front-rear direction of the housing.
[0021]
In the transport device of the present invention, the driving unit is a rotating device that generates a rotating force and a roller member that is coupled to the rotating shaft of the rotating device and pressed against the rotating body, so that the rotating force from the rotating device is substantially spherically rotated. The transfer device can be transmitted to the body and rotated in the direction of the resultant vector of the rotational force generated by the drive unit, with the substantially spherical rotating body.
[0022]
In the transport device of the present invention, at least the surface of the rotating body is formed of a conductive material, and the driving unit is a conductive member provided on the core and to which an alternating current is applied. Since there is no such contact, loss due to friction does not occur, and the substantially spherical rotating body can be rotated efficiently in the direction represented by the vector sum of the driving force generated by the driving unit, and the transport device can travel.
[0023]
The driving mechanism according to the present invention includes a substantially spherical rotating body having at least a surface having conductive properties, a rotating body holding unit that freely holds the rotating body, and a driving unit that applies a rotating force to the rotating body. The portion has a core and a conductive member provided on the core to which an alternating current is applied.
[0024]
In the driving mechanism according to the present invention, since at least the surface of the rotating body is made of a conductive material, an eddy current can be generated by electromagnetic induction. Here, since the eddy current is concentrated on the surface, if the rotating body is hollow, the weight of the transfer device can be reduced. Since the rotating body is provided with the rotating body holding portion that freely rotates the rotating body, the rotating body can freely rotate. Since the drive unit that applies the rotational force to the rotating body is provided, the rotational driving force can be applied to the rotating body. Since the driving unit has a core and a conductive member provided with an alternating current applied to the core, there is no mechanical load due to contact friction and a substantially spherical rotating body is represented by a vector sum of driving forces generated by the driving unit. Can be rotated in any direction.
[0025]
In the control method of the transfer device according to the present invention, the substantially spherical rotating body is automatically rotated relative to the housing.
Hold, apply rotational force to the rotating body,
[Characteristics of housing] A signal corresponding to a tilt angle of the housing in a plane including a perpendicular line is detected, and the magnitude of the rotational force generated by the drive unit is controlled based on the tilt angle.
[0026]
In the control method of the transfer device of the present invention, the substantially spherical rotating body can be freely rotated with respect to the housing.
Holding, giving a rotating force to the rotating body,
[Of the housing] A signal corresponding to the tilt angle of the housing in a plane including the perpendicular is detected, and the magnitude of the rotational force is controlled based on the tilt angle. it can.
[0027]
The transport device according to the present invention includes a substantially spherical rotating body, a rotating body holding unit that freely holds the rotating body, a driving unit that applies a rotating force to the rotating body, and a signal corresponding to a tilt angle in a plane including a perpendicular line. And a transfer device excluding the rotating body, and a counterweight for moving the center of gravity of the conveyed object conveyed by the transfer device, and transmitting the movement of the center of gravity to the case. And a control unit that controls the magnitude of the rotational force generated by the drive unit and the position of the center of gravity based on the tilt angle.
[0028]
In the transfer device of the present invention, since the housing has a substantially spherical rotating body, a rotating body holding section that freely holds the rotating body, and a driving section that applies a rotating force to the rotating body, the driving force is applied to the rotating body. Can be freely rotated. In addition, since the housing is provided with an angle sensor unit for detecting a signal corresponding to an inclination angle on a plane including a perpendicular line, it is possible to detect a signal corresponding to the inclination angle of the housing. The control unit includes a control unit that controls the magnitude of the rotational force generated by the driving unit based on a signal corresponding to the tilt angle, so that the rotating body can be freely rotated based on the signal corresponding to the tilt angle. And the transfer device can run stably. In addition, since the housing is provided with a counterweight portion for moving the position of the center of gravity of the transfer device, the position of the center of gravity of the transfer device can be moved. The control unit moves the counterweight based on the tilt angle to control the position of the center of gravity. The counterweight portion may be provided in a part of the housing, or may be provided in a portion other than the housing. However, since the counterweight portion is provided so as to transmit the movement of the center of gravity to the housing, the angle at which the movement of the center of gravity is provided in the housing is provided. The sensor unit can detect. Thereby, the posture of the housing is maintained, and the transport device travels.
[0029]
In the transfer device of the present invention, the control unit controls the ratio of control between the drive unit that applies the rotational force and the counterweight unit for moving the position of the center of gravity based on the traveling speed of the transfer device. It has good static characteristics even when it is running. Further, when the speed is high, the vehicle can run without the operator taking an excessive forward leaning posture.
[0030]
The transport device according to the present invention includes a substantially spherical rotating body, a rotating body holding unit that freely holds the rotating body, a driving unit that applies a rotating force to the rotating body, and a signal corresponding to a tilt angle in a plane including a perpendicular line. And a transfer device excluding the rotating body, and a counterweight for moving the position of the center of gravity of the conveyed object conveyed by the transfer device to transmit the movement of the center of gravity to the case. A control unit that controls the magnitude of the rotational force generated by the drive unit and the position of the center of gravity based on the tilt angle, and a remote controller that transmits and receives signals to and from the control unit. And one or both of the drive unit and the counterweight unit are controlled by the remote control via the control unit.
[0031]
In the transfer device of the present invention, since the housing has a substantially spherical rotating body, a rotating body holding section that freely holds the rotating body, and a driving section that applies a rotating force to the rotating body, the driving force is applied to the rotating body. Can be rotated freely. In addition, since the housing is provided with an angle sensor unit that detects a signal corresponding to an inclination angle in a plane including a perpendicular line, a signal corresponding to the inclination angle of the housing can be detected. Since the control unit has a control unit that controls the magnitude of the rotational force generated by the drive unit based on the tilt angle, the rotating body can be freely rotated based on a signal corresponding to the tilt angle, and The device can run. In addition, since the counter weight portion for moving the position of the center of gravity of the transfer device is provided, the position of the center of gravity of the transfer device can be moved. Here, since the counterweight unit is provided to transmit the movement of the center of gravity to the housing, the angle sensor unit detects the influence of the movement of the center of gravity on the posture of the housing, and can perform control according to the movement of the center of gravity. . In addition, the remote controller can send and receive signals to and from the control unit to control the drive unit and the counterweight unit, so the remote control by the remote control controls the position of the counterweight in the counterweight unit and controls the tilt angle of the housing first. Thus, the traveling direction and traveling speed can be controlled while maintaining the inclination angle of the housing at a predetermined value by the operation of the control system including the drive unit. In addition, by controlling the drive unit, the traveling direction and the traveling speed can be controlled while maintaining the inclination angle of the housing at a predetermined value by the action of the control system including the counterweight unit while determining the moving speed in advance.
[0032]
The control method of the transfer device according to the present invention is configured such that the substantially spherical rotating body is freely rotatable with respect to the housing, a rotating force is applied to the rotating body, and the rotating angle is determined according to a tilt angle of the housing on a plane including a perpendicular line of the housing. The method is characterized in that the detected signal is detected, the magnitude of the rotational force is controlled based on the signal corresponding to the tilt angle, and the counterweight is moved to change the position of the center of gravity of the transport device.
[0033]
In the control method of the transfer device according to the present invention, the substantially spherical rotating body is rotatably held with respect to the housing, a rotating force is applied to the rotating body, and the rotating body is controlled in accordance with a tilt angle of the housing on a plane including a perpendicular line of the housing. The control unit controls the magnitude of the rotational force based on the tilt angle, and the tilt sensor unit tilts a plane including a vertical line of a housing provided with the rotating body holding unit and the driving unit. Since the signal corresponding to the angle is detected and the counterweight is moved based on the tilt angle to move the position of the center of gravity of the transfer device, both the control of the driving force of the rotating body and the control of the position of the center of gravity by the counterweight are controlled. To improve the control characteristics of the transfer device.
[0034]
The transport device according to the present invention includes a wheel, a bearing that holds an axle provided on the wheel, a driving unit that applies rotational force to the wheel, and a movable unit that can move in a direction orthogonal to a wheel rotation plane that is a plane on which the wheel rotates. A housing having a counterweight portion for moving the position of the counterweight and changing the position of the center of gravity, and an angle sensor portion for detecting a signal corresponding to a wheel tilt angle on a plane including a perpendicular line; and a tilt angle. And a control unit for controlling the magnitude of the rotational force generated by the driving unit and the position of the center of gravity of the counterweight unit based on the control unit.
[0035]
Since the housing includes one wheel, a bearing provided on the wheel for holding an axle, and a drive unit for applying a rotational force to the wheel, the carrier can be moved. The housing is perpendicular
Angle sensor that detects a signal corresponding to the angle of inclination of the wheel with respect to the vehicle
Since the control unit can control the magnitude of the rotational force generated by the driving unit based on the inclination angle, the control unit can maintain a predetermined inclination angle with respect to the traveling direction of the wheels and travel. it can. On the other hand, the control unit moves the position of the counterweight, which can be moved in a direction substantially perpendicular to the plane on which the wheel rotates based on the tilt angle, and changes the position of the center of gravity, so that the position of the center weight changes in a direction substantially perpendicular to the traveling direction of the wheel. The inclination of the transfer device can also be maintained, so that the transfer device can run stably.
[0036]
A control method of a transfer device according to the present invention is a control method of a transfer device that is rotatable by one wheel held by a housing, and that applies a rotational force to the wheels to rotate the housing in a plane including a perpendicular line. Detects a signal corresponding to the tilt angle of the body, controls the magnitude of the rotational force based on the signal corresponding to the tilt angle, and moves the counterweight in a direction substantially perpendicular to the plane on which the wheels rotate, and conveys it. It is characterized in that the position of the center of gravity of the device is changed.
[0037]
In the control method of the transfer device of the present invention, the one wheel is rotatably held in the housing, a rotational force is applied to the wheels, and the inclination angle of a plane including a perpendicular line of the housing provided with the axle and the driving unit is adjusted. A signal corresponding thereto is detected, and the magnitude of the rotational force is controlled based on the inclination angle, so that stable control can be performed in the traveling direction of the wheels, and the angle sensor unit moves the counterweight in a plane including a vertical axis and a vertical axis. The control unit detects a signal corresponding to the tilt angle of the body, and the control unit moves the counter weight provided in the counter weight unit in a direction substantially orthogonal to the plane where the wheels rotate based on the tilt angle, and determines the position of the center of gravity of the transfer device. Since the transfer device can be moved, the transport device can stably travel.
[0038]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described. In the first embodiment of the present invention, a housing that holds a substantially spherical rotating body that is rotated by a driving unit that uses a rotating device as a power source is moved with respect to a running surface, and the sensor unit is tilted with respect to a perpendicular to the housing. A transport device that detects a signal corresponding to an angle, and a control unit outputs a drive signal to a drive unit according to a signal corresponding to a tilt angle of the housing to control the attitude and movement of the housing will be described.
[0039]
In the second embodiment of the present invention, a substantially spherical rotation that is rotated by a driving force due to an interaction between a rotating magnetic field generated by supplying an alternating current power to a conductive member and a current flowing through a conductive rotating body. The housing holding the body is moved with respect to the running surface, the sensor unit detects a signal corresponding to the inclination angle with respect to the vertical line of the housing, and the control unit controls the alternating current according to the signal corresponding to the inclination angle of the housing. A transfer device that supplies power to the conductive member and controls the posture and movement of the housing will be described.
[0040]
In the third embodiment of the present invention, the housing that holds the substantially spherical rotating body rotated by the driving unit is moved with respect to the running surface, and the sensor unit detects a signal corresponding to the inclination angle of the housing with respect to a perpendicular to the housing. A transport device in which a control unit outputs a drive signal to a drive unit in accordance with a signal corresponding to a tilt angle of the housing and outputs a counterweight drive signal to a counterweight unit to control movement and posture of the housing. explain.
[0041]
In the fourth embodiment of the present invention, the driving unit drives the single wheel to move the housing holding the wheels with respect to the running surface, and the sensor unit outputs a signal corresponding to the inclination angle of the housing with respect to a vertical line. The control unit outputs a drive signal to the drive unit in accordance with the inclination angle of the casing with respect to the traveling direction of the wheels, and outputs the drive signal to the counter weight unit in accordance with the inclination angle of the casing in the traveling direction of the wheels and in the vertical direction. A transfer device that outputs a counterweight drive signal to control the movement and posture of the housing will be described. In the following embodiments and examples, the tilt angle detected from the angle sensor unit includes not only the tilt angle itself but also a signal corresponding to the tilt angle.
[0042]
[First embodiment]
The transport device according to the first embodiment will be described with reference to the drawings. As a first example which is an example of the shape of the transfer device in the first embodiment, a transfer device in the shape of a wheelchair which is transferred in a state where an operator is seated on a chair-shaped housing (this is referred to as As a second embodiment, as a second embodiment, a transport device which is transported in a state where an operator stands on a housing and does not have a support portion such as a handrail (hereinafter referred to as a plate-shaped transport device) And a transport device having a support portion such as a handrail that is conveyed while the operator stands on the housing and is caught by the operator as a third embodiment (this is hereinafter referred to as a transport device with a support portion). Will be described. In the first embodiment, a chair-shaped transfer device, a plate-shaped transfer device, and a transfer device with a support portion will be described. In addition, a reclineable chair is used as a form for holding an operator on the transfer device. Alternatively, the vehicle may have a driver's holding portion having a shape similar to a saddle or handle of a conventional unicycle or bicycle.
[0043]
[First embodiment]
1 and 2 are schematic perspective views of a chair-shaped transfer device 11, and FIG. 1 is a view showing a state in which an operator 12 who is to be transferred on the chair-shaped transfer device 11 and steers the chair-shaped transfer device 11 is seated. It is. FIG. 2 is a schematic perspective view of the chair-shaped transfer device 11.
[0044]
As shown in FIGS. 1 and 2, an x-axis, a y-axis, and a z-axis are provided as coordinate axes of a rectangular coordinate system with respect to the housing 13. When the operator sits in the normal posture shown in FIG. 1, the direction in which the face faces forward is the x-axis positive direction or the housing front direction, and the direction 180 ° opposite to the housing front direction is the x-axis negative direction or the housing. The direction of the back of the body, the left hand direction of the operator is the positive y-axis direction or the housing left direction, the right hand direction of the operator is the negative y-axis direction or the housing right direction, and the direction from the head toward the foot is the positive z-axis direction. Alternatively, a direction 180 ° opposite to the direction of gravity of the case and the direction from the head toward the foot is defined as the negative direction of the z-axis or the direction of anti-gravity of the case. Further, a plane stretched by the y-axis and the z-axis is an X plane or a horizontal plane of the housing, a plane stretched by the z-axis and the x-axis is a Y plane or a front-rear plane of the housing, and a plane stretched by the x-axis and the y-axis. Is defined as a Z plane or a housing horizontal plane. The above-mentioned coordinate axis and plane are a coordinate system attached to the housing 13 and, depending on the attitude of the housing 13, are based on an absolute coordinate system on the earth based on a perpendicular or magnetic north or on a running surface. The coordinate system moves relative to the coordinate system. For example, when the chair-shaped conveyance device travels on a slope, an uphill, a road with a raised center, or the like, the posture of the housing 13 changes relative to the running surface, and the housing 13 is used as a reference. The relationship between the coordinates and the coordinate system based on the running surface changes every moment. Further, even if the running surface is horizontal, the attitude of the casing 13 differs depending on the position of the center of gravity of the transported object including the operator, and the relationship between the coordinates based on the casing 13 and the absolute coordinate system changes every moment. . This definition is applied to other examples in the first embodiment.
[0045]
As shown in FIGS. 1 and 2, the chair-shaped transfer device 11 is a substantially spherical spherical rotator 17, a housing 13 provided on the spherical rotator 17, and a member for holding an operator. It has a seat 14, a support portion 15a, a footrest 15b, and a display portion 16 which is a man-machine interface between the operator and the chair-shaped conveyance device 11. The spherical rotator 17 is made of a material such as metal, plastic, or rubber, and the inside of the spherical rotator 17 may be hollow or solid. In consideration of the riding comfort of the chair-shaped conveyance device 11, it is preferable to prevent the vibration caused by the contact with the running surface 27 by configuring the spherical rotating body 17 using a material having elasticity, In consideration of efficiently transmitting the driving force from the roller member described later to the spherical rotating body 17, it is preferable to use a material having a certain degree of rigidity. Seventeen materials are selected.
[0046]
The housing 13 has a function of holding the spherical rotator 17 so as to be rotatable in all directions of 360 °, and a seat 14 for supporting the weight of the operator 12 and the back of the operator 12 and a support for supporting the upper arm. The weight of the member consisting of the part 15a and the footrest 15b that holds the foot so that the foot does not stick to the running surface, that is, the function of the weight receiving stand that receives all the weight of the chair-shaped transfer device 11 except the spherical rotating body 17. And a member having: The housing 13, the seat 14, the footrest 15 b, and the support portion 15 a can accurately move the center of gravity to the housing 13 when the operator 12 shifts weight by taking a posture such as forward leaning, backward leaning, or the like. The members may be connected to each other so that they can be transmitted, and the members may have a certain amount of play. Further, the function of each member may be integrally molded.
[0047]
The housing 13 is provided with a drive unit for driving the spherical rotating body 17 and a tilt angle sensor (described later) for detecting the attitude (tilt angle) of the housing 13. A sensor for detecting the moving distance and the moving speed may be provided in the housing 13. A control unit for controlling the drive unit may be provided in the housing 13. In the first embodiment, sensors are provided in the housing 13 including the control unit as a sensor unit. The display section 16 is coupled to, for example, a support section 15a so as to be arranged at a position that is easy for the operator 12 to see as shown in FIGS.
[0048]
FIG. 3 is a side view in a plane parallel to the Y plane when the stand 26 is formed in the chair-shaped transfer device 11. As shown in FIG. 3, since the housing 13 can move in all directions of 360 ° with respect to the spherical rotating body 17, the posture and the position of the housing 13 are not stable unless the control described later is performed. . Accordingly, in order to keep the casing 13 in a fixed position when the operator 12 first gets on and departs from the seat 14 or stops and gets off after moving, three stands 26a on the casing 13 are provided. The stand 26b and the stand 26c are provided so as to be located at the vertices of a substantially equilateral triangle. Here, in FIG. 3, the stand 26c is formed on the back side of the drawing with respect to the stand 26b, and is omitted in FIG. The stands 26a, 26b, and 26c are rod-shaped supports or plate-shaped supports, and may be any supports that can make the chair-shaped transfer device 11 substantially upright. In FIG. 3, three stands 26a, 26b, and 26c are formed on the housing 13. However, one stand may be provided as in a conventional bicycle, for example, when the chair-shaped transfer device 11 starts or stops. What is necessary is just to be able to support the housing 13 at times. Also, the installation positions of the stands 26a, 26b, 26c need not necessarily be located at the vertices of a triangle as long as the stands 26a, 26b, 26c are installed at positions that can support the chair-shaped transfer device 11.
[0049]
Further, the stands 26a, 26b, 26c may be operated so as to be stored from the housing 13 at the time of starting or to be protruded at the time of stop, for example, when the control system is not working, Alternatively, when a weight detector (not shown) provided on the seat 14 detects that the operator 12 is not seated even when the control system is working, the chair-shaped transfer device 11 falls down, or the chair is moved in an arbitrary direction. The housing 13 may be automatically protruded and housed so as to keep the housing 13 on the running surface so that the shape transfer device 11 does not move.
[0050]
Next, FIG. 4 shows a cross-sectional view of a plane parallel to the Y plane of the housing 13 to explain the spherical rotating body holding unit and the driving unit. Here, the holding portion is a member for holding the spherical rotating body 17 so as to be rotatable 360 ° inside the housing 13, and includes a bearing holder 20 and a bearing 21. The driving unit is a member involved in driving the spherical rotating body 17 and includes a rotating device 22, a rotating shaft 23 and a roller member 24.
[0051]
As shown in FIG. 4, the bearing 21 is rotatably held by the bearing retainer 20. The bearing retainer 20a and the bearing 21a, the bearing retainer 20b and the bearing 21b, and the bearing retainer 20c and the bearing 21c are combined and used. Each of the bearings 21 has a substantially spherical shape, and is accommodated in each bearing holder 20 so as to be freely rotatable in all directions. Hold. The plurality of bearings 21 smoothly rotate in the bearing holder 20 when the spherical rotating body 17 rotates, thereby enabling the spherical rotating body 17 to rotate in all directions. The number of bearing holders 20 and bearings 21 is not limited and may be any number as long as the spherical rotating body 17 can smoothly rotate in all directions. It can be installed in the position.
[0052]
In the present embodiment, as shown in FIG. 5, the bearing retainers 20a, 20b, 20c, and 20d and the bearings 21a, 21b, 21c, and 21d contained therein are substantially formed with the bearing retainer 20c and the bearing 21c as vertices. The rotating body holding part is formed so as to be located at the vertex of the regular tetrahedron. FIG. 4 does not show the bearing retainer 20d and the bearing 21d.
[0053]
The drive unit is composed of a rotating device 22, a rotating shaft 23 and a roller member 24, and is formed on the housing 13. The rotating device 22 may convert human-powered power into rotating force, may be an internal combustion engine, or may be an electric motor, but is required to be responsive to become an element of a control system, It is preferable that the power source is a power source capable of controlling a change in torque at a high speed. In the first embodiment, an electric motor is used. The rotating shaft 23 is made of a rigid material, and transmits the rotating force from the rotating device 22 to the roller member 24. The rotating shaft 23 is a shaft serving as a center of rotation generated by the rotating device 22 and is a rotor shaft itself of the electric motor or a shaft coupled to the rotor shaft. The roller member 24 has a substantially flat plate shape or a substantially cylindrical shape, and the rotation shaft 23 passes through the center thereof and rotates with the rotation shaft 23. The outer peripheral portion of the roller member 24 is attached to the spherical rotating body 17 by pressing. As a material of the roller member 24, it is preferable to use a material having a moderately high friction coefficient on a surface portion to be pressed in order to transmit the rotational force from the rotating device 22 by pressing against the spherical rotating body 17.
[0054]
When the spherical rotating body 17 is caused to rotate, in order to make the spherical rotating body 17 freely rotatable in any direction, a driving unit must be configured by providing a plurality of rotating devices, rotating shafts and roller members. . In order to rotate the spherical rotating body 17 in all three-dimensional directions, at least three sets of rotating devices, a combination of a rotating shaft and a roller member are required, and in order to perform two-dimensional rotation, at least two sets of rotating devices are required. A combination of equipment, a rotating shaft and a roller member is required. The spherical rotating body 17 can freely rotate in a two-dimensional or three-dimensional space by making the rotating surface of the spherical rotating body 17 generated by each set of rotating equipment, the rotating shaft, and the roller member different. . Since each rotating device constituting the drive unit is fixed to the housing 13, the mutual positional relationship between the rotating surfaces generated by each rotating device does not change.
[0055]
The driving unit of the first embodiment shown in FIG. 4 includes a rotating device 22a coupled to a roller member 24a via a rotating shaft 23a, a rotating device 22b coupled to a roller member 24b via a rotating shaft 23b, 22c is configured to be coupled to the roller member 24c via the rotating shaft 23c. In the first embodiment, in order to travel in all directions on the traveling surface 27 and perform the rotational movement while the housing 13 is stationary at approximately one point on the traveling surface, the rotating device, the rotating shaft, and the roller member are used. Although three sets are provided, two sets may be used in the case where the rotary movement is not performed and the running surface runs in all directions. In addition, when the rotational movement is not performed, two sets are used, and when the rotary movement is performed, three sets are the minimum number of sets. There is no problem to provide. Here, in the three-dimensional space, an arbitrary vector can be formed by three vectors independent of each other. Therefore, each rotating device is fixed to the housing 13 such that the rotation axes of the roller members are different from each other. ing. In the case where the rotation axes of the respective roller members are orthogonal to each other, the spherical rotating body 17 can perform the three-dimensional rotation most efficiently. Therefore, in the first embodiment, the three-dimensional orthogonal arrangement is adopted. .
[0056]
FIG. 6 is a schematic perspective view for explaining the rotation direction of the spherical rotator 17. In FIG. 6, the rotating surface on the spherical rotating body 17 rotated by the roller member 24a is the Z plane, the rotating surface on the spherical rotating body 17 rotated by the roller member 24b is the X plane, and the spherical surface is rotated by the roller member 24c. The rotating surface on the rotating body 17 is a Y plane.
[0057]
For example, when the rotating device 22a rotates in the Z plane, the rotating shaft 23a and the roller member 24a similarly rotate in the Z plane. The outermost ring portion of the roller member 24a is in pressure contact with the spherical rotating body 17, and when the rotating device 22a rotates the roller member 24a, the spherical rotating body 17 is formed by the frictional force generated between the roller member 24a and the spherical rotating body 17. In principle, the spherical rotating body 17 stops rotating without rotating because the friction between the spherical rotating body 17 and the running surface 27 is large. Rotate in a plane. On the other hand, the rotation of the spherical rotating body 17 in the X plane is performed by the rotating device 22b, the rotating shaft 23b, and the roller member 24b, and the rotation of the spherical rotating body 17 in the Y plane is performed by the rotating device 22c, the rotating shaft 23c, and the roller member 24c. Be done.
[0058]
As shown in FIG. 6, when the rotation of the spherical rotator 17 in the X plane occurs, the housing 13 moves in the y-axis direction at a speed equal to the speed Vy of the outer peripheral portion of the spherical rotator 17 due to the frictional force with the running surface 27. And the rotation in the Y plane occurs, the casing 13 moves in the x-axis direction at a speed equal to the speed Vx of the outer peripheral portion of the spherical rotator 17, and the spherical rotator 17 rotates in the Z plane. The housing 13 rotates on the running surface 27 at the same angular velocity as the angular velocity at which the housing 13 rotates.
[0059]
Strictly speaking, when the ground contact point 27a is in contact with the completely horizontal running surface 27 at one point, the frictional force generated between the spherical rotating body 17 and the running surface 27 becomes zero, and the spherical rotating body 17 Does not slip and does not cause any movement of the housing 13. However, when the spherical rotating body 17 is flattened near the ground point 27a or when the running surface 27 has irregularities, it can be considered that the ground point 27a is not in point contact but is in local contact with a two-dimensional plane. . The actual spherical rotating body 17 and running surface 27 are like this. Accordingly, in such a local two-dimensional plane, a frictional force is generated to cause the movement of the housing 13.
[0060]
Further, the movement of the housing 13 caused by the rotation in the Y plane by the rotation about the y axis will be described more specifically and individually. As described above, since the contact point 27a has a finite area, a motion is generated between the running surface 27 and the spherical rotating body 17 due to the frictional force. At this time, when the Y plane is perpendicular to the running surface 27, the housing 13 goes straight in the x-axis direction. However, when the Y plane is not perpendicular to the running surface 27, a force perpendicular to the x-axis also works at the same time because the spherical rotating body 17 comes into contact with the running surface 27 with a surface having a different peripheral speed. The vehicle travels in a slightly circular arc without going straight in the x-axis direction. However, this deviation is caused by the operator 12 shifting his weight, making the Y plane perpendicular to the running surface, or when the traveling direction is gradually deviating and the course deviates, the operator 12 shifts the weight and It is not a big problem because you can make changes and correct them one after another.
[0061]
The same applies to the movement of the housing 13 caused by the rotation about the x-axis. When the X-plane is not perpendicular to the running surface due to the inclination of the housing 13 with respect to the running surface 27, the housing 13 does not go straight in the y-axis direction but runs in a slightly circular arc. However, also in this case, as in the above-described rotational movement about the y-axis, the operator 12 shifts the weight, and makes the X plane perpendicular to the running surface or the traveling direction slightly shifts. If the course deviates, the operator 12 can shift the weight, change the course, and correct the course one by one, so that there is no major problem.
[0062]
Further, the movement in the Z plane will be described. When the grounding point 27a has a finite area and the Z plane is parallel to the running surface 27, the rotation axis of the z-axis passes through the grounding point 27a. Rotational movement about the contact point 27a is performed above. However, when the housing 13 is inclined and the Z plane is not parallel to the running surface 27, the ground point 27a is not on the z axis which is the rotation axis of the Z plane. In this case, the movement of the casing 13 caused by the frictional force at the ground contact point 27a is such that the casing 13 performs a rotational movement while drawing a circle with a small rotational radius without remaining at one point on the running surface 27. However, this radius is small if the inclination of the housing 13 is small. Accordingly, when the inclination of the casing 13 is small, the operator 12 can quickly change his / her own position by 180 ° or change the direction to an arbitrary angle by rotating the Z plane. In addition, if the rotation is intentionally made to increase the inclination angle, the housing 13 rotates while drawing an arc, so that the sense of sports can be tasted. By changing the rotation angular velocity of the rotating device 22a by operating the operation buttons provided on the display unit 16, the rotation can be continued at an arbitrary speed.
[0063]
The overall configuration of the control system of the chair-shaped transport device 11 in the first embodiment will be described with reference to the block diagram of FIG. The control system is configured as a feedback loop. The control system is roughly composed of the driving unit 18, the spherical rotator 17, the sensor unit 55 described later, the display unit 16, and the control unit 25, which have already been described.
[0064]
An outline of the operation of the control system will be described. When the operator 12 leans his body, the center of gravity, which will be described later, which is the center of the center of gravity, moves, and as a result, the angle of inclination of the casing 13 with respect to the perpendicular is changed. This inclination is detected by an angle sensor 550 provided in the housing 13. The control unit 25 receives a tilt angle detected by the angle sensor unit 550 as an input, performs a process in accordance with a predetermined calculation rule of a feedback loop, and a control signal output from the calculation unit 51. And a drive circuit unit 25 that generates a drive signal based on the
[0065]
The drive signal is a signal that is applied to the drive unit 18 including the rotating device 22, the rotating shaft 23, and the roller member 24 and that drives the spherical rotating body 17 to rotate. Here, the torque generated by the spherical rotating body 17 due to the rotation and the inclination angle detected by the angle sensor unit 550 of the housing 13 satisfy a relational expression expressed by a predetermined physical expression described later, and therefore, as a whole, Construct a feedback control system. At this time, when the feedback control system is a negative feedback control system, when the inclination angle of the housing 13 increases, torque in a direction to decrease the inclination angle is generated by the rotation of the spherical rotating body 17. Here, the role of the position sensor unit 551 and the speed sensor unit 552 is to detect a variable corresponding to the number of degrees of freedom of the control system, that is, a position and a speed, which are state variables in control theory. According to the teachings of the optimal control theory, it is known that good control characteristics can be obtained by feeding back all the state variables, so that control is also performed using these state variables in the first embodiment. It can be carried out.
[0066]
Hereinafter, a signal corresponding to a state variable from the position sensor unit 551 and the speed sensor unit 552 is referred to as a drive state detection signal. The driving state detection signal is not the position or speed, which is the state variable itself, but the rotation angle or rotation angular speed of the rotating shaft 23, and the arithmetic unit 51 may convert the signal into the position or speed. Further, the angle detected from the angle sensor unit 550 is a vector amount having a two-dimensional component, and the torque generated in the spherical rotating body 17 is also a vector amount, so that the control unit 25, the position sensor unit 551, the speed sensor unit 552 are configured to handle vector quantities, and each component of the vector is represented by subscripts a, b, c, below.
[0067]
At least the angle sensor 550 among the sensors constituting the sensor unit 55 is provided at a predetermined position of the housing 13 and detects an inclination angle between the housing 13 and a perpendicular which is a line to which gravity is directed. . The angle with respect to the perpendicular is a vector quantity, but can be represented by projection on two planes including the perpendicular. The two planes are defined as a b-plane and a c-plane, and the projections on the planes are detected by sensors labeled 550b and 550c, respectively, and the inclination angle of the housing 13 can be specified.
[0068]
The two planes b-plane and c-plane may be arbitrarily selected. However, in order to simplify the calculation in the calculation unit 51, the b-plane and c-plane are generated by the rotating devices 22b and 22c. It is desirable to set the rotation surface of the spherical rotator 17. For example, if the b plane is selected as the X plane and the c plane is selected as the Y plane, the signal from the sensor 550b indicating the inclination angle in the b plane, that is, the X plane, is directly used without going through the coordinate conversion step, and the X plane is used. The torque control can be performed by the rotating device 22b, and the signal of the sensor 550c indicating the inclination angle in the c plane, that is, the Y plane, is directly used without going through the coordinate conversion step, and the torque control in the Y plane is performed by the rotating device 22c. It can be carried out. On the other hand, when the detection surfaces of the inclination angles of the sensors 550b and 550c are not the same as the rotation surfaces of the rotations generated by the rotating devices 22b and 22c, the inclination angle signals detected from the sensors 550b and 550c are calculated by the arithmetic unit. At 51, coordinate transformation is performed, and the inclination angles of the rotations generated by the rotating devices 22b and 22c on the same plane as the rotation plane are combined by calculation.
[0069]
The specific method of the calculation is to calculate the vector sum of the rotation plane component of the detection value detected from the sensor 550b by the rotation device 22b and the rotation plane component of the detection value detected from the sensor 550c by the rotation device 22b. The tilt angle signal for control is used as the rotation device 22c. The vector sum of the rotation plane component of the detection value detected by the sensor 550b and the rotation plane component by the rotation device 22c of the detection value detected by the sensor 550c is used as the rotation device 22c. Can be used as a tilt angle signal for controlling the tilt angle. The sensor used in the drive surface component angle angle sensor unit 550 may be a sensor that hangs a weight from a point on the housing 13 and detects that the position of the tip of the weight moves according to the tilt angle, or may be a rotation sensor. A weight may be connected to the rotation axis of the variable resistor whose resistance value changes according to the angle, and a resistance value according to the tilt angle may be detected, a resistance value detected by a gyro element may be used, or a distance sensor may be used. Filling the vessel with the fluid, detecting the distance between the fluid surface and the distance sensor at a plurality of detection points, the distance between the two distance sensors, the fluid surface and the distance sensor measured by the sensor The ratio between the distance between the two and the difference between the two sensors may be detected. A control method using the derivative of the tilt angle as a state variable will be described later. However, in order to obtain the derivative of the angle, the arithmetic unit 51 may perform a differential operation, or may directly detect the angle using a gyro element.
[0070]
The position sensor unit 551 detects a displacement, that is, a movement distance with respect to the casing 13 as a coordinate, with a predetermined position of the casing 13 on the running surface 27 as an origin. Here, the moving distance is decomposed into components of the x-axis, y-axis, and z-axis. As described above, the x-axis, the y-axis, and the z-axis are relative ones that change every moment depending on the attitude of the housing 13. Various methods are conceivable for position detection, and accordingly, the position sensor 551 can have various configurations. For example, a position sensor 551a that detects the rotation angle of the rotation shaft 23 connecting the rotation device 22 and the roller member 24 with respect to the rotation shaft 23a, a position sensor 551b that detects the rotation shaft 23b, and a position sensor 551c that detects the rotation shaft 23c. It can be detected by three sensors. Specifically, the detection can be performed by providing a rotary encoder on the rotating shaft 23. Here, the rotation angle is proportional to a change in the position with respect to one point on the running surface 27 of the housing 13, so that the calculation unit 51 can detect the position by a predetermined conversion formula.
[0071]
The speed sensor unit 552 detects a moving speed of the casing 13 with the casing 13 used as a reference for coordinates. For example, the speed sensor 552a that detects the rotation angular speed of the rotation shaft 23 that couples the rotating device 22 and the roller member 24 with respect to the rotation shaft 23a, the speed sensor 552b that detects the rotation shaft 23b, and the speed sensor 552c that detects the rotation shaft 23c. It can be detected by three sensors. Specifically, the detection can be performed by providing a rotary encoder on the rotating shaft 23. Here, since the rotational angular velocity is proportional to the moving speed with respect to one point on the running surface 27 of the housing 13, the position can be detected by the arithmetic unit 51 using a predetermined conversion formula.
[0072]
Further, a position sensor unit may be provided in the housing 13 to detect a relative position and a relative speed with respect to the running surface 27 by, for example, ultrasonic waves or laser light. In addition, an arbitrary combination such as detecting one of the position or the speed from the rotating shaft 23 and combining the other of the speed or the position with the detection of the relative position or the relative speed with respect to the running surface 27 by an ultrasonic wave or a laser beam is selected. You may. As still another method, if a GPS (global positioning system) using a satellite is used, the position and speed can be obtained not based on the housing 13 but based on absolute coordinates.
[0073]
The display unit 16 is connected to a bus line, and exchanges signals with the sensor unit 55, the arithmetic unit 51, and the drive circuit unit 52 via the bus line.
[0074]
The display unit 16 receives an information display signal, which is various information detected by the sensor unit and processed by the arithmetic unit 51, through a bus line. The information display signal includes a tilt angle representing the attitude of the housing 13, the traveling speed and traveling distance of the chair-shaped conveyance device 11, the remaining amount of the battery, and the like. The display unit 16 displays this to inform the operator, and when the rotation shaft 23 rotates at a predetermined rotation angular velocity or more, an alarm that can be visually and audibly recognized is issued, or the case 13 If the tilt angle is equal to or greater than a certain value, an alarm may be issued assuming that if the housing 13 tilts further, it exceeds the capability of the drive unit 18 and it becomes impossible to maintain the predetermined tilt by feedback. .
[0075]
An operation button (not shown) is provided on a panel of the display unit 16. The operator 12 touches the operation button to control an operation mode of the chair-shaped conveyance device 11, such as stopping and waiting, and described later. When using state feedback, such as gain and phase compensation characteristics of a control system, or changing a coefficient to be multiplied by a state variable, the operational feeling can be changed according to the preference of the operator 12.
[0076]
An operation signal, which is a signal from these operation buttons, is transmitted to the arithmetic unit 51 through a bus line. Further, the display unit 16 does not necessarily have to be connected to the support unit 15a, and a remote controller (remote controller: Remote controller) not shown in FIG.
(Controller) method.
[0077]
In the control unit 25 shown in FIG. 8, the arithmetic unit 51 is connected to a bus line to exchange signals between the sensor unit 55, the drive circuit unit 52, and the display unit 16. The arithmetic unit 51 may be configured by a CPU (Central Processing Unit), a DSP (Digital Signal Processor) suitable for performing a product-sum operation at a particularly high speed, or an arithmetic function may be configured by hardware. . Here, the bus line is not limited to a cable, and may be realized by radio waves such as radio waves, ultrasonic waves, or light.
[0078]
The drive circuit unit 52 is a circuit unit for operating the rotating device 22 based on the result calculated by the calculation unit 51. Each of the drive circuit units 52a, 52b, 52c is connected to supply electric power to the rotating devices 22a, 22b, 22c. The drive circuit units 52a to 52c have the same circuit configuration when the rotary devices 22a, 22b, and 22c have the same configuration. For example, when the rotating device 22a is a DC machine, the drive circuit unit 52a may have a power amplifying function and amplify the power of the signal from the arithmetic unit 51, and the rotating device 22a is an alternating current machine. In this case, for example, an inverter circuit that generates three-phase alternating current power is used. Here, an independent control signal is applied from the arithmetic unit 51 to each of the drive circuit units 52a, 52b, 52c via a bus line, and the rotating devices 22a, 22b, 22c operate independently.
[0079]
The function of the calculation unit 51 is to perform a calculation according to a calculation rule of a feedback system based on a signal from the sensor unit 55, that is, a rule for operating the control system, and to transmit a control signal to the drive circuit unit 52. The operator is informed through the display unit 16 whether the vehicle is operating in an unusual state, and if necessary, an alarm to the effect that an abnormality has occurred is transmitted to the operator via the display unit 16. It has various functions such as changing an operation mode and changing a control rule in response to an operation signal issued by an operation button.
[0080]
In describing how the calculation based on the control rule is performed by the calculation unit 51, first, the operation principle of the chair-shaped conveyance device 11 will be described in detail with reference to the schematic diagram of FIG. Will be described.
[0081]
FIG. 9 is a schematic cross-sectional view on the Y plane of the chair-shaped transport device 11 in a running state. Here, a point representing the weight of the chair-shaped transfer device 11 to which the weight of the operator 12 is added except for the spherical rotator 17 is defined as a center of gravity point 61, the center of rotation of the spherical rotator 17 is defined as a center point 62, and the gravity direction is set. A perpendicular line 63, a straight line connecting the center of gravity 61 and the grounding point 27a is defined as a torque line 65, and a distance between the center of gravity 61 and the grounding point 27a is defined as M. It is assumed that the point is one point equidistant from the outer peripheral portion of. The straight line connecting the center of gravity 61 and the center point 62 is defined as the center of gravity line 64, the distance between the center of gravity 61 and the center point 62 is defined as L, and the angle between the perpendicular 63 and the torque line 65 is defined as Θ. ₁ , The angle between the center of gravity line 64 and the torque line 65 ₂ , The angle between the perpendicular 63 and the center of gravity 64 ₃ And
[0082]
In an ideal state in which the running surface 27 is a horizontal plane and the housing 13 is not inclined in the y-axis direction, the Y plane includes all of the center of gravity 61, the center point 62, the center of gravity line 64, the perpendicular 63, and the grounding point 27a. Contains. The following description is based on this assumption. In the case where the running surface 27 is not a horizontal plane or the case 13 is inclined in the y-axis direction, the operation is slightly different from the operation described below. Since a large error does not occur even if it is regarded as an ideal state, the following description will be made based on the ideal state in which the housing 13 is not inclined in the y-axis direction. The same explanation is given for a cross section parallel to the X plane, but this explanation is omitted.
[0083]
First, the balance in a state where the housing 13 remains at a fixed position on the running surface 27 without moving will be described. As shown in FIG. 9, the spherical rotator 17 is in contact at almost one point at the contact point 27 a of the running surface 27. However, since the position of the center of gravity 61 is higher than the contact point 27 a, the center of gravity passing through the contact point 27 a Only when the line 64 coincides with the perpendicular 63, the balance, that is, the stationary state where the center of gravity 61 is kept at one point can be maintained. However, when the center of gravity 61 and the perpendicular 63 substantially coincide with each other and the center of gravity 61 is in the vicinity of the stationary state position, this point is an unstable equilibrium point when viewed as a control system. When the position of the center of gravity 61 shifts in any of the left and right directions, the spherical rotator 17 rotates to move the center of gravity 61 below the running surface 27, and the casing 13 remains stationary and maintains a fixed position. Can not. Therefore, in order to maintain the stationary state of the casing 13 and maintain the stable state, the operator 12 skillfully balances and maintains the stable state, or maintains the stable state by another method. . The operator 12 moves the center of gravity 61 to maintain the balance by moving the body so that the center of gravity line 64 passing through the ground contact point 27a always coincides with the vertical line 63. This is difficult and places a heavy burden on the operator 12. Therefore, in the transport device according to the first embodiment, instead of imposing a burden on the operator 12 and maintaining the balance, a torque generated by rotating the spherical rotating body 17 is introduced as a factor for maintaining the balance. This is to move the entire housing 13 along with the rotational movement of the spherical rotator 17 while maintaining the balance.
[0084]
Assuming that the combined weight of the chair-shaped conveyance device 11 and the driver 12 excluding the spherical rotating body 17 at the center of gravity 61 is W, the force acting in the direction perpendicular to the torque line 65 at the center of gravity 61 as shown in FIG. F ₁ Is
(Equation 1)

It is expressed as Where Θ ₁ Is the tilt angle Ｙ on the Y plane by the angle sensor unit 550. _c , And when discussing on the X plane, Θ ₁ Huh _b It is. When attention is paid to the triangle formed by the center of gravity 61, the center point 62, and the ground point 27a, Θ ₁ , Θ ₂ , And Θ ₃ In between,
(Equation 2)

Holds. Note that in FIG. ₁ > 0.
[0085]
On the other hand, when a rotational force is applied to the spherical rotating body 17, a torque T is generated, and a torque reaction is applied to the torque T in a direction orthogonal to the center line 64 at the center of gravity 61. ₂ And the size is
[Equation 3]

It is expressed as Where F ₂ Of which, F ₁ And the component whose vector direction is opposite to F ₃ Then F ₃ Is
(Equation 4)

It is expressed as Here, when Equation 5 is satisfied, the force of falling by gravity and the force of opposing the falling by torque are balanced, and the position of the housing 13 is kept in a balanced position with respect to the spherical rotating body 17. stay.
(Equation 5)

By substituting Equations 1, 3, and 4 into Equation 5, Equation 6 is obtained.
(Equation 6)

[0086]
The meaning of Equation 6 will be described below. When the position of the center of gravity 61 is located outside the spherical rotating body 17, a range in which the casing 13 and the operator are not approaching the traveling surface 27, that is, Θ ₃ In the range of <90 °, the distance L between the center of gravity 61 and the center point 62 is smaller than the distance M between the center of gravity 61 and the ground point 27a. Therefore, Θ ₁ > Θ ₂ Holds, Θ ₁ Is changed, the change amount of each angle ΔΘ ₁ , ΔΘ ₂ About ΔΘ ₁ > ΔΘ ₂ Holds.
[0087]
In Equation 6, Θ ₁ When monotonically increases (decreases) sinΘ ₁ Monotonically increases (decreases) and Θ ₂ CosΘ when monotonically increases (decreases) ₂ Is a function that decreases (increases) monotonically. Therefore, when the torque T is increased, Θ ₁ Is increased, Equation 6 can be satisfied, and a stable state can be maintained. Conversely, in order to keep the position of the center of gravity 61 constant and maintain a stable state, ₁ And Θ ₂ Must generate a torque T that satisfies the condition of Equation 6 according to the magnitude of At this time, 数 ₂ Huh ₁ Is uniquely determined by ₁ Since 関 数 is a function of ₁ Changes and Θ ₂ Can be equated with changes in ₁ Only detect and Θ ₁ The position of the center of gravity 61 can be constantly maintained in a stable state by adjusting the torque T in accordance with the magnitude of only the center of gravity. Also, F generated by the torque T ₃ Is F ₁ If it is larger, the position of the center of gravity 61 is lifted upward, while F generated by the torque T ₃ Is F ₁ If it is smaller, the position of the center of gravity 61 goes downward. Therefore, the action of the feedback loop ₁ And the torque T are properly maintained, the center of gravity 61, that is, the attitude of the casing 13 is appropriately maintained, and the operator 12 can perform the stabilization operation without performing the operation for stabilization. The user can sit on the shape transfer device 11 and travel.
[0088]
FIG. 9 shows a case where the casing 13 and the operator 12 are tilted forward of the operator 12 on the spherical rotator 17, and the casing 13 and the operator 12 are rearward of the operator 12 on the spherical rotator 17. As described above, when the case 13 and the operator 12 are inclined, the case 13 and the operator 12 are inclined forward of the operator 12 on the spherical rotating body 17, that is, the angle Θ between the barycentric line 64 and the perpendicular 63. ₁ , Becomes positive. When the casing 13 and the operator 12 are inclined rearward of the operator 12 on the spherical rotating body 17, that is, the angle Θ between the center of gravity line 64 and the perpendicular 63. ₁ , Is negative, F ₁ The direction in which the force acts is the rearward direction. Therefore, the direction of the torque T is rotated in the opposite direction, that is, the spherical rotator 17 is rotated in the opposite direction, and the chair-shaped transfer device 11 can stably run while maintaining a balanced state. If the torque T required to maintain the balance state exceeds the torque that can be supplied by the rotating device 22, the position of the center of gravity 61 cannot be maintained, and the center of gravity 61 moves downward, The housing 13 and the operator 12 cannot stand still. Note that Θ ₁ Is kept close to zero, the chair-shaped transfer device 11 can stop at a substantially constant position while traveling with fine movement.
[0089]
The operation of the feedback loop when the entire chair-shaped transfer device 11 is regarded as a control system will be described below. Equation 6 is an equation including a trigonometric function and is inconvenient to handle. The effect of the actual feedback loop does not greatly differ from that represented by the approximate expression. The torque T can be adjusted by adjusting the amount of electric power applied to the rotating device 22, for example, the amount of armature current flowing through the armature when the electric motor is a DC motor. In Equation 6, Θ ₁ When is small, sinΘ ₁ Huh ₁ , CosΘ ₂ Can be approximated by 1, so that ₁ And T
(Equation 7)

Can be approximated. Further, since the torque T and the armature current I of the rotating device generally have a substantially proportional relationship, the equation 7 is rewritten.
(Equation 8)

Get. Here, K is a constant.
[0090]
It is expressed by Equation 7. ₁ Between the torque T and ₁ The relationship between the armature current I and the armature current I holds in both the y-axis direction and the x-axis direction. Therefore, when moving in both directions of the y-axis direction and the x-axis direction, simultaneously rotating the spherical rotator 17 in the X plane and the Y plane and controlling the torque as described above, the chair-shaped transfer device 11 can The vehicle can run stably in the direction.
[0091]
The driver 12 slightly shifts the position of the center of gravity. ₁ Is changed to positive or negative near zero, the driving unit 18 applies a torque T to the spherical rotating body 17 and moves in the front-back direction (x-axis direction) or the left-right direction (y-axis direction), but burdens the operator. Therefore, such a burden can be reduced by performing position control. That is, when the position control is performed, the housing 13 can be returned to the original position, and can be stopped at substantially one point. When the chair-shaped transport device 11 travels and moves, if the position control loop is cut, the weight can be moved in the direction that the operator intends to go without returning to the initial position, and stable traveling in that direction is possible. It becomes. Here, the operation of breaking the position control loop can be easily realized by replacing the output signal from the position sensor unit 551 with zero. Since the position control loop is one element of the state feedback described later, it can also be realized by setting the coefficient corresponding to the state variable of the position of the state feedback described later to zero or a predetermined value.
[0092]
An operation signal provided to the operation unit 51 provided on the display unit 16 is transmitted to the operation unit 51 so that the ON / OFF state of the position control can be switched between the stationary mode and the traveling mode.
[0093]
As described above, the control system is configured by independent control mechanisms along the y-axis, the x-axis, and the z-axis, respectively, and forms a feedback loop as an independent control system. Hereinafter, the content of the feedback loop will be described in detail.
[0094]
A feedback loop for the case where the traveling direction is the y-axis direction will be described. The sensor 550b of the angle sensor unit 550 of the sensor unit 55 determines the inclination angle of the housing 13 on the X plane as Θ. _b Is detected, and Θ detected by the angle sensor unit 550 is detected. _b Is output to the calculation unit 51, and Θ _b Is input to the arithmetic unit 51. _b Is subjected to arithmetic processing. For example, as the simplest calculation, the control unit 51 multiplies the control gain or performs phase compensation, and outputs the control signal to the rotating device 22b.
[0095]
Here, the phase compensation is performed to speed up the response of the control system or to improve the open-loop gain of the control system. The transfer characteristics of the entire drive unit are mainly governed by the transfer characteristics of the rotating device 22. Here, the transfer characteristic of the rotating device 22 is a secondary system having a pole at zero frequency, that is, having an infinite gain in direct current. In order to increase the gain of the open loop of a system including such a transfer function and to improve the frequency response characteristics, usually, delay compensation is performed in the low frequency range, the gain in the low frequency range is improved, and the steady-state error is reduced. Then, advance compensation is performed in a wide area to increase the phase margin in a wide area and increase the gain in a wide area, thereby improving response characteristics.
[0096]
Specifically, assuming that the transfer function subjected to the Laplace transform is represented by G (S) and ω1 to ω4 are angular frequencies, the low-frequency phase compensation GL (S) is GL = (S + ω2) / (S + ω1) GL = (S + ω3) / (S + ω4), the overall phase compensation characteristic GP becomes GP = (S + ω2) / (S + ω1) * (S + ω3) / (S + ω4). It is calculated as the armature current I22 of the device 22 = Kg * (S + ω2) / (S + ω1) * (S + ω3) / (S + ω4) * Θ1. Here, Kg is a constant that determines the gain, and ω1>ω2>ω3> ω4. In order to realize such phase compensation, the S domain is converted to the Z domain in order to perform discrete-time processing suitable for digital processing, and an arithmetic expression of a digital filter is obtained. What is necessary is just to perform the calculation which implement | achieves a lead digital filter. Such a control system has a tilt disturbance caused by a weight shift. _cd Automatically controls the torque T in response to the control to stabilize the control system. That is, by controlling the rotating device 22b provided on the y-axis, the spherical rotator 17 is rotated on the X plane, and the housing 13 is caused to travel fixedly with the x-axis direction as the traveling direction. Similarly, the sensor 550c of the angle sensor unit 550 of the sensor unit 55 determines the inclination angle of the housing 13 on the Y plane as Θ. _c Is detected, and Θ detected by the angle sensor unit 550 is detected. _c Is output to the calculation unit 51, and Θ _c Is input to the arithmetic unit 51. _c , And controls the rotating device 22c provided on the x-axis to rotate the spherical rotator 17 on the Y-plane and to determine the casing 13 with the y-axis direction as the traveling direction. Let it run.
[0097]
When the housing 13 is tilted in both the X plane and the Y plane, the spherical rotator 17 rotates in both the X plane and the Y plane by the action of both the x-axis and the y-axis servo loops, Proceeds stably in the direction according to the combined force of rotation.
[0098]
As described above, if feedback control is performed using only the tilt angle as a control variable, stable running can be performed in principle. However, as an example of another operation, when the drive unit 18 is included in the control system, an operation in which variables relating to the operation of these components are taken as state variables contributes to performance improvement. That is, the control operation is based on state feedback that feeds back all control variables of the control system. Here, control that converges all states to the origin while determining the feedback coefficient of each state variable so as to maximize or minimize a predetermined evaluation function is conventionally well known as an optimal regulator. Further, a method of obtaining each coefficient is widely known as a solution of the Riccati equation.
[0099]
Table 1 shows the symbols used below. The center line 64 connecting the center of gravity 61 of the casing 13 and the operator 12 to the ground point 27a is defined as the Ω axis, and the direction from the ground point 27a to the center of gravity 61 is defined as the positive direction of the Ω axis. Also, the angle Θ between the torque line 65 and the perpendicular line 63 Θ ₁ Is the value of the tilt angle detected by the sensor 550b. _b Alternatively, the value of the tilt angle detected by the sensor 550c Θ _c It is. Table 1 shows all the state variables in the first embodiment.
[0100]
[Table 1]

[0101]
The state feedback will be further described with reference to block diagrams 10 and 11. FIG. 10 is an overall view of a control system (in the X plane) for the y-axis. FIG. FIG. The drive state detection signal and the angle detection signal detected by the sensor unit 55 are subjected to information processing in a flow indicated by a solid arrow in the drawing. In the drawing, a suffix K represents a coefficient in the above-described formula, and indicates that various driving state detection signals or angle detection signals are multiplied. The symbol Σ in the figure indicates that the sum of various information is obtained.
[0102]
Equation 9 shows the operation formula of the optimal regulator. K which is a predetermined constant in Expression 9 _c1 , K _c2 , K _c3 , K _c4 Is obtained by solving the Riccati equation described above. Equation 9９ _c , DΘ _c / Dt, D _c , DD _c / Dt is a function of the torque T of the rotating device 22c, that is, the armature current I of the rotating device 22c according to Expression 8. _22c , A closed loop control system is constructed and the constant K _c1 , K _c2 , K _c3 , K _c4 If the set value of is appropriately provided, an asymptotic stability characteristic in which all the state variables converge on the origin O over time can be generated.
(Equation 9)

Where K _c1 , K _c2 , K _c3 , K _c4 By changing the combination of the coefficients, for example, the response characteristic can be extended to a high frequency so as to quickly follow the weight shift of the operator 12, or the power consumption can be set to a minimum. In addition, since state feedback handles all state variables of the control system, Θ _c It is possible to combine higher-level control, for example, position control and speed control, with tilt angle control as compared to a method that handles only the angle.
[0103]
Θ _cd Is a disturbance caused by weight shift, and when the servo loop is operating, this disturbance Θ _cd Is supplied to the rotating device 22c so as to cancel out. Here, the gain K of the position control _c3 Is set to a predetermined value instead of zero, when the housing 13 moves from the first point, D _c Becomes large, and acts to pull the housing 13 back to the first point.
[0104]
The position control gain K _c3 With zero as the stationary disturbance Θ _cd , The housing 13 can be moved in the x-axis direction. For example, the center of gravity is moved in the forward direction so that the center of gravity 61 is always ahead of the perpendicular 63, that is, Θ _cd If the setting is made so as to be> 0, the housing 13 continues to move in the positive direction of the x-axis direction, that is, in the front direction of the housing 13.
[0105]
The position control gain K _c3 Is set to zero, and the center of gravity is moved in the backward direction so that the center of gravity 61 is always behind the perpendicular 63, that is, Θ _cd If it is set to be <0, the housing 13 continues to move in the negative direction of the x-axis direction, that is, in the direction of the back surface of the housing 13.
[0106]
Regarding feedback of a control system constituted by a control mechanism along the y-axis, when the rotating device 22b is a DC motor, the current of the armature of the rotating device 22b is set to I _22b [Mathematical formula-see original document] Equation 10 is an operation rule in the operation unit 51 that implements state feedback. The control system realized by this operation rule can generate an asymptotic stability characteristic in which all state variables converge to the origin O with the passage of time.
(Equation 10)

[0107]
In addition to the feedback loop formed by the control mechanism along the y-axis direction and the feedback loop formed by the control mechanism along the x-axis direction, a feedback loop along the Ω axis which is the center of gravity line 64 is formed. Performs feedback control along the Ω axis.
[0108]
The control of the rotation about the Ω axis is the control of the rotation about the center of gravity line 64 and the control of the rotation of the spherical rotator 17 along the z axis. For example, the control of the rotation around the Ω axis can be performed by the operator 12 performing a rotational movement in the left-right direction or the like by operating the operation button of the display unit 16. That is, when the right rotation operation button is turned ON, the right rotation is performed around the current ground contact point 27a of the spherical rotating body 17. Conversely, when the left rotation operation button is turned ON, the left rotation is performed. Control of rotation about the Ω axis can be performed simultaneously with control of the x axis and control of the y axis.
[0109]
The control of the rotation along the Ω axis is performed by controlling the current of the armature of the rotating device 22a by I _22a Then, the calculation is performed according to the operation rule represented by Expression 11.
[Equation 11]

Where K _Ω1 , K _Ω2 Is a predetermined constant and Ω _i And dΩ _i / Dt is an angle based on a predetermined point of the housing 13 and an angular velocity.
[0110]
K _Ω1 = 0, K _Ω2 For example, when pressing the operation button for right rotation, K _Ω2 To the positive value, press the left-turn operation button to K _Ω2 When a negative value is assigned to the rotation direction, the rotation direction can be controlled. Also, Ω _i , The rotation operation can be terminated after rotating by a predetermined angle. Ω _i As the predetermined reference direction angle Ω _i , K _Ω1 , K _Ω2 , A positional relationship between the spherical rotating body 17 and the housing 13 can be maintained such that a constant direction is always the y-axis. Here, the angular velocity dΩ _i / Dt is fed back, but K _Ω2 The responsiveness of the control system is determined by the magnitude of. Reference direction angle Ω _i Is detected by a magnetic compass or gyro compass. _i If a certain azimuth is entered, the robot always moves to the certain azimuth.
[0111]
Another control method will be described. In the block diagram of FIG. 11, Kb is set to zero, that is, Kz is set to a predetermined value without operating the rotating device 22b, and the rotating device 22a is operated based on a signal that should normally operate the rotating device 22b.
[0112]
To realize such control, K _Ω1 , K _Ω2 , Kb are set to zero and Kz is set to a predetermined value, the casing 13 does not advance in the y-axis direction, and instead, the casing 13 rotates, and as a result, the operator 12 Is controlled so that his / her face always faces the traveling direction. In the operation of moving laterally or backward when viewed from the operator 12 by the movement of the center of gravity 61, the operator 12 may be dangerous because the field of view of the operator 12 is limited to the front. If it is performed, the traveling direction and the direction of the field of view can always be matched, the operator 12 can confirm the state of the traveling direction in the field of view, and can safely operate the chair-shaped transport device 11.
[0113]
In order to perform such control, at least the necessary signal is _b In the calculation unit 51, Θ _b After the phase compensation is performed and the gain is adjusted to an appropriate value, the signal may be used as a drive signal for the rotating device 22a. As described above, when all the state variables are fed back, optimization in the sense of minimizing or maximizing various evaluation functions can be achieved, so that the characteristics can be further improved.
[0114]
Here, if the control in the Z plane is performed at high speed, as a result, the inclination in the y axis direction, that is, the inclination in the X plane can be made zero by a method of rotating the Z plane, Since no driving force is applied, control in the y-axis direction is unnecessary, and as a result, a mechanism related to y-axis control becomes unnecessary. This contributes to simplification of the device. Also, K _b , K _z , K _Ω1 , K _Ω2, Is set to a predetermined value other than zero, the rotating device 22b corrects the inclination on the X plane by the action of the rotating device 22a, and the rotating device 22b generates a smaller driving force that advances in the y-axis direction. , A stable state can be maintained, so that the mechanism related to the y-axis can be simplified, power saving and miniaturization can be achieved.
[0115]
In such a control system, the spherical rotator 17 moves in the direction of movement of the center of gravity as long as the above-described control is acting. Therefore, for example, the operator 12 moves the center of gravity in the direction to go. You can freely select the direction of travel simply by increasing the amount of movement of the center of gravity, and the speed of movement will increase accordingly, making it easier to maneuver. it can.
[0116]
As described above, the chair-shaped transfer device 11 in the first embodiment moves by rotating the spherical rotating body 17, so that the wheels have a spherical shape. Each of the driving units 18 can be combined and driven to easily move in all directions.
[0117]
[Second embodiment]
Next, FIG. 12 shows a plate-shaped transfer device according to a second embodiment as a transfer device having another shape. FIG. 12 is a schematic perspective view of a plate-shaped conveyance device which is to be conveyed on the plate-shaped conveyance device 31 and which rides in a state where an operator 33 who operates the plate-shaped conveyance device 31 stands. Here, regarding the members in the first embodiment and the members in the second embodiment, the members having the same configuration and the same action are shown correspondingly, and the description is omitted. The spherical rotator 37 corresponds to the spherical rotator 17, the housing 32 corresponds to the housing 13, the operator 33 corresponds to the operator 12, and the display unit 36 corresponds to the display unit 16, respectively.
[0118]
As shown in FIG. 12, the plate-shaped conveyance device 31 includes a spherical rotating body 37, a housing 32, and a footrest. Here, in the plate-shaped conveyance device 31, the entire weight of the operator 33 is received by the footrest 34, and the footrest 34 and the housing 32 are fixed to such an extent that the movement of the center of gravity of the operator 33 is transmitted to the housing 32. Have been. The footrest 34 and the housing 32 may be integrally formed.
[0119]
Further, in the chair-shaped conveyance device 11, the drive unit for driving and controlling the spherical rotating body 17, the sensor unit, and the display unit 16 for displaying information on the control unit are formed. In the case of, for example, in order to make the footrest 34 holding the operator 33 lower than the line of sight of the operator 33 and to eliminate unnecessary protrusions for the operator 33 to get on the footrest 34 for sports feeling, for example, A small display unit 36 may be provided on the remote controller 35 at hand, and commands may be issued by operating buttons (not shown) provided on the remote controller 35 according to the display content displayed on the display unit 36 so that the vehicle can be steered. . At this time, the remote controller 35 wirelessly communicates with the controller, and operates the plate-shaped conveyance device 31 via a controller (not shown) by operating an operation button provided on the remote controller 35.
[0120]
In the plate-shaped transport device 31, the moving direction is controlled by the weight shift of the operator 33, as in a skateboard used in games and sports in a conventional example, and the ball is rotated by a steering button provided on a remote controller 35 at hand. If the rotation angle and the rotation speed of the body 37 are controlled, a more complicated vehicle maneuver can be performed by a button operation in addition to weight shift as a sport-like transport device.
[0121]
Similarly to the chair-shaped transfer device 11 described above, the plate-shaped transfer device 31 is driven by the spherical rotator 37, so that the operator 33 first gets on the plate-shaped transfer device 31 and departs or stops after moving. A stand (not shown) may be provided on the housing 32 or the footrest 34 as an aid in the case where the plate-shaped conveyance device 31 becomes unstable when getting off the vehicle. The stand is a rod-shaped support or a plate-shaped support, and may be any support as long as the plate-shaped transfer device 31 can be set up horizontally. Three stands may be formed as in the chair-shaped transport device 11 described above, or one stand may be provided, for example, as in a conventional bicycle, and when the plate-shaped transport device 31 starts or stops. What is necessary is just to be able to support the plate-shaped conveyance device 31 when it becomes unstable. In addition, the mounting position of the stand is not particularly limited as long as the stand is installed at a position that can support the plate-shaped conveyance device 31.
[0122]
[Third embodiment]
FIG. 13 is a schematic perspective view of a transfer device with a support portion according to the third embodiment. Regarding the members in the first embodiment and the members in the third embodiment, the members having the same configuration and function are shown correspondingly, and the description is omitted. The spherical rotator 47 corresponds to the spherical rotator 17, the casing 43 corresponds to the casing 13, and the operator 42 corresponds to the operator 12.
[0123]
As shown in FIG. 13, the transporting device with a supporting portion 41 includes a spherical rotating body 47, a housing 43, a footrest 44, and a supporting portion 45. A footrest 44 on which the operator 42 stands is connected to the housing 43, and a support 45 for supporting the body of the operator 42 is formed on the footrest 44. The housing 43, the footrest 44, and the support portion 45 may be integrally formed as a single member.
[0124]
Furthermore, the transporting device 41 with a support is provided with a display unit (not shown). For example, the display unit is formed on the support unit 45. In maneuvering the support-equipped transport device 41, for example, the remote control 35 used in the second embodiment may be used so that the car can be maneuvered according to the display content displayed on the display unit. , The remote controller is wirelessly connected to the control unit, and the operation of the remote controller operates the carrier unit 41 with the support unit via the control unit.
[0125]
As in the case of the above-described chair-shaped transfer device 11, the transfer device with support 41 is driven by the spherical rotating body 47. Therefore, when the operator 42 first gets on the transfer device with support 41 and departs, or after moving. A stand may be provided on the housing 43 or the footrest 44 as an aid in the case where the supporting-equipped transfer device 41 becomes unstable when the vehicle stops and gets off.
[0126]
[Second embodiment]
A transport device according to a second embodiment will be described with reference to the drawings. As a fourth example which is an example of the shape of the transfer device in the second embodiment, a transfer device in the shape of a wheelchair which is transferred in a state where an operator is seated on a chair-shaped housing (hereinafter, referred to as (Referred to as a chair-shaped transfer device). Further, similarly to the first embodiment, the shape may be a plate-shaped transport device or a transport device with a support portion. Further, the x-axis, y-axis, z-axis and x-axis positive direction, x-axis negative direction, y-axis positive direction, y-axis negative direction, z-axis positive direction, z-axis negative direction, and x-axis defined in the first embodiment, and Case front direction, case back direction, case left direction, case right direction, case gravity direction, case anti-gravity direction, X plane, Y plane, Z plane and case horizontal plane, case front and rear plane The definition of the housing horizontal plane is the same in the second embodiment.
[0127]
[Fourth embodiment]
FIG. 14 is a schematic perspective view of a chair-shaped transfer device 81 according to the fourth embodiment. Members having the same configuration and operation as those in the first to third embodiments are shown correspondingly, and description thereof is omitted.
[0128]
As shown in FIG. 14, the chair-shaped transfer device 81 is a member for holding a spherical rotating body 87 made of a conductive material, a housing 83 provided on the spherical rotating body 87, and an operator. It has a seat 84, a support part 85a, a footrest 85b, and a display part 86 which is a man-machine interface with the operator. Here, the correspondence with the first embodiment is as follows. The support portion 85a corresponds to the support portion 15a, the footrest 85b corresponds to the footrest 15b, the seat 84 corresponds to the seat 14, and the display portion 86 corresponds to the display portion 16.
[0129]
The spherical rotator 87 is a conductive material for generating an eddy current, and is made of a material having high electric conductivity. The spherical rotating body 87 can be formed using a metal material such as aluminum, iron, and copper, for example. Further, since the eddy current generated by the rotating magnetic field is generated on the surface of the spherical rotating body 87 as described later, the inside of the spherical rotating body 87 may be hollow or solid. In consideration of the riding comfort of the chair-shaped transfer device 81, it is preferable to prevent the vibration of the contact with the running surface by forming the spherical rotating body 87 using a material having elasticity. The material of the spherical rotator 87 is selected according to the use application of 81.
[0130]
As described above, in the transport device according to the first embodiment, the roller member of the rotating unit of the driving unit presses the spherical rotating body to rotate the spherical rotating body by a mechanical force, whereas the second embodiment In the above, the spherical rotator is made of a conductive material, and the drive circuit section of the drive section generates a magnetic field by an electric signal applied to the conductive member, and the interaction between the magnetic field and the eddy current generated in the spherical rotator 87 The spherical rotating body 87 rotates.
[0131]
In describing the drive mechanism for driving the substantially spherical rotating body of the transport device in the fourth embodiment, first, the structure of the drive mechanism will be described with reference to FIGS. 15 to 18, and then FIGS. 19 to 22 will be described. The operation principle and operation control of the substantially spherical rotating body will be described with reference to FIGS. In the following, a description will be given using the chair-shaped transfer device shown in FIG. 14 described above, but the plate-shaped transfer device (FIG. 12) of the second embodiment in the embodiment of the first embodiment (FIG. 12) and the third embodiment The example of the transfer device with a support portion (FIG. 13) can be driven by a similar drive mechanism.
[0132]
In the fourth embodiment, the configuration of the driving unit is different from that of the first embodiment, and the driving unit includes a core and a conductive member provided on the core. FIG. 15 is a schematic perspective view showing the core of the driving unit. The driving unit has a shape in which a plurality of cores 90 which are annular members are combined, and a spherical rotating body 87 is disposed inside the core 90. A plurality of winding accommodating grooves 94a, 94b, and 94c are formed in the core 90a, and a winding accommodating groove (not shown) is similarly provided in the core 90b and the core 90c. The winding accommodating grooves 94a, 94b and 94c are provided by cutting out a part of the core 90a, and the same applies to the winding accommodating grooves provided in the cores 90b and 90c. Since the conductive member is buried in the winding accommodating groove, the conductive member does not protrude from the positions of the surfaces of the cores 90a, 90b, and 90c and does not contact the spherical rotating body 87.
[0133]
Assembly of the core 90 and the spherical rotating body 87 is performed in the following order. First, the core 90a, the core 90b, and the core 90c are manufactured in a state of being cut into several blocks at the time of manufacture, and then the conductive members are embedded in the cores 90a, 90b, and 90c. After mounting 88d and mounting the spherical rotating body 87 at a predetermined position, the blocks are combined. This completes the assembly step of including the spherical rotating body 87 in the core 90 constituted by the cores 90a to 90c.
[0134]
In FIG. 15, the positions where the winding accommodating grooves 94a, 94b, 94c are formed are symmetrical with respect to the center point 97 of each block, but the arrangement is not limited to point symmetry. The number of sets of the driving circuit portion and the core material of the driving portion is such that the spherical rotating member 87 rotates in a direction obtained by combining the rotation by the torque generated by the driving circuit portion when the spherical rotating member 87 is driven in all directions. Therefore, in the three-dimensional space, an arbitrary vector can be formed by three vectors independent of each other. Therefore, it is preferable to provide three sets of the core members 90a to 90c from the viewpoint of reducing the production cost. Further, it is more preferable to arrange the cores 90a to 90c orthogonally from the viewpoint of efficiency.
[0135]
In addition, the number of conductive members, that is, the number of winding accommodating grooves per core, is required to be sufficient to generate a rotating magnetic field for each of the core materials 90a, 90b, and 90c. At least three are required corresponding to the three-phase alternating magnetic field for generating the magnetic field necessary for the rotation in the direction and the negative direction. Here, in order to improve the utilization rate of the winding, three conductive members formed into one winding structure are formed in the two winding accommodating grooves provided at target positions at the center point 97 as described above. It is desirable to use. However, the number of phases of the alternating magnetic field is not limited to three, and the number of conductive members may be three or more.
[0136]
The core 90 is formed of a magnetic material because the core 90 serves as a magnetic path when the spherical rotator 87 rotates as described later. As an example, it is possible to stack soft iron or permalloy laminated plates or use ferrite or the like. Can be formed. Here, when laminating soft iron or permalloy laminates, the loss of eddy current due to the alternating magnetic field can be reduced, or when the frequency of the alternating magnetic field is low, even if a lump of soft iron is used. No significant performance degradation occurs.
[0137]
FIG. 16 is a schematic sectional view showing the inside of the housing 83 of the chair-shaped transfer device 81. As shown in FIG. 16, the housing 83 of the chair-shaped conveyance device 11 is provided with a rotating body holding unit, and the rotating body holding unit includes a plurality of bearings 88 a, 88 b, 88 c and a bearing holder (not shown). Each bearing is housed in a bearing retainer (not shown). Each bearing is freely rotatable in the bearing retainer, so that the spherical rotating body 87 can freely rotate with respect to the housing 13. Here, the bearing retainer may be provided on the core 90a, the core 90b, and the core 90c, or a member different from the core 90a, the core 90b, and the core 90c may be provided, and the member may be provided with the bearing retainer. FIG. 16 is a cross section in the direction of the core 90a. In order to maximize the efficiency, the core 90a, the core 90b, and the core 90c are arranged to be orthogonal to each other. In the second embodiment, the number of cores is not limited to three, and may not be orthogonal to each other.
[0138]
Further, the housing 83 is provided with a sensor unit 115 for detecting a driving state such as a tilt angle of the housing 83 with respect to a perpendicular and a rotation speed of the spherical rotator 87. Here, the configuration and operation of the sensor unit 115 are substantially the same as those of the first embodiment, but since the position and speed of the housing 83 cannot be detected via the rotary shaft 23, the spherical rotary body 87 Detection can be performed by, for example, pressing a rotary encoder by pressure. In the housing 83, signals are input and output between the driving unit and the sensor unit, and the driving unit is controlled according to the tilt angle and the driving state detected by the sensor unit. Further, a control unit 110 for controlling the inclination posture of the housing 83 is formed. The control section 110 is provided with a drive circuit section 112 including drive circuit sections 112a to 112c. The drive circuit section is configured by an inverter which is an alternating current power generation circuit for generating a rotating magnetic field. Here, in the first embodiment, when a three-phase induction motor or a three-phase synchronous machine is used as the rotating device 22, substantially the same configuration may be used.
[0139]
FIG. 17 is a schematic perspective view showing the core 90a. A groove for providing a conductive member is formed on each of both side surfaces of the core 90a, and the conductive member 91a is wound inside the winding accommodating groove 94a and the winding accommodating groove 94a '. The conductive member 91b is wound inside the winding accommodation groove 94b and the winding accommodation groove 94c ', and the conductive member 91c is wound inside the winding accommodation groove 94c and the winding accommodation groove 94c'.
[0140]
As the conductive members 91a, 91b, and 91c, a member formed in a coil shape in which a current flows by a voltage applied by the drive circuit portion 112a can be used. When a coil is used as the conductive members 91a, 91b, 91c, the coil wound in the winding accommodating groove 94a reaches the winding accommodating groove 94a 'along the side surface of the core 90a, and is inserted into the winding accommodating groove 94a'. To the side opposite to the core 90a, and is wound again so as to pass through the winding accommodating groove 94a. At this time, the number of turns of the coil may be one or plural. Further, at the core 90b or at the joint between the core 90c and the core 90a, the coils are arranged so as to intersect the windings of the other cores.
[0141]
FIG. 18 is a diagram showing the relationship between the coil and the winding accommodating groove by developing the core 90a in a plane. As shown in FIG. 18, the core 90a, which is a block of the core 90, is provided with, for example, three pairs of conductive members 91a, 91b, and 91c, and the conductive members 91a, 91b, and 91c are connected to the drive circuit unit 112a. . The drive circuit section 112a described later applies a three-phase alternating current to the conductive members 91a, 91b, and 91c.
[0142]
Here, the number of phases of the alternating current applied by the drive circuit unit 112a can be not only three phases but also various numbers of phases, and the conductive member is an integral multiple of the number of phases of the alternating current applied by the drive circuit unit 112a. 91 is provided on the core 90a. Here, the integral multiple is called the number of poles, and is the number of peaks and valleys of the amplitude of the rotating magnetic field applied to the outer peripheral portion of the spherical rotating body 87 per week.
[0143]
As shown in FIG. 17, when a plurality of conductive members 91 are provided on both side surfaces of core 90a, each pair of conductive members 91 is insulated so as not to contact each other in order to prevent the conductive members 91 from intersecting and conducting. Crossed to be treated or not touched. The conductive member 91 has a different structure depending on the number of phases of the alternating current applied by the drive circuit unit 112a and the number of poles of the rotating magnetic field as described later. When a rotating magnetic field is generated, there are a portion that works effectively for generating the rotating magnetic field and a portion that does not work effectively.
[0144]
As shown in FIG. 18, effective portions 92a, 92b, and 92c passed through the insides of the winding accommodating grooves 94a, 94b, and 94c of the core 90a are portions that effectively act for generating a rotating magnetic field. The non-effective portions 93a, 93b, 93c provided in the grooves on both side surfaces of the core 90a are portions that do not act effectively for generating a rotating magnetic field. As described above, the effective portion 92, which is an effective portion for generating the rotating magnetic field, is increased by increasing the number of phases of the alternating current flowing through the conductive member 91 and the number of rotating magnetic fields generated by the polyphase alternating current. be able to. Further, by increasing the effective portion 92 effective for generating the rotating magnetic field, the length of the conductive members 91 provided on both side surfaces of the core 90a, that is, the length of the ineffective portion 93 that does not contribute to the generation of the rotating magnetic field is reduced. And the conductive member can be used efficiently.
[0145]
When the drive circuit section 112a applies a voltage to the conductive members 91a, 91b, and 91c to cause a current to flow, a rotating magnetic field is generated in the conductive member 91. As shown in FIG. 19, an eddy current 95 is generated near the surface of the spherical rotator 87 due to the rotating magnetic field generated around the conductive member 91, and the rotating magnetic field of the conductive member 91 and the vortex of the spherical rotator 87 are generated. The interaction with the electric current 95 causes the spherical rotator 87 to rotate. At this time, the traveling direction of the magnetic field coincides with the rotation direction of the torque acting on the spherical rotating body 87, and the spherical rotating body 87 rotates with the torque axis 96 as the center axis of rotation.
[0146]
That is, the direction of the eddy current 95 generated on the spherical rotator 87 is perpendicular to the direction of the rotating magnetic field generated in the effective portion 92. Therefore, according to Fleming's left-hand rule, a force orthogonal to the eddy current 95 and the rotating magnetic field acts on the spherical rotator 87, and a force for rotating the spherical rotator 87 can be generated. Such a driving mechanism is generally famous as an "Arago disk" which is a principle of rotating a disk by a rotating magnetic field and an eddy current.
[0147]
The driving section includes a plurality of driving circuit sections, that is, a driving circuit section 112a, a driving circuit section 112b, and a driving circuit section 112c. In the fourth embodiment, the driving circuit section 112a includes conductive members 91a to 91c, The drive circuit section 112b and the drive circuit section 112c are respectively connected to three sets of conductive members (not shown).
[0148]
A rotating magnetic field in one direction is generated for each of the cores 90a, 90b, and 90c, and a rotating magnetic field in three directions is generated in the core 90. Rotational forces corresponding to the rotating magnetic fields in three directions act on the spherical rotating body 87, and the spherical rotating body 87 rotates in any direction by 360 ° by the combined rotating force. For this reason, the same movement as that which can be realized by the combination of the rotating devices 22a to 22c, the rotating shafts 23a to 22c, and the roller members 24a to 24c in the first embodiment described above can also be realized in the fourth embodiment.
[0149]
FIG. 20 is a graph showing the relationship between the torque T generated by the drive circuit section 112 and the conductive member 91 and the slip S, and the relationship between the current I flowing through the conductive member 91 and the slip S. Here, the slip S indicates the ratio of the relative speed between the rotating magnetic field generated by applying a voltage to the conductive member 91 and the spherical rotating body 87 and the synchronous speed of the rotating magnetic field. The position indicated by Sa in the graph is the value of the slip S at which the torque T takes the maximum value. In a region where the value of the slip S is rightward of Sa, the torque T increases with an increase in the current I, and the slip S In the region where the value is on the left side of Sa, the torque T decreases as the current I increases.
[0150]
Therefore, when controlling the torque T applied to the spherical rotator 87 by the drive circuit unit 112, the drive circuit unit 112 determines whether the value of the slip S is in the left or right region with respect to Sa. The change in the current I flowing through the member 91 and the change in the torque T can be known. By knowing such a relationship between the current I and the torque T, a control signal for controlling the drive circuit unit 112 is calculated in accordance with the value of the slip S detected when the spherical rotating body 87 is driven, and the drive circuit unit It is possible to know whether to increase or decrease the signal amount of the electric signal applied to the conductive member 91 in order to make the torque T generated by the 112 a desired value, and to control the signal amount applied to the conductive member 91. Thus, the torque T generated by the drive circuit unit 112 can be controlled.
[0151]
Sa, which is the value of the slip S at which the torque T becomes maximum, is a mechanical constant determined by design. The method of measuring the value of Sa is, for example, by detecting the synchronous speed N1 of the rotating magnetic field and the rotational speed N2 of the spherical rotator 87 and measuring the value of the slip S when the torque T is maximized. The value of the slip S is Sa.
[0152]
When measuring the value Sa of the slip S when the torque T becomes the maximum, the synchronous speed N1 can be actually detected because it is the speed of the rotating magnetic field generated by the driving unit. Can be detected by an output from a speed encoder such as a small generator provided on a shaft where a rotating magnetic field is generated. When the synchronous speed N1 and the rotational speed N2 of the spherical rotator are detected, an arithmetic unit such as a DSP of the control unit 110 calculates the value of the slip S by arithmetic processing. Further, in the calculation unit 111 of the control unit 110, the relationship between the torque and the current is calculated from the value of Sa, which is a known mechanical constant, and the value of S during operation, and the alternating current I flowing through the conductive member is increased. By judging whether or not to reduce, it is possible to perform an operation necessary for feedback control. Here, the current value of the alternating current I can be increased by increasing the voltage of the alternating current, and the current value of the alternating current I can be decreased by decreasing the voltage of the alternating current.
[0153]
The speed encoder provided on the rotating shaft at the time of driving the spherical rotating body 87 is a small generator used for the purpose of speed detection. The rotation speed of the body 87 can be detected. In order to detect the rotational speed of the spherical rotator 87, for example, a Doppler velocimeter that emits light or sound waves toward an object and detects the speed based on the reflected component can be used. In this case, the relative speed between the spherical rotating body 87 and the housing 83 and the relative speed between the running surface and the housing 83 can be detected, and the rotating speed of the spherical rotating body 87 can be easily detected. When a Doppler velocimeter is used, the rotational speed can be detected without contacting the spherical rotator 87, and the rotation of the spherical rotator 87 can be performed without applying any mechanical load to the spherical rotator 87. Speed can be detected.
[0154]
When controlling the driving state of the spherical rotating body 87, the frequency of the voltage generated by the driving circuit unit 112 and the amount of current flowing through the conductive member 91 can be changed for the control. Here, when the drive circuit section 112 applies a three-phase alternating current of a frequency f [Hz] to the conductive member 91, the rotational speed Rm [RPM] of the spherical rotating body 87 and the slip S
(Equation 12)

Is established.
[0155]
Therefore, from the frequency f [Hz] of the three-phase alternating current applied to the conductive member 91 and the slip S detected when the spherical rotator 87 is driven, the arithmetic unit of the controller 110 calculates the rotational speed Rm [RPM of the spherical rotator 87. ] Can be calculated, and the rotational speed Rm [RPM] of the spherical rotating body 87 can be controlled to a desired value. When the spherical rotating body 87 is rotated at a desired rotational speed Rm [RPM], the three-phase alternating current is calculated based on the spherical rotating body 87 driven by the arithmetic unit of the control unit 110 and the desired rotational speed Rm [RPM]. Is calculated, and the voltage applied by the drive circuit unit 112 is controlled to drive the spherical rotating body 87 at a desired rotational speed Rm [RPM]. In FIG. 20, the torque curve of the torque T generated by the drive circuit unit 112 is such that when the current I flowing through the conductive member 91 is increased, the torque T increases with the increase of the current I, and the torque T increases in the axial direction. The entire curve moves.
[0156]
FIGS. 21 and 22 are schematic diagrams showing a rotating magnetic field generated on the spherical rotating body 87 when a three-phase alternating current is applied to the conductive member 91a of the core 90a. Three sets of conductive members 91a, 91b, and 91c are wound around the core 90a, and a three-phase alternating current flows through the conductive member 91 to generate a rotating magnetic field. Similar magnetic fields are generated in the other cores 90b and 90c.
[0157]
In FIGS. 21 and 22, the rotating magnetic field generated in the peripheral portion of the conductive member 91 is bipolar. However, depending on the forming method, the number, and the arrangement of the conductive member 91, a multi-pole of two or more may be used. In the case of a multi-pole configuration, the ratio of the non-effective portion of the winding is reduced, the usage efficiency of the winding can be improved, and the moving speed of the rotating magnetic field is reduced in proportion to the number of poles. Become. The number of phases of the alternating current can be not only three phases but also various phases. As described above, when the number of phases is three or more, the calculation performed to control the current for generating the rotating magnetic field is complicated. For example, by using a DSP or the like for the calculation unit of the control unit 110, the efficiency can be improved. The amount of current flowing through the conductive member can be calculated.
[0158]
FIG. 21A is a graph illustrating a time change of a current value of a three-phase alternating current applied to each of the conductive members 91a, 91b, and 91c by the drive circuit unit 112a. The three-phase current includes an alternating current I, an alternating current II having a phase different from the alternating current I by 120 degrees, and an alternating current III having a phase different from the alternating current I by 240 degrees. The alternating currents I to III are applied to any of the conductive members 91a, 91b, and 91c, and a rotating magnetic field is generated in each conductive member 91 with the application of the three-phase alternating current. In addition, in the graph shown in FIG. ₀ Or t ₇ Are equally spaced.
[0159]
The schematic diagrams shown in FIGS. 21 (b) to 21 (d) and FIG. 22 show the cross section along the core 90a of the spherical rotating body 87, the current flowing through the effective portion 92 of the conductive members 91a, 91b, 91c, and 3 schematically shows a rotating magnetic field generated by an electric current. In the figure, a symbol with a combination of .largecircle. Indicates that a current flows from the back of the paper toward the front of the paper, and a symbol with a cross of .largecircle. Indicates that the current flows from the front of the paper to the back of the paper.
[0160]
FIG. 21 (b) shows the time t ₀ 5 shows the current flowing in each conductive member 91 and the magnetic curve of the rotating magnetic field. The alternating current I passes from the conductive member 91a 'to the conductive member 91a through the front side of the drawing, and returns to the conductive member 91a' through the back side of the drawing. The alternating current II passes from the conductive member 91b to the conductive member 91b 'through the front side of the drawing and returns to the conductive member 91b through the back side of the drawing. The alternating current III passes from the conductive member 91c to the conductive member 91c 'through the front side of the drawing and returns to the conductive member 91c through the back side of the drawing. At this time, a magnetic field indicated by a closed curve in the figure is generated in the peripheral portion of the flow path of the alternating currents I to III, and as shown in FIG. 21B to FIG. Since the current flowing through the member 91 changes, the direction of the generated magnetic field changes with time, and the magnetic field penetrating the spherical rotating body 87 rotates. This magnetic field is a rotating magnetic field, and the spherical rotator 87 is rotated by the interaction with the eddy current 95 generated on the surface of the spherical rotator 87 as described above.
[0161]
Next, FIG. 23 shows a block diagram of the control system. The basic configuration is the same as FIG. 7 showing the first embodiment. The sensor unit 115 controls the sensor unit 55, the angle sensor 1150 controls the angle sensor 550, the position sensor 1151 controls the position sensor 551, the speed sensor 1152 controls the speed sensor 552, the display unit 86 controls the display unit 16, and the control unit 110 controls the control unit 110. The operation unit 111 corresponds to the operation unit 51, and the drive circuit units 112a to 112c correspond to the drive circuit units 52a to 52c. The configuration and operation of each member are the same as those in the first embodiment, and thus description thereof is omitted. The drive unit 113 is configured by a combination of the above-described conductive member and the core, and the drive signal changes the frequency and the current of the conductive member as described above.
[0162]
As described above, the transfer device according to the second embodiment generates the rotating magnetic field in the three-dimensional direction by rotating the spherical rotator 87 to rotate the spherical rotator 87 in an arbitrary direction, and arbitrarily sets the magnitude of the torque generated by the rotational force. Can be controlled. Further, unlike the first embodiment, since the roller is rotated without contacting the roller member 24, the roller member contributing to the rotation does not become a load, and there is no loss, and the spherical rotator 87 can be efficiently rotated in all directions. Thus, the transfer device can be moved.
[0163]
[Third embodiment]
A transport device according to a third embodiment will be described with reference to the drawings. As a fifth example which is an example of the shape of the transfer device in the third embodiment, a transfer device in the shape of a wheelchair which is transferred in a state where an operator is seated on a chair-shaped housing (hereinafter referred to as a transfer device) In a sixth embodiment, as a sixth embodiment, there is provided a transfer device (hereinafter referred to as a support portion) having a support portion such as a handrail which is transferred while the operator stands on a housing and is caught by the operator. Will be described. Regarding the driving unit, any one of the combination of the rotating device, the rotating shaft, and the roller member in the first embodiment, the one using the rotating magnetic field and the conductive spherical rotating body in the second embodiment. There may be. Further, the x-axis, y-axis, z-axis and x-axis positive direction, x-axis negative direction, y-axis positive direction, y-axis negative direction, z-axis positive direction, z-axis negative direction, and x-axis defined in the first embodiment, and Case front direction, case back direction, case left direction, case right direction, case gravity direction, case anti-gravity direction, X plane, Y plane, Z plane and case horizontal plane, case front and rear plane The definition of the housing horizontal plane is the same in the second embodiment.
[0164]
[Fifth embodiment]
A chair-shaped transfer device 131 according to a fifth embodiment shown in the perspective views of FIGS. 24 and 25 will be described. FIG. 24 is a schematic perspective view of a chair-shaped transport device which is a subject to be transported on a chair-shaped transport device and in which a rider who steers the chair-shaped transport device is seated, and FIG. 25 is a schematic perspective view of the chair-shaped transport device. FIG.
[0165]
As shown in FIGS. 24 and 25, the x-axis, the y-axis, and the z-axis are defined as coordinate axes in the rectangular coordinate system. The definitions are the same as those in the first embodiment. The definitions of the plane and the Z plane are the same as in the first embodiment.
[0166]
Here, in the case where the configuration and operation of the members in the fifth embodiment are the same as those in the other embodiments, the correspondence is shown and the description is omitted. The spherical rotating body 137 may be the spherical rotating body 17 or the conductive spherical rotating body 87. When the spherical rotator 137 is the spherical rotator 17, each member included in the housing 133 can be configured by the members included in the housing 13 shown in the first embodiment, Can be transmitted to the spherical rotating body 137. When 137 is the spherical rotating body 87, each member included in the housing 133 can be configured by a member included in the housing 83, and the spherical rotating body 137 can be part of a rotating device by electromagnetic induction. Can be used as
[0167]
The stand 146 of the fifth embodiment shown in FIG. 26 has the same configuration and operation as the stand 26 of the first embodiment.
[0168]
FIG. 27 shows a state in which a first counterweight portion 149c and a second counterweight portion 149b, which are members for changing the position of the center of gravity of the chair-shaped conveyance device 131, are provided on the housing 133 of the chair-shaped conveyance device 131. It is an end view. Although a detailed structural example of the first counterweight portion 149c and the second counterweight portion 149b will be described later, the first counterweight portion 149c and the second counterweight portion 149b are members that change the position of a member having a weight that changes the center of gravity of the chair-shaped conveyance device 131. The first counterweight 149c is arranged to move the weight in the x-axis direction, and the second counterweight 149b is arranged to move the weight in the y-axis. Therefore, the position of the center of gravity can be two-dimensionally changed by the first counter weight unit 149c and the second counter weight unit 149b.
[0169]
FIG. 4 shows a cross-sectional view of a surface of a housing 133 parallel to a Y plane. As shown in FIG. 28, the configuration of the chair-shaped transfer device 131 is the same as that of the first embodiment except for the first counterweight portion 149c and the second counterweight portion 149b. Is shown and the description is omitted. The rotating device 142, the rotating shaft 143, and the roller member 144 correspond to the rotating device 22, the rotating shaft 23, and the roller member 24 of the first embodiment, and the bearing retainer 140 and the bearing 141 correspond to the first embodiment. Correspond to the bearing retainer 20 and the bearing 21.
[0170]
FIG. 29 is a schematic diagram illustrating a structure of a counterweight portion that is a member that changes the position of the center of gravity of the chair-shaped conveyance device 131. Here, only the first counter weight unit 149c will be described, but the second counter weight unit 149b has the same structure.
[0171]
The first counterweight portion 149c includes a counterweight 201c, a magnetic path portion 202c made of a magnetic material, a conductive member 203c, and a permanent magnet 204c. The counterweight 201c is a member having a weight that can change the position of the center of gravity of the transfer device, and is fixed to and attached to the conductive member 203c so as to be freely movable integrally with the conductive member 203c. The magnetic path portion 202c is an outer frame member that forms the outer shape of the counterweight portion 149c, and a permanent magnet 204c is fixedly disposed inside the frame. The direction of the magnetic field generated by the permanent magnet 204c is perpendicular to the direction of movement of the counterweight 201c. The conductive member 203c is a coil-shaped electric conductor, and is arranged so as to be movable along the frame of the magnetic path portion 202c with the permanent magnet 204c inserted inside the coil.
[0172]
FIG. 30 is a schematic diagram showing the structure of a counterweight unit having another configuration. The above-described counterweight portion is movable in the x-axis and y-axis directions, and is capable of moving the center of gravity in a predetermined range in the Z plane. However, according to this configuration, it is necessary to provide two counter weights. In another configuration, the same operation can be performed by one counterweight portion by rotating the entire counterweight portion. In this case, the point of movement of the center of gravity is specified using rectangular coordinates consisting of an x-axis and a y-axis when two counterweight sections are used. However, when one counterweight section is used, x This configuration can be achieved by converting the two-dimensional orthogonal coordinates consisting of the axis and the y-axis into two-dimensional polar coordinates consisting of the radius r and the angle η.
[0173]
The angle η is made variable by connecting a rotating shaft 206 for rotating the entire rotating counterweight portion 169 to a rotating shaft 206 of a counterweight motor that performs a rotating operation (not shown), from the rotating shaft 206 to the center of the counterweight 201d. The same effect is achieved by making the radius r (the length represented by the dashed line in FIG. 30) variable. Here, the counterweight 201d corresponds to the counterweight 201c, the magnetic path portion 202d corresponds to the magnetic path portion 202c, the conductive member 203d corresponds to the conductive member 203c, and the permanent magnet 204d corresponds to the permanent magnet 204c. Is omitted. The conversion from the x and y coordinates to the r and η coordinates can be performed by the calculation unit 181 based on a well-known conversion formula from orthogonal coordinates to polar coordinates.
[0174]
When the rotation counterweight unit 169 is used, a current flows through the conductive member 203d in accordance with a counterweight drive signal output from a counterweight drive circuit unit formed in the control unit, so that a combination of the conductive member 203d and the permanent magnet 204d is provided. The linear motor operates, the counterweight 201d and the conductive member 203d move along the longitudinal direction of the magnetic path portion 202d, and the counterweight is driven according to a counterweight motor drive signal output from a counterweight motor formed in the control section. The whole part 169 rotates. As described above, the center of gravity is moved by the movement of the counterweight in the longitudinal direction and the rotation direction. Above, none of the control unit, the counterweight drive circuit unit, the counterweight drive signal, the counterweight motor, and the counterweight motor drive signal are shown.
[0175]
Next, the configuration of the entire control system will be described with reference to the block diagram 31 of the control system. The sensor unit 185 is the sensor unit 55, the angle sensor unit 1850 is the angle sensor unit 550, the position sensor unit 1851 is the position sensor unit 551, the speed sensor unit 1852 is the speed sensor unit 552, and the display unit 136 is the display unit 16 In addition, the drive circuit portion 182 is in the drive circuit portion 52, the drive circuits 182a to 182c are in the drive circuit portions 52a to 52c, the drive portion 138 is in the drive portion 18, and the rotating devices 142a to 142c are the rotating devices 22a. The rotary shafts 143a to 143c have a configuration and an action corresponding to the rotary shafts 23a to 23c. The roller members 144a to 144c have a configuration corresponding to the roller members 24a to 24c.
[0176]
Even if the driving unit 138 and the spherical rotating body 137 of the fifth embodiment are replaced with the driving unit 113 and the spherical rotating body 87, the third embodiment can be implemented without changing the essence of the invention. . The operation unit 181 is configured by a DSP, a CPU, and hardware like the operation unit 51, but the processing content is different from that performed by the operation unit 51. That is, since the counter weight drive circuit 211b and the counter weight drive circuit 211c which are not provided in the first embodiment and the second embodiment are provided, the counter weight control for controlling the counter weight drive circuits 211b and 211c is provided. Generate a signal. The counter weight control signal further generates a counter weight drive signal from the counter weight drive unit 211b and the counter weight drive unit 211c.
[0177]
The counter weight drive signal is output in two systems, the signal from the counter weight drive circuit 211c is applied to the first counter weight section 149c, and the signal from the counter weight drive circuit 211b is applied to the second counter weight section 149b. The counter weight drive signal applied to the first counter weight portion 149c causes a current to flow through the conductive member 203c to move the counter weight 201c, and the counter weight drive signal applied to the second counter weight portion 149b applies a current to the conductive member 203b. Then, the second counterweight 201b is moved to move the center of gravity in the two-dimensional direction.
[0178]
It should be noted that the above-described rotary counterweight section 169 can be used instead of the first counterweight section 149c and the second counterweight section 149b. In this case, instead of the counter weight drive circuit section 211b and the counter weight drive circuit section 211c, a counter weight drive circuit section 211b or a counter (not shown) similar to the counter weight drive circuit section 211c for flowing a current through the conductive member 203d. It is necessary to provide a weight drive circuit section and a counterweight motor drive circuit section for passing a current to the counterweight motor. Note that, in this case, the signals from the sensors 1850b and 1850c for detecting the tilt angle with respect to the orthogonal coordinates provided in the angle sensor unit 1850 of the sensor unit 185 are subjected to coordinate conversion in the calculation unit 181, and the absolute value RΘ of the tilt angle is obtained. And a calculation for obtaining the component Θη in the angular direction must be performed in advance, and then a calculation relating to a predetermined control law must be performed. A signal based on RΘ is input to the counterweight drive circuit, and a signal based on Θη is input to the counterweight motor drive circuit.
[0179]
Alternatively, in the angle sensor unit 1850, the absolute value RΘ of the tilt angle corresponding to the radius r at which the coordinate coincides with the movement of the rotation counterweight unit and the predetermined position of the casing 133 in the rotation counterweight unit 169 from the beginning. The detected angle Θη may be directly detected and used without going through the process of coordinate conversion.
[0180]
The configuration of the control unit 145 in the fifth embodiment will be described with reference to the block diagram of FIG. Here, the sensor unit 185 has the same configuration and operation as the sensor unit 55, and the arithmetic unit 181 has the same configuration as the arithmetic unit 51, although the details of the arithmetic rules are different as described above. The same applies in that signals are exchanged with the sensor unit 185, the display unit 136, and the drive circuit unit 182 by controlling the bus line. The display unit 136 has the same configuration as the display unit 16 and performs the same operation.
[0181]
The principle of how the chair-shaped transfer device 131 is controlled will be described with reference to FIG. FIG. 33 is a schematic sectional view showing a force relationship when the spherical rotating body 137 is rotating. Here, a point representing the weight of the casing 133 and the operator 132 is a center of gravity 191, the center of the spherical rotating body 137 is a center point 192, a straight line perpendicular to the running surface is a perpendicular 193, and the center of gravity 191 and a ground point 147 a A straight line connecting the center of gravity 191 and the center point 192 is defined as a straight line connecting the center of gravity 191 and the center point 192, and a distance between the center of gravity 191 and the center point 192 is defined as M. Is L, and the angle between the perpendicular 193 and the torque line 195 is Θ. ₁ , The angle formed by the center of gravity line 194 and the torque line 195 ₂ , The angle formed between the perpendicular 193 and the center of gravity 194 ₃ And Here, it is assumed that the weight of the counterweight portion 149 is not included in the center of gravity 191.
[0182]
FIG. 33 is a schematic cross-sectional view of the spherical rotator 137 on a plane parallel to the Y plane, but the same applies to other cross sections.
[0183]
As shown in FIG. 33, the spherical rotator 137 contacts at almost one point at the ground contact point 147a on the running surface. However, since the position of the center of gravity 191 is higher than the ground point 147a, the center of gravity passing through the ground point 147a When the vertical line 193 coincides with the vertical line 194, the stationary state can be maintained. When the center of gravity 194 substantially coincides with the perpendicular 193 and the center of gravity 191 is in the vicinity of the stationary position, the control system is an unstable equilibrium point. When the position shifts, the spherical rotating body 17 rotates due to gravity, and the center of gravity 191 moves below the running surface, and the equilibrium state cannot be maintained. Therefore, in the transport device according to the first embodiment, the load is not imposed on the operator 132 to maintain the balance, but the spherical rotator 137 is moved so that the center of gravity 191 is positioned in a stable state. , And the stationary state of the spherical rotating body 137 is stably maintained. In order to perform the stationary state at one point, it is actually necessary to repeat the fine movement constantly forward, backward, left and right in practice. In the third embodiment, complete stationary can be performed without moving the spherical rotating body 137.
[0184]
The description of the operation when the chair-shaped conveyance device 131 is maintained in a stable balance state by stopping the spherical rotating body 137 and the operation when the chair-shaped conveyance device 131 moves and runs are described in the first embodiment. This is the same as that described using Equations 1 to 11 in the embodiment.
[0185]
Next, the control of the center of gravity position of the transfer device by driving the counterweight unit will be described with reference to FIG. Since the counter weight 201c of the first counter weight portion 149c is movable in the x-axis direction, the deviation of the balance in the x-axis direction can be adjusted. Since the counter weight 201b of the second counter weight portion 149b is movable in the y-axis direction, the deviation of the balance in the y-axis direction can be adjusted. Hereinafter, only the operation and control of the first counter weight unit 149c will be described, but the same operation and control are also performed in the second counter weight unit 149b.
[0186]
FIG. 34 is a schematic cross-sectional view showing the maintenance of the balance state in the stationary state of the spherical rotating body 137 when the spherical rotating body 137 stops and the chair-shaped conveyance device 131 stops.
[0187]
Rotational moment MF acting on the center of gravity 191 and centering on the ground contact point 147a ₁₁ Is shown in Expression 13. Here, Lt is the distance between the ground point 147a and the center of gravity 191.
(Equation 13)

On the other hand, the rotational moment MFc about the ground contact point 147a acting on the movable center of gravity point 196 is shown in Expression 14.
[Equation 14]

Here, Lc is the moving distance from the origin of the axis on which the first counterweight unit 149c moves, and Θ _c Is the angle between the vertical line 193 and the straight line connecting the ground point 147a and the movable center point 196, Ls is the distance between the ground point 147a and the center position of the axis on which the first counterweight 149c moves, and Wc is the first This is the weight of the counterweight portion 149c. To maintain balance when the transport device is stationary, the following equation must be satisfied.
[Equation 15]

[0188]
Here, in order for Expression 15 to hold, sinΘ ₁ And sinΘ _c It must be understood that the polarities must be opposite. That is, the balance state can be maintained by moving the first counterweight portion 149c to change the polarity and magnitude of the MFc. Θ ₁ And Θ _c Are small amounts close to zero, the approximate value sin 値 ₁ = Θ ₁ , SinΘ _c = Θ _c Is substituted into Equation 15, Equation 15 can be approximated by Equation 16.
(Equation 16)

By transforming this equation, the following equation is obtained.
[Equation 17]

[0189]
Meanwhile, Θ _c Is represented by the following equation.
(Equation 18)

Therefore, Expression 19 is obtained from Expression 17 and Expression 18.
[Equation 19]

Therefore, Θ ₁ Is detected and the corresponding _c Is obtained, and the balance state can be maintained by moving the first counterweight 149c to the position of Lc. Where Θ ₁ The arithmetic unit 181 is used to calculate Lc from the following. Although the balance can be maintained by such feedforward, feedback is more desirable for more stable operation. According to the feedback control, ₁ The balance is automatically maintained according to the size of the center of gravity, that is, the position of the center of gravity can be constantly moved to the equilibrium point by controlling the counterweight portion.
[0190]
Next, the maintenance of the balance when the transport device is moving will be described. When the transfer device is moving, the effect of the torque T of the spherical rotating body 137 is added, and therefore, Expression 20 is established.
(Equation 20)

The first term on the left side is a force generated by the movement of the center of gravity 191, and the second term is a force generated by the movement of the first counterweight 149 c. The torque on the right side can be balanced by applying either of the first and second terms, but the ratio can be set arbitrarily. For example, when the moving speed is equal to or higher than a predetermined speed, the force of the second term is fixed to zero, for example, the first counterweight portion 149c is fixed at the center position (Lc = 0). Then, if the control according to the second term is applied, stable running is possible regardless of low speed and high speed. By performing such control, the control according to the second term works when moving at low speed, and the operator 132 can be stably held on the chair-shaped transfer device 131 even when the rotation of the spherical rotator 137 stops. it can.
[0191]
Further, if feedback control represented by Expression 21 is performed, in which the sum of the components of the first and second terms multiplied by the coefficients Kc1 and Kc2 is set as the current Ia of the armature, not only the adjustment of the tilt angle but If the drive signal to the 138 is set to an arbitrary value directly by the operation button provided on the display unit 136, the chair-shaped transfer device 131 is moved above the running surface 147 at a predetermined speed in a range where the center of gravity can be controlled. Since the traveling speed can be controlled so that the vehicle travels stably, the control unit detects the inclination angle of the housing, and when the inclination angle exceeds a predetermined value, the effect of the control system including the counterweight unit is reduced. If the gain is increased by increasing the loop gain, it is not necessary to maintain an excessive forward leaning posture even when the traveling speed increases.
(Equation 21)

[0192]
In the above description, control of only the x-axis has been described. However, if the same control is performed on the y-axis, it is possible to perform stable balance control in all directions to perform movement.
[0193]
In the above description, in order to simplify the description, ₁ Has been described as an inclination angle detected when there is no influence of the first counterweight 121 and the second counterweight unit 149b. However, such an angle cannot be detected during operation of the apparatus. Impossible. Therefore, actually, the inclination angle including the influence of the weights of the first counterweight portion 149c and the second counterweight portion 149b, and the transport device and the operator 132 is set to Θ. ₁ It is desirable that the position of the counter weight unit 149 be controlled by feedback control. In this case, the position of the counterweight unit 149 is automatically adjusted by the operation of the feedback loop so that the balance state always results.
[0194]
FIG. 35 is a block diagram illustrating an example of arithmetic processing in the control unit 145 shown in Expressions 13 to 21. The drive state detection signal and the angle detection signal detected by the sensor unit 185 are processed in the flow indicated by the solid arrow in the drawing. In the drawing, a suffix K represents a coefficient in the above-described formula, and indicates that various driving state detection signals or angle detection signals are multiplied. The symbol Σ in the figure indicates that the sum of various information is obtained. As described above, by performing the calculation based on the block diagram shown in FIG. 35, based on the driving state detection signal and the angle detection signal output from the sensor unit 185 to the control unit 145, the expressions shown in Expressions 13 to 21 are obtained. The calculation is executed, a counter weight drive signal is output to the conductive members 203c and 203b, the counter weights 201c and 201b are moved, and a feedback loop control of the position of the center of gravity can be performed.
[0195]
When the vehicle is steered by the remote controller 165, movements such as forward, backward, rightward, leftward, and rotation can be controlled at hand by operating the remote controller 165 with the servo loop closed as described later. The transport device 161 can be transported from a room or a bicycle parking lot to the operator 162. Specifically, control of the counter weight unit 149 and control of the drive unit 138 are performed completely independently. That is, it is assumed that the drive unit 138 is performing control irrelevant to the counterweight unit as shown in the first embodiment. In this state, a control signal is sent from the remote controller to the counterweight unit 149 to move the position of the center of gravity forward of the chair-shaped transport device 131, so that the chair-shaped transport device 131 moves forward and the chair-shaped transport device 131 When the position of the center of gravity is moved to the rear of the chair-shaped transfer device 131, the chair-shaped transfer device 131 moves in the right-hand direction when the position of the center of gravity is moved in the right-hand direction of the chair-shaped transfer device 131. When the position of the center of gravity is moved in the left-hand direction of the device 131, the chair-shaped transfer device 131 moves freely in the left-hand direction.
[0196]
As another method, if the drive signal applied to the drive unit 138 is controlled via a remote controller while the feedback control in the counterweight unit is operated, the chair-shaped transport device 131 is moved according to the signal from the remote controller. be able to. More specifically, for example, when an electric offset is given to the acceleration in the y direction represented by dΘb / dt, the chair-shaped transfer device 131 moves in the y-axis direction at a constant speed corresponding to the electric offset. When an electric offset is given to the acceleration in the x direction represented by dΘc / dt, the chair-shaped conveyance device 131 moves in the x-axis direction at a constant speed corresponding to the electric offset. At this time, since the counterweight unit performs control to maintain balance, the chair-shaped transport device 131 can run stably.
[0197]
[Sixth embodiment]
Next, FIG. 36 is a schematic perspective view of a chair-shaped transfer device on which a rider 162 who operates the chair-shaped transfer device 161 is seated on a chair-shaped transfer device 161 according to the sixth embodiment. is there.
[0198]
FIG. 37 shows a state in which a first counterweight portion 169c and a second counterweight portion 169b, which are members for changing the position of the center of gravity of the chair-shaped conveyance device 161, are provided inside the seat 164 of the chair-shaped conveyance device 161. It is an end view. The first counterweight 169c is arranged to move the weight in the x-axis direction, and the second counterweight 169b is arranged to move the weight in the y-axis. Therefore, the position of the center of gravity can be changed two-dimensionally by the first counter weight unit 169c and the second counter weight unit 169b. The configuration and operation of the first counter weight 169c and the second counter weight 169b are the same as those of the first counter weight 149c and the second counter weight 149b. The configuration and operation of the spherical rotator 167, the housing 163, the footrest 164a, the seat 164, the display unit 166, and the remote controller 165, which are other members, are the same as those in the other embodiments.
[0199]
[Seventh embodiment]
FIG. 38 is a transporting apparatus with a support portion, which is a subject to be transported on the transporting device with a supporting portion according to the seventh embodiment, and in which the operator who operates the transporting device with the supporting portion stands and is caught by the supporting portion; It is an outline perspective view of.
[0200]
As shown in FIG. 38, the transfer device with support 171 has a spherical rotating body 177 and a housing 173. The housing 173 includes an upper housing 173a, a lower housing 173b, and a housing connecting portion 173c. A housing connecting portion 173c, which is a columnar support member, is disposed above the lower housing 173b, and the upper housing 173a is disposed on the housing connecting portion 173c.
[0201]
The support part 175 which supports the body part of the operator 172 is formed in the upper housing | casing 173a. In addition, a rotation counterweight 179, which is a member for changing the position of the center of gravity of the transfer device 171 with support, is disposed in the upper housing 173a. The structural example of the rotation counterweight 179 has been described as a rotation counterweight in FIG. This is a member for changing the position of a member having such a weight as to change the position of the center of gravity of the support-equipped transfer device 171, and the rotation counter weight portion 179 itself is grounded so as to rotate with respect to the upper housing 173 a. . Therefore, the position of the center of gravity can be two-dimensionally changed by the weight movement inside the rotation counterweight 179 and the rotation movement of the rotation counterweight 179 itself. Here, two counterweight portions may be provided to move in the x-axis and y-axis directions. In the transfer device 171 with a support portion in the sixth embodiment, since the rotating counterweight portion is at a high position, even if a counterweight having a small weight is used, a great effect is exerted on control of the center of gravity.
[0202]
As described above, since the transport device in the third embodiment moves by rotating the spherical rotating body 137, the transport device can be moved in all directions by independently driving the plurality of drive units 138. Furthermore, when the rotator 137 moves in all directions by driving the rotator 137 in the third embodiment, the rotator 137 serves as a wheel, and the wheel has a spherical shape. The plurality of driving units 138 can be combined and driven to easily move in all directions.
[0203]
In addition, the transfer device according to the third embodiment not only controls the rotation of the spherical rotating body 137 and shifts the weight of the operator, but also controls the counterweight unit 149 to change the position of the center of gravity, thereby stabilizing the position of the center of gravity. It becomes possible to plan.
[0204]
[Fourth embodiment]
[Eighth embodiment]
A transport device according to a fourth embodiment will be described with reference to the drawings. As an example of the shape of the transport device in the fourth embodiment, a support portion having a support portion such as a handrail that is transported in a state where the operator stands on the housing according to the eighth embodiment and is caught by the operator is provided. The transfer device will be described. 39 and 40 are schematic perspective views of the transfer device with the support portion, and FIG. 39 is a support portion in a state where an operator who is to be transferred on the transfer device with the support portion and who operates the transfer device with the support is on board. FIG. 40 is a schematic perspective view of a transfer device with a supporting portion.
[0205]
As shown in FIGS. 39 to 42, an x-axis, a y-axis, and a z-axis are provided as coordinate axes of a rectangular coordinate system based on the housing 223. When the operator sits in the normal posture shown in FIG. 39, the direction in which the face faces forward is the x-axis positive direction or the housing front direction, and the direction 180 ° opposite to the housing front direction is the x-axis negative direction or the housing. The direction of the back of the body, the left hand direction of the operator is the positive y-axis direction or the housing left direction, the right hand direction of the operator is the negative y-axis direction or the housing right direction, and the direction from the head toward the foot is the positive z-axis direction. Alternatively, a direction 180 ° opposite to the direction of gravity of the case and the direction from the head toward the foot is defined as the negative direction of the z-axis or the direction of anti-gravity of the case.
[0206]
Also, the plane stretched by the y-axis and the z-axis is the X plane or the housing horizontal plane, the plane stretched by the z-axis and the x-axis is the Y plane or the wheel rotation plane. And moves relative to an absolute coordinate system on the earth based on the perpendicular or magnetic north or a coordinate system based on the running surface, depending on the attitude of the housing 223. It is a coordinate system. For example, when the chair-shaped conveyance device travels on a slope, an uphill, a road with a raised center, or the like, the posture of the housing 223 changes relative to the running surface, and the housing 223 is used as a reference. The relationship between the coordinates and the coordinate system based on the running surface changes every moment. Even if the running surface is horizontal, the attitude of the housing 223 differs depending on the position of the center of gravity of the conveyed object including the operator, and the relationship between the coordinates based on the housing 223 and the absolute coordinate system changes every moment. Things.
[0207]
As shown in FIGS. 39 and 40, the support-equipped transport device 221 includes a wheel 227, which is a wheel-shaped rotating body, a housing 223, and a support 225. When the ride comfort of the support-equipped transport device 221 is taken into consideration, the wheels 227 are formed by using a resilient material, for example, a conventional pneumatic tire or the like, thereby causing the contact with the running surface. It is preferable to prevent vibration, and in consideration of efficiently transmitting a driving force from a roller member described later to the wheels 227, it is preferable to use a material having a certain degree of rigidity. The material of the wheel 227 is selected according to the intended use. The housing 223 provided on the wheels 227 is provided with a support portion 135a for supporting the body of the operator 222. Further, a drive unit for driving the wheels 227, a control unit for controlling the drive unit, and a sensor unit for detecting the state of the transfer device 221 with a support unit are formed in the housing 223.
[0208]
FIG. 41 is an internal view showing a state in which a counterweight portion 229 that is a member for changing the position of the center of gravity of the transfer device with support 221 is provided on the housing 223 of the transfer device with support 221. Although a detailed structural example of the counterweight portion 229 will be described later, the counterweight portion 229 has a function of changing the position of the counterweight, which is a member having such a weight as to change the position of the center of gravity of the transfer device 221 with the support portion. It is a member provided. Further, the counter weight portion 229 is arranged to move the weight in the y-axis direction.
[0209]
Next, a description will be given of a drive unit of the wheels 227 in the transfer device with support 221. FIG. 42 is a cross-sectional view taken along a plane parallel to the X-plane at the housing 223 of the transfer device with support 221. As shown in FIG. 42, a drive unit including a rotating device 232, a rotating shaft 233, and a roller member 234 is formed in the housing 223 on the wheels 227 of the transfer device 221 with a support unit. Further, the housing 223 is provided with a sensor unit for detecting a driving state such as an inclination angle of the housing 223 with respect to a ground plane and a rotation speed of the wheels 227. Further, a counter weight portion 229 is arranged inside the housing 223 so as to perform weight movement along the y-axis direction.
[0210]
In the example shown in FIG. 42, an axle 231 is formed on the rotation center axis of the wheel 227, and the axle 231 is inserted into a bearing 230 formed on the housing 223. Thus, when the wheel 227 is driven to rotate, the axle 231 rotates smoothly in the bearing 230, and the wheel 227 rotates.
[0211]
As shown in FIG. 42, a driving unit formed on wheels 227 is fixed to housing 223, and generates a driving force for driving wheels 227 by rotating device 232, rotating shaft 233 and roller member 234. I do. The rotating device 232 is a device such as a motor that converts energy generated by human power, an internal combustion engine, an electric motor, or the like into a rotating force. In order to maintain the balance of the housing 223 on the wheels 227, the rotating device 232 reduces the torque at the time of rotation. It is preferable that the power source can be controlled to a predetermined value. The rotation shaft 233 is made of a rigid material, and transmits the rotation force from the rotation device 232 to the roller member 234. The rotating shaft 233 is arranged on the axis of rotation generated by the rotating device 232. The roller member 234 is formed so as to be connected to the rotation shaft 233 and to be pressed against the inside of the wheel 227. As a material of the roller member 234, a material having a moderately high friction coefficient of a surface portion to be pressed against the wheel 227 to transmit the rotational force from the rotating device 232 is used.
[0212]
The wheel 227 is rotated by a driving force generated by the rotating device 232 by obtaining a rotating force via a roller member 234 linked to the rotating device 232. The roller member 234 linked to the rotating device 232 is connected to a rotating shaft 233 connected to the rotating device 232. When the rotating device 232 applies a rotating force to the roller member 234 via the rotating shaft 233, the roller member 234 is rotated. 234 rotates in the rotation direction supplied by the rotating device 232. The outermost ring portion of the roller member 234 is pressed against the inside of the wheel 227, and when the rotating device 232 rotates the roller member 234, the roller member 234 rotates due to a frictional force generated between the roller member 234 and the wheel 227. A force is applied to the wheel 227 in a direction opposite to the direction in which the wheel 227 moves. Therefore, the wheel 227 rotates in the direction opposite to the rotation direction of the rotating device 232 via the roller member 234.
[0213]
FIG. 43 is a schematic diagram illustrating a structure of a counterweight portion 229 that is a member that changes the position of the center of gravity of the transfer device 221 with a support portion. The counter weight unit 229 is a linear motor, and includes a counter weight 241, a magnetic path unit 242, a conductive member 243, and a permanent magnet 244. The counter weight 241 is a member having a weight that can change the position of the center of gravity of the transfer device, and is fixedly attached to the conductive member 243. The magnetic path portion 242 is an outer frame member that forms the outer shape of the counterweight portion 229, and a permanent magnet 244 is fixed inside the frame. The permanent magnet 244 is a rod-shaped magnetic body, and its magnetic field direction is perpendicular to the direction in which the counterweight 241 moves. The conductive member 243 is a coil-shaped electric conductor, and is movably disposed along the frame of the magnetic path portion 242 with the permanent magnet 244 inserted inside the coil.
[0214]
When a current flows through the conductive member 243 according to a counter weight drive signal output from a counter weight drive circuit unit formed in the control unit 235, the linear motor using the combination of the conductive member 243 and the permanent magnet 244 operates, and the counter weight 241 and the conductive member 243 move along the longitudinal direction of the magnetic path portion 242. Thus, the movement of the weight inside the counterweight portion 229 can be controlled, and thus the change of the position of the center of gravity of the transfer device is controlled.
[0215]
The configuration of a control mechanism that rotates the wheels 227 and controls the driving of the counterweight unit 229 according to the fourth embodiment will be described with reference to the block diagram of FIG.
[0216]
The control unit 235 sends a signal for controlling the wheels 227 generated by the calculation unit 251 to the calculation unit 251 for performing a calculation process based on the input signal and generating a new signal to the drive unit 228. It has a drive circuit section 252 that outputs the signal to the counter weight section 229 and a signal for controlling the counter weight section 229 generated by the arithmetic section 251. The calculation unit 251 is a central part of a calculation process performed for controlling the driving unit of the transporting device with support unit 221 and includes a CPU (Central Processing Unit) and the like. Further, it may be configured by a DSP (Digital Signal Processor) capable of performing specific arithmetic processing quickly, or may be configured by using an arithmetic function by hardware.
[0217]
The sensor unit 255 is formed in the housing 223, and includes an angle sensor unit 2550 and one or both of a position sensor unit 2551 and a speed sensor unit 2552. The angle sensor 2550 detects the inclination of the housing 223 in the x-axis direction, which is the direction in which the tire travels, and the inclination of the housing 223 in the y-axis direction, which is perpendicular to the traveling direction. The position sensor 2551 monitors and detects the movement displacement of the wheel 227 in the rotation direction, and the speed sensor 2552 monitors and detects the speed of the wheel 227 in the rotation direction. The angle sensor unit 2550, the position sensor unit 2551, and the speed sensor unit 2552 of the sensor unit 255 perform input and output of a signal indicating a tilt angle and a driving state between the control unit 235 and the calculation unit 251. The transmission of signals between the devices is realized by wire such as a bus line, but may be realized by radio such as radio waves, ultrasonic waves, or light.
[0218]
The angle sensor unit 2550 includes an angle sensor 2550c that detects a tilt angle Θc in the x-axis direction and an angle sensor 2550b that detects a tilt angle Θb in the y-axis direction. As an example, the angle sensor may be a sensor that hangs a weight from a certain point on the housing 223 and detects that the position of the tip of the weight moves according to the tilt angle, or attaches a weight to the rotation axis of the variable resistor. The resistance value according to the inclination angle may be detected, or the resistance value may be detected using a gyro element.
[0219]
The position sensor unit 2551 and the speed sensor unit 2552 are provided on the rotation shaft 233 or the roller member 234 of the drive unit 228, and monitor and detect the rotation angle and the rotation speed that are the drive states of the drive unit 228. The position sensor 2551 and the speed sensor 2552 output the detected rotation angle and rotation speed to the control unit 235 as signals.
[0220]
The position sensor 2551 monitors and detects the moving distance of the transfer device 221 with the support. As an example, a rotary encoder is provided on the rotation shaft 233 connected to the roller 234 of each driving unit 228, and the roller 234 is provided. A sensor that calculates the rotation angle of the wheel 227 from the rotation angle of the wheel 227 and converts the rotation angle of the wheel 227 into a movement distance, or a sensor that detects the amount of movement of the support unit-equipped transfer device 221 relative to the running surface 237 by a movement detector But it is good.
[0221]
The speed sensor unit 2552 monitors and detects the speed of the transport device 221 with the support unit in the front-rear direction and the left-right direction. For example, the speed sensor unit 2552 is generated by the rotation of the wheel 227 from the rotation angular speed of the roller member 234 of the driving unit 228. A sensor that detects the converted speed of the transfer device 221 with the support may be used, or a speed detector that detects the speed of the transfer device 221 with the support with respect to the running surface 237 detects the speed in the rotation direction of the wheels 227. A sensor may be used. Further, since there is a differential / integral relationship between the position and the speed, one of the position sensor 2551 and the speed sensor 2552 can be detected and differentiated or integrated to derive the other. One of the sensor unit 2551 and the speed sensor unit 2552 may be provided, and the other may be calculated by the calculation unit 251 of the control unit 235 from the relation of differentiation and integration. When the speed sensor 2552 is a sensor that monitors and detects the rotation speed of the wheel 227 based on the signal amount of the signal input to each of the plurality of driving units 228, the position sensor 2551 may be a rotation angle. Is calculated from the direction in which the rotational speeds of the plurality of drive units 228 are combined, so that the rotation angle can be monitored and detected by comparing the signal amounts of the signals input to each of the plurality of drive units 228. The moving distance of the wheel 227 can be calculated based on the rotation angle detected by comparing the signal amounts to each of the plurality of driving units 228.
[0222]
The control unit 235 outputs a drive signal for driving the wheels 227 to the drive unit 228, outputs a counter weight drive signal for changing the position of the counter weight 241 to the counter weight unit 229, From the unit 255, the tilt angle detected by the angle sensor unit 255a is input as an angle detection signal, and the drive state detected by the position sensor unit 2551 and the speed sensor unit 2552 is input as a drive state detection signal.
[0223]
The control unit 235 controls and drives the driving unit 228 by outputting a driving signal for driving the wheels 227 to the driving unit 228. The driving signal is transmitted from the driving circuit unit 252 to the plurality of driving units. 228 are independently output, and the plurality of drive units 228 are independently driven to operate the wheels 227. At this time, in the driving unit 228 to which the driving signal has been output, the driving signal to the rotating device 232 is input, and the driving unit 228 rotates based on the input driving signal, and rotates the wheel 227 via the roller member 234 and the rotating shaft 233. Rotate.
[0224]
In addition, the control unit 235 outputs a counter weight drive signal for changing the position of the counter weight 241 to the counter weight unit 229, so that a current flows through the conductive member 243 to drive the linear motor. , The position of the center of gravity is controlled.
[0225]
In addition, the control unit 235 communicates, with the display unit 257, information on the operation state of the wheels 227 and the position state of the housing 223, and information on the states of the drive unit 228, the counterweight unit 229, the sensor unit 255, and the control unit 235. Input and output the signal to be displayed. Through the display unit 257, information such as the operation state of the wheels 227 and the position state of the housing 223, and information on the states of the drive unit 228, the counterweight unit 229, the sensor unit 255, and the control unit 235 are transmitted to the operator 222. In addition, the inclination angle of the housing 223 and the driving state of the wheels 227 can be adjusted. In other words, the display unit 257 controls the medium for transmitting information between the control unit 235 and the operator 222 in order to drive the wheels 227 at a desired speed and rotate in a desired direction according to the intention of the operator 222. Become.
[0226]
For input and output of signals between the control unit 235 and the display unit 257, a wired connection such as a bus line or wireless information communication such as radio waves, ultrasonic waves, or light is performed. The display unit 257 is not directly connected to the control unit 235 by a bus line, but is separated from the main body of the housing 223 as an independent structure, and transmits a signal to the control unit 235 by radio such as radio waves, ultrasonic waves, or light. When performing input and output, the display unit 257 wirelessly communicates with the arithmetic unit 251 so that the operator 12 can support the transport device 221 with the support unit or away from the transport device with the support unit 221 at hand. The transport unit 221 can be operated.
[0227]
The control unit 235 causes the display unit 257 to display the operation state of the wheels 227 and the position state of the housing 223, and information regarding the states of the driving unit 228, the counter weight unit 229, the sensor unit 255, and the control unit 235. An information display signal is output to display various information on the display unit 257, and an adjustment signal for adjusting the operation state of the wheels 227 and the position state of the housing 223 is input from the display unit 257. The information display signal is generated by the calculation unit 251 of the control unit 235 and output to the display unit 257, and various information is displayed on the display unit 257 based on the information display signal.
[0228]
The arithmetic unit 251 performs arithmetic processing based on the adjustment signal, the angle detection signal, and the drive state detection signal, generates a drive unit control signal for controlling the drive unit 228, and an information display signal, and sends the information to the drive circuit unit 252. It outputs a drive section control signal and outputs a counter weight control signal to counter weight drive circuit section 256. Here, the angle detection signal Δc is processed in the calculation unit 251. That is, the setting of the control gain and the calculation of the phase compensation are performed based on Δc, and the drive circuit control signal is generated. The processing of the phase compensation in the arithmetic unit 251 is the same as in the first embodiment.
[0229]
More specifically, the phase compensation is performed to speed up the response of the control system or to improve the gain of the open loop of the control system. The overall transfer characteristic of the drive unit 228 is mainly governed by the transfer characteristic of the rotating device 232, but the transfer characteristic of the rotating device 22 is a secondary system having a pole at zero frequency and an infinite gain at DC. It is. In order to increase the gain of the open loop of a system including such a transfer function and to improve the frequency response characteristics, usually, delay compensation is performed in the low frequency range, the gain in the low frequency range is improved, and the steady-state error is reduced. Then, advance compensation is performed in a wide area to increase the phase margin in a wide area and increase the gain in a wide area, thereby improving response characteristics.
[0230]
Such a phase compensation may be performed by the calculation unit 251 by performing a calculation for realizing a lag-lead digital filter. The drive circuit unit drive signal generated as a result of the processing in the arithmetic unit 251 causes the drive circuit unit 252 to generate a drive signal. The drive signal is supplied to the drive unit 228 to rotate the wheels 227. Such a control system has a tilt disturbance in the x-axis direction caused by a weight shift. _cd Automatically controls the torque T in response to the control to stabilize the control system. That is, the angle sensor 2550c provided in the angle sensor unit 2550 detects the tilt angle Θc in the x-axis direction due to the disturbance, and controls the rotating device 232 provided on the y-axis accordingly. The spherical rotator 227 is rotated on the X plane, and the housing 223 is caused to travel in the x-axis direction and travel at a constant speed. On the other hand, the sensor 2550b of the angle sensor unit 2550 determines the inclination angle of the housing 223 on the Y plane as Θ. _b Detect and Θ _b Is output to the arithmetic unit 251. _b Is input to the arithmetic unit 251. _b And performs a phase compensation calculation process using a lag-lead digital filter to generate a counterweight drive signal. The counter weight drive signal is supplied to the counter weight section 229 via the counter weight drive circuit section 256 and changes the position of the counter weight in the y-axis direction.
[0231]
As described above, if feedback control is performed using only the tilt angle as a control variable, stable running can be performed in principle. However, in the case where the control unit includes the drive unit 228 for traveling in the x-axis direction, performing an operation in which variables relating to the operations of these components are taken as state variables contributes to performance improvement. That is, another example of the calculation is a control calculation based on state feedback that feeds back all control variables of the control system. Here, control that converges all states to the origin while determining the feedback coefficient of each state variable so as to maximize or minimize a predetermined evaluation function is conventionally well known as an optimal regulator. Further, a method of obtaining each coefficient is widely known as a solution of the Riccati equation. The drive signal I232, which is a current flowing through the rotating device 232, is calculated by the calculation unit 251 as shown in Expression 22.
(Equation 22)

Also, regarding the counter weight section 229, the counter position D _b , Moving speed dD _b The current I243 flowing through the conductive member by detecting / dt can be controlled based on the control law shown in Expression 23.
(Equation 23)

[0232]
As a result of such control, as for the x-axis direction, if the operator 222 moves the weight in the positive direction of the x-axis, that is, forward, Δc increases in the positive direction, and the torque corresponding to this increases. The transfer device 221 with the support portion moves forward so as to generate the torque, and if the weight is moved in the negative direction of the x-axis, that is, backward, Δc increases in the negative direction, and the rear direction is adjusted so as to generate the torque in the negative direction. The transport device 221 with the support portion can maintain stable traveling by moving forward. On the other hand, in the y-axis direction, the angle sensor unit 2550 of the sensor unit 255 detects a tilt angle Θb with respect to the y-axis direction, and sends a counter weight drive signal to the counter weight unit 229 based on the tilt angle. Thereby, traveling can be continued without falling in the y-axis direction.
[0233]
Next, the rotation operation in the left-right direction will be described. The rotation operation is performed by utilizing the fact that the cross section of the wheel contacting the running surface forms an arc. When the wheels 227 having such a cross-sectional shape stand upright on the running surface 237, they run straight. However, when the vehicle inclines to the right with respect to the running surface 237, the vehicle makes a right turn, and when inclines to the left, the vehicle makes a left turn. The reason is that, as the wheel 227 deviates from the center of the wheel 227, the diameter of the wheel becomes smaller, so that the peripheral speed at the outermost peripheral portion of the wheel also becomes slower. To work. Therefore, in order to make a right turn at an acute angle, the wheels 227 must be tilted greatly to the right, and in order to make a right turn at an obtuse angle, the wheels 227 must be tilted slightly to the right. The same applies to a left turn.
[0234]
Here, a method of maintaining a predetermined inclination in the y-axis direction while tilting the wheels in a direction perpendicular to the traveling direction with respect to the traveling surface, that is, in the y-axis direction, will be described below. A method of imposing a burden on the operator is to cut off the feedback control in the y-axis direction and rotate the operator while maintaining balance. In this case, the counterweight section is fixed at a predetermined position, the control of the counterweight section is disabled, the operator shifts the weight, the centrifugal force due to the rotation, and the gravity in the y-axis direction. Stable running can be achieved by balancing with the above. The centrifugal force is adjusted by the operator moving his / her weight in the front-back direction, that is, the x-axis direction, adjusting the moving speed in the x-axis direction, and adjusting the turning radius by turning the weight in the y-axis direction. It can be done by doing. In this case, stable running is performed when the magnitude of the centrifugal force vector is equal to the centrifugal force generated by gravity caused by the weight shift to the y-axis, and the centrifugal force is different from the vector by 180 ° in direction.
[0235]
However, this method requires skill of the operator. Next, a method using control using a counter weight unit will be described as a method that can be used by anyone. A first method using the control is a control method for setting a large transfer function of a circuit including a counter weight unit. The larger the transfer function of one cycle, the smaller the steady-state error. This means that even if the operator moves the center of gravity to tilt the wheels, the counterweight responds and cancels the movement of the center of gravity of the operator. Accordingly, the wheels are always in a vertical state, and continue to travel straight if the running surface is horizontal. At this time, since the control system on the y-axis has the same control system configuration as that shown in FIG. 35, it can be said that the counterweight section works so that Θb becomes zero. At this time, in FIG. 35, when an electric signal of a predetermined value is input as Θbi as an offset signal, control is performed to move the counterweight so that Θb = Θbi, so that the wheel can be turned while tilting. Here, the method of inputting Θbi may be performed through a remote controller (not shown) or by rotating the handle of the supporter 225 by the operator.
[0236]
A second method using control is to configure the control system so that the loop transfer function of the control system has an appropriate size, that is, Θbi-Θb, which is a steady-state error, appropriately remains. In this manner, when the operator shifts the weight in the y-axis direction, the counterweight moves in the direction to cancel the weight shift, but the wheels may tilt and turn from the vertical direction because they do not cancel all of them. it can. At this time, since the control system operates the counterweight portion in the direction of decreasing the inclination, the wheels can run stably without falling. Regardless of the control method, the operator can easily perform the turning motion of the device by the control action of the counterweight unit. How to set the loop transfer function is a design item that can be determined by the weight of the counterweight, the arrangement position of the counterweight unit, and the content of the arithmetic processing of the arithmetic unit 251.
[0237]
Next, the display unit 257 will be described. The calculation unit 251 receives the angle detection signal and the drive state detection signal from the sensor unit 255, generates an information display signal for displaying information on the display unit 257, and displays the information display signal on the display unit 257 based on the information display signal. Is displayed. For example, the control unit 235 calculates the speed and the traveling direction of the support unit-equipped transfer device 221 based on the rotation speed and the rotation direction of the wheel 227 monitored and detected by the sensor unit 255, and the speed and the travel direction of the support-equipped transfer device 221. May be displayed, or the inclination angle of the housing 223 detected by the sensor unit 255 via the control unit 235 may be displayed. Further, abnormal operation of the drive unit 228 and the sensor unit 255, abnormal rotation speed and rotational direction of the wheel 227, abnormal inclination angle of the housing 223 with respect to the running surface 237, and power generation device for transmitting electric power to the rotating device of the drive unit 228. Abnormal conditions, such as abnormalities of the rotating device 232 itself, and in particular, an abnormal state of the transporting device 221 with a support unit can be displayed as a warning signal on the display unit 257 through visual, auditory, or tactile senses. The state of the transport unit 221 can be easily known. As described above, a man-machine interface that informs the operator 222 of the state of the support-equipped transport device 221 can be used as the display unit 257.
[0238]
In the fourth embodiment, since the rotation surface of the wheel 227 is only one plane, the control performed on the three planes in the third embodiment is performed only on one plane, so that the operator 222 The movement can be performed in the traveling direction. Further, since the counterweight unit 229 moves the center of gravity along the y-axis direction, it can be driven only by controlling the movement of the center of gravity in the left-right direction.
[0239]
【The invention's effect】
Since the transfer device of the present invention includes a substantially spherical wheel, a mechanism for driving the spherical wheel in at least two directions, a sensor unit for detecting the position of the transfer device, and a control mechanism, a substantially spherical stability is provided. Despite the poor wheels, stable running is possible. In addition, since a substantially spherical wheel is used, it can be moved instantaneously in all directions, so that it provides a transport device with a small turning radius and quick movement.
[0240]
Further, another transfer device of the present invention includes a wheel and a mechanism for driving the wheel, a sensor unit for detecting the position of the transfer device, and a control mechanism for controlling the position of the counterweight in accordance with a signal from the sensor unit. With this configuration, stable traveling can be performed even with a transport device having poor stability.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing a state where an operator is seated on a chair-type transfer device as a first embodiment.
FIG. 2 is a schematic perspective view showing a chair-type transfer device as a first embodiment.
FIG. 3 is a side view of the chair-type transfer device as the first embodiment, showing a stable still state using a stand.
FIG. 4 is a partial side sectional view showing a structure inside a housing of the chair-type transfer device as the first embodiment.
FIG. 5 is a schematic diagram showing a positional relationship between a spherical rotating body and a plurality of bearings.
FIG. 6 is a schematic perspective view for explaining a rotation direction of a spherical rotating body.
FIG. 7 is a block diagram showing the relationship between each element and the flow of information in the control mechanism according to the first embodiment.
FIG. 8 is a block diagram showing a relationship among components of a drive mechanism according to the first embodiment.
FIG. 9 is a schematic cross-sectional view of the chair-shaped transport device in the Y plane when the vehicle is traveling.
FIG. 10 is an overall view of a control system (in the X plane) for the y axis.
FIG. 11 is a block diagram illustrating an example of arithmetic processing in feedback loop control according to the first embodiment.
FIG. 12 is a schematic perspective view showing a state in which an operator is on a plate-shaped conveyance device as a second embodiment.
FIG. 13 is a schematic perspective view showing a state in which an operator is on a carrier device with a support portion as a third embodiment.
FIG. 14 is a schematic perspective view showing a chair-type transfer device as a fourth embodiment.
FIG. 15 is a schematic perspective view showing a core of a driving unit.
FIG. 16 is a schematic sectional view showing the inside of the housing of the chair-shaped transfer device.
FIG. 17 is a schematic perspective view schematically showing the structure of a core.
FIG. 18 is a schematic diagram showing a relationship between a coil and a winding accommodating groove when a core is developed on a plane.
FIG. 19 is a schematic diagram showing an eddy current generated on the surface of a spherical rotating body and a rotating direction.
FIG. 20 is a graph showing a relationship between a current I flowing through a conductive member, a slip S generated in the spherical rotating body, and a torque T applied to the spherical rotating body.
21A and 21B are diagrams illustrating currents flowing through a plurality of conductive members, FIG. 21A is a graph illustrating a time change of a current flowing through each conductive member, and FIGS. It is a schematic diagram which shows the direction of the rotating magnetic field at time.
FIG. 22 is a schematic diagram showing directions of a rotating magnetic field at each time.
FIG. 23 is a block diagram illustrating a relationship between respective elements and a flow of information of a control mechanism according to a fourth embodiment.
FIG. 24 is a schematic perspective view showing a state where an operator is seated on a chair-type transfer device as a fifth embodiment.
FIG. 25 is a schematic perspective view showing a chair-type transfer device as a fifth embodiment.
FIG. 26 is a side view of a chair-type transfer device as a fifth embodiment, showing a stable stationary state using a stand.
FIG. 27 is an internal view showing a state in which a counterweight portion is provided on a housing of the chair-shaped conveyance device 1.
FIG. 28 is a side partial cross-sectional view showing a structure inside a housing of a chair-type transfer device as a fifth embodiment.
FIG. 29 is a schematic diagram illustrating an example of a structure of a counterweight portion arranged in the chair-type transfer device.
FIG. 30 is a schematic diagram showing another structure of the counterweight unit.
FIG. 31 is a block diagram showing a relationship between elements and a flow of information in a control mechanism according to a fifth embodiment.
FIG. 32 is a block diagram showing a relationship among components of a drive mechanism according to a fifth embodiment.
FIG. 33 is a schematic cross-sectional view of the chair-shaped transport device in a running state, taken along the Y plane.
FIG. 34 is a schematic cross-sectional view for describing a torque applied to a spherical rotating body when a counter weight is added.
FIG. 35 is a block diagram illustrating an example of arithmetic processing in feedback loop control according to the fifth embodiment.
FIG. 36 is a schematic perspective view showing a state where an operator is seated on a chair-type transfer device having another shape as the sixth embodiment.
FIG. 37 is an internal view showing a state in which a counterweight portion is provided inside a seat of the chair-shaped conveyance device.
FIG. 38 is a schematic perspective view showing a counterweight portion arranged in a transporting device with a supporting portion as a seventh embodiment, and a state in which an operator rides on the transporting device with a supporting portion.
FIG. 39 is a schematic perspective view showing a state in which an operator is on a transfer device with a support portion as an eighth embodiment.
FIG. 40 is a schematic perspective view showing a transfer device with a support portion as an eighth embodiment.
FIG. 41 is an internal view showing a state in which a counter weight portion is provided on a housing of the transporting device with a support portion.
FIG. 42 is a cross-sectional view taken along a plane parallel to an X-plane in a housing portion of a transporting apparatus with a supporting portion according to an eighth embodiment.
FIG. 43 is a schematic diagram illustrating an example of a structure of a counterweight portion disposed in the transport device with a support portion.
FIG. 44 is a block diagram showing the relationship between each element and the flow of information in the control mechanism according to the eighth embodiment.
[Explanation of symbols]
11,81,131,161 Chair-shaped transfer device
31 Plate-shaped transfer device
41,171,221 Conveyor with support
12,33,42,132,162,172,222 Operator
13,32,43,83,133,163,173,223 Housing
14,84,164 seats
15a, 45, 85a, 135a, 175, 225
15b, 34, 44, 85b, 164a Footrest
16, 36, 86, 136, 166, 257 Display unit
17,37,47,87,137,167,177,227 Spherical rotating body
18, 113, 138, 228 drive unit
20,140 Bearing cage
21,88a, 141 Bearing
22,142,232 Rotary equipment
23,143,233,206 Rotation axis
24,144,234 Roller member
25, 110, 145, 235, control unit
25, 52, 112, 182, 252, drive circuit section
26,146 stand
27a, 147a Grounding point
27,147,237 Running surface
35,165 remote control
51,111,181,251 arithmetic unit
55,115,185,255 Sensor part
61,191 Center of gravity
62,97,192 center point
63,193 perpendicular
64,194 center of gravity line
65,195 Torque line
90 core
91 Conductive member
92 Effective part
93 Invalid part
94 Winding accommodation groove
95 Eddy current
96 torque shaft
121, 201, 241 Counter weight
149,229 Counter weight section
169,179 Rotation counter weight
173a Upper case
173b Lower case
173c Casing connection
196 movable center of gravity
202,242 Magnetic path
203,243 conductive member
204,244 permanent magnet
211,256 Counter weight drive circuit
227,277 wheels
231 axle
550, 1150, 1850, 2550 Angle sensor
551,1151,1851,255 Position sensor unit
552, 1152, 1852, 2552 Speed sensor unit

Claims (15)

A substantially spherical rotating body,
A housing including a rotating body holding unit, a driving unit, and an angle sensor unit;
And a control unit,
The rotating body holding unit holds the rotating body freely rotatable,
The drive unit provides the rotating body with a rotating force in a plurality of different planes including a center point of the rotating body,
The angle sensor unit detects a signal corresponding to the inclination angle of the housing in a plurality of different planes including a perpendicular,
The transfer device, wherein the control unit controls the magnitude of the rotational force based on a signal corresponding to the tilt angle. The driving unit generates the rotational force in two different planes including a center point of the rotating body,
The transport device according to claim 1, wherein the angle sensor unit detects a signal corresponding to the inclination angle of the housing on the two different planes. The drive unit is configured to generate the rotational force in a horizontal plane of the housing specified with respect to the housing with respect to the spherical rotating body and a front and rear plane of the housing orthogonal to the horizontal plane of the housing. Provided on the body,
The angle sensor unit is provided in the housing so as to detect a signal corresponding to the inclination angle of the housing in the housing horizontal plane and the housing front and rear plane,
The control unit controls the rotational force in the housing horizontal plane based on a signal corresponding to the tilt angle in the housing horizontal plane, and controls the housing based on a signal corresponding to the tilt angle in the front-rear plane of the housing. The transport device according to claim 2, wherein the rotational force in a front-rear plane is controlled. The drive unit is provided on the housing so as to generate a rotational force on the housing front-rear plane and a housing horizontal plane orthogonal to any of the housing front-rear plane and the housing horizontal plane,
The angle sensor unit is provided in the housing so as to detect a signal corresponding to an inclination angle of the housing in the housing horizontal plane and the housing front-back plane,
The control unit controls the rotational force in the horizontal plane of the housing based on a signal corresponding to the tilt angle in the horizontal plane of the housing, and controls the housing based on a signal corresponding to the tilt angle in the front-rear plane of the housing. The transport device according to claim 1, wherein the control unit controls the rotational force in a front-rear plane. The transport device according to claim 1, wherein the driving unit is a rotating device that generates a rotating force, and a roller member that is coupled to a rotating shaft of the rotating device and pressed against the rotating body. The transport device according to claim 1, wherein at least a surface of the rotating body is formed of a conductive material, and the driving unit is a core and a conductive member provided on the core and to which an alternating current is applied. At least the surface is a substantially spherical rotating body having conductive properties,
A rotator holding unit that holds the rotator free to rotate,
A drive unit for applying a rotational force to the rotating body,
The driving mechanism for a spherical rotating body, wherein the driving unit has a core and a conductive member provided to the core and to which an alternating current is applied. In the control method of the transfer device,
Holding the substantially spherical rotating body freely rotatable with respect to the housing,
Giving a rotational force to the rotating body,
Detecting a signal corresponding to a tilt angle of the housing in a plane including a perpendicular line of the housing,
A method of controlling a transport device, wherein the magnitude of the rotational force is controlled based on a signal corresponding to the tilt angle. A substantially spherical rotating body,
A housing comprising: a rotating body holding unit that freely holds the rotating body; a driving unit that applies a rotating force to the rotating body; and an angle sensor unit that detects a signal corresponding to a tilt angle on a plane including a perpendicular line. When,
A counterweight unit provided with a transfer device excluding the rotating body and a counterweight for moving the center of gravity of the conveyed object to be conveyed by the transfer device, and a counterweight unit provided to transmit the shift of the center of gravity to the housing,
A transfer unit that controls a magnitude of the rotational force generated by the drive unit and the position of the center of gravity based on a signal corresponding to the tilt angle. The transport device according to claim 9, wherein the control unit performs an operation of changing a ratio of a magnitude of a drive signal for driving the drive unit and the counterweight unit based on a traveling speed of the transport device. The control unit performs an operation of changing a ratio of a magnitude of a drive signal for driving the drive unit to a magnitude of a counter weight drive signal for driving the counter weight unit based on a signal corresponding to a tilt angle of the housing. The transfer device according to claim 9, wherein: A substantially spherical rotating body,
A housing including a rotating body holding unit that freely holds the rotating body, a driving unit that applies a rotating force to the rotating body, and an angle sensor unit that detects a signal corresponding to the tilt angle on a plane including a perpendicular line. Body and
A counterweight for moving the center of gravity of the combined weight of the conveyed material excluding the rotating body and the conveyed object conveyed by the conveyer, and a counterweight portion provided to transmit the movement of the center of gravity to the housing; When,
A control unit that controls the magnitude of the rotational force and the position of the center of gravity generated by the driving unit based on the tilt angle;
A remote controller for transmitting and receiving signals to and from the control unit,
A transport device, wherein the remote controller controls one or both of the drive unit and the counterweight unit via the control unit. In the control method of the transfer device,
Holding the substantially spherical rotating body freely rotatable with respect to the housing,
Giving a rotational force to the rotating body,
Detecting a signal corresponding to the inclination angle of the housing in a plane including a perpendicular line of the housing,
A control method for a transport device, comprising: controlling a magnitude of the rotational force based on a signal corresponding to the tilt angle, and changing a position of a center of gravity by moving a counterweight. One wheel,
A bearing that holds an axle provided on the wheel, a driving unit that applies a rotational force to the wheel, and a counterweight that is movable in a direction orthogonal to a wheel rotation plane that is a plane on which the wheel rotates is moved. A counter weight portion for changing the position of the center of gravity, and a housing including an angle sensor portion for detecting a signal corresponding to a tilt angle of the wheel on a plane including a perpendicular line,
A transfer unit that controls a magnitude of the rotational force generated by the drive unit and the position of the center of gravity based on a signal corresponding to the tilt angle. In a control method of a transport device that is rotatable by one wheel held by a housing,
Giving a turning force to the wheel,
Detecting a signal corresponding to a tilt angle of the housing in a plane including a perpendicular line,
Along with controlling the magnitude of the rotational force based on a signal corresponding to the tilt angle, the position of the counterweight is moved in a direction substantially orthogonal to a wheel rotation plane that is a plane on which the wheels rotate, and A method of controlling a transfer device, characterized by changing a position of a center of gravity.

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