JP2007237862A - Operation device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate travelling operation in independent steering for independently steering four wheels in a vehicle capable of independently steering multiple wheels. <P>SOLUTION: The operation device comprises: a casing 20 in which a mode selection switch 21 is arranged; a stage 30; and an operation part 40 arranged on the stage 30 and arranged rotatably or fixedly with respect to the stage 30. A display part 42 comprising a liquid crystal display device is arranged on an upper surface of the operation part 40. A vehicle drawing 43 is displayed in the display part 42. A touch panel is arranged on the upper surface of the display part 42. In pivotal turning, a turing center is specified by the operation part 40, and the operation device is configured rotatably with the specified turing center as a center. In operation of parallel movement, the device is configured movably in lateral, longitudinal and oblique directions on a flat surface. The movement of the operation part 40 is made to correspond to movement specific to independent steering, such as parallel movement, or pivotal turning. Thus, the operator can operate the device while imaging the movement of the vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an operation device for a vehicle, and more particularly to an operation device for a multiple-wheel independently-steered vehicle capable of independently steering all of a plurality of wheels.

A steering system for a vehicle capable of steering four wheels is proposed in Patent Document 1.
In Patent Document 1, as a steering system, an operation such as turning is performed by a turning knob that indicates a turning direction and an operation lever that indicates a moving direction and a speed according to an inclined direction and amount.
By this turning knob and operation of the operation lever, it is possible to easily instruct movement such as a normal two-wheel steering vehicle and parallel movement such as front and rear, left and right.
JP-A-4-287776

However, in the case of the steering method described in Patent Document 1, in order to rotate around an arbitrary point, a complicated operation in which the turning knob and the operation lever are linked is necessary.
In particular, when performing a belief rotation that rotates around a specific point in an area surrounded by each wheel position (hereinafter referred to as a vehicle area), an advanced operation technique using a turning knob and an operation lever is required.
For this reason, in the steering system described in Patent Document 1, it is difficult for the driver to select the center of rotation.

Further, since the conventional automobile has a rotation center point outside the vehicle, the driver is accustomed to the image of the movement rotating around the point outside the vehicle with a large arc and the steering thereof.
However, in a four-wheel independent steering vehicle, the vehicle movement cannot be accurately imaged when performing a belief rotation.
For this reason, when there is an obstacle around the vehicle, it is impossible to accurately determine whether or not to collide (contact) because it is impossible to imagine the movement caused by the rotation of the belief.

  Accordingly, an object of the present invention is to provide a vehicle operating device capable of easily performing an independent steering traveling operation in which four wheels are independently steered in a vehicle capable of independently steering a plurality of wheels. .

(1) The invention described in claim 1 is a vehicle operating device having a plurality of wheels, each wheel being independently controllable, and a parallel movement mode in which the wheels move in parallel, and rotation about a predetermined point. Mode selection means for selecting a belief rotation mode to be performed, an operation unit for instructing movement of the vehicle corresponding to the selected mode, and a rotation center in the belief rotation mode that is arranged in the operation unit A rotation center designating means, mode information indicating the selected mode, and operation information output means for outputting operation information by the operation unit, wherein the operation unit is movable in the horizontal direction in the parallel movement mode. The object is achieved by being configured to be rotatable around the rotation center designated in the belief rotation mode.
(2) In the invention described in claim 2, in the vehicle operating device according to claim 1, the rotation center designating means includes each wheel position of the vehicle, a center position of all the wheels, and a center of two adjacent wheels. A designated point corresponding to the position is provided, one of the designated points is designated as a rotation center, and the operation unit is rotatable around the designated designated point.
(3) In the invention described in claim 3, in the vehicle operating device according to claim 2, the device main body, and the device main body are accommodated in the device main body so as to be movable in the horizontal direction, and the operation portion is disposed in the upper part. A stage and a plurality of operation units arranged in the operation unit corresponding to the designated points, excited in correspondence with the designated designated points, and rotated in accordance with the rotation of the operation unit in an excited state An electromagnet, a stage electromagnet that is disposed on the stage corresponding to each of the operation unit electromagnets, and that is excited in accordance with the designated designated point, and rotates with the rotation of the corresponding operation unit electromagnet; A rotation amount detection unit that detects a rotation amount of each stage electromagnet; and a horizontal direction movement amount detection unit that detects at least one of the movement direction and the movement amount of the stage. Rotation mode For de, as operation information the rotation amount obtained by said detected with the specified designated point, if the parallel movement mode, as operation information the amount of movement and moving direction of the detected stage output, and wherein the.
(4) According to the invention described in claim 4, in the vehicle operating device according to claim 3, in the parallel movement mode, at least two of the operation unit electromagnets and the corresponding stage electromagnets are excited. The operation unit and the stage are fixed.
(5) In the invention described in claim 5, a vehicle operating device having a plurality of wheels, each wheel being independently controllable, and selecting a belief rotation mode that rotates around a predetermined point as a rotation center Mode selection means, a rotation center designating means for designating a rotation center in the belief rotation mode, a stage on which the operation unit is arranged at the top, and the designated points corresponding to the designated points. A plurality of operation unit electromagnets arranged in the operation unit and excited in accordance with the designated designated point and rotating in accordance with the rotation of the operation unit in an excited state, and corresponding to each operation unit electromagnet A stage electromagnet that is disposed on the stage and is excited in accordance with the designated designated point to rotate as the corresponding operation unit electromagnet rotates, and a rotation amount for detecting the rotation amount of each stage electromagnet. Detecting hand Characterized by comprising a and.
(6) In the invention described in claim 6, in the vehicle operating device described in claim 5, the mode selection means further includes a parallel movement mode for parallel movement, and the stage is accommodated so as to be movable in the horizontal direction. And a horizontal direction movement amount detecting means for detecting at least one of a movement direction and a movement amount of the stage, and the operation information output means includes a designated designated point in the case of the belief rotation mode. In the parallel movement mode, the detected rotation amount is output as operation information in the parallel movement mode.

  According to the present invention, the operation unit is movable in the horizontal direction in the parallel movement mode and is configured to be rotatable around the rotation center designated in the belief rotation mode. It can be done easily.

Hereinafter, a preferred embodiment of a vehicle according to the present invention will be described in detail with reference to FIGS. 1 to 9.
(1) Outline of Embodiment The vehicle according to the present embodiment is a four-wheel independent steering vehicle. A motor is disposed on each of the four drive wheels (wheels) and the vehicle can be steered independently. Yes.
The independent steering traveling is mainly used for short-distance vehicle movement such as parking, and each drive wheel is driven and controlled so as to move at a predetermined speed (for example, 4 km / h) or less.
The traveling in the independent steering traveling includes a belief rotation (rotation on the spot) rotating around the vehicle area and a parallel movement (movement where all the driving wheels are directed in the same direction).

  A normal travel mode in which normal travel is performed and an independent steering travel mode such as parking are selected by a mode selection switch. Furthermore, either mode rotation or parallel movement in independent steering traveling is selected by a mode selection switch.

In the vehicle operating device according to the present embodiment, operations of translation and rotation (rotation on the spot) are performed by operating the operation unit.
The operation unit is configured to be able to rotate around the designated rotation center by designating the rotation center in the operation of the belief rotation.
In the case of a parallel movement operation, the operation unit is configured to be movable in a direction in which the operation unit is desired to be moved, that is, front and rear, left and right, and diagonal directions on a horizontal plane.
As described above, since the operation device matches the movement of the operation unit with the movement unique to independent steering such as parallel movement and rotation, the operator can operate while imagining the movement of the vehicle. Become.

The rotational positions that can be specified by the operating device of the present embodiment are a total of nine positions: four positions of each driving wheel, four central positions between adjacent driving wheels, and one center of gravity position of the vehicle area, It is designated by a designation button arranged at the top of the operation unit.
Then, the rotation direction is selected by turning the operation unit clockwise or counterclockwise around the designated position.

When the rotation center is selected, the vehicle control unit steers each drive wheel in a direction substantially perpendicular to the direction of the selected rotation center for each drive wheel that is not at the rotation center position. The “substantially right angle” direction in this case includes a direction that is exactly perpendicular to the direction of the center of rotation, and means a direction that is exactly perpendicular when steering is possible in the exact right angle direction. If the right angle cannot be accurately set due to the limitation on the steering mechanism, it means the maximum angle close to the right angle possible on the mechanism.
After the rotation direction is selected and the steering of the driving wheel is completed, the vehicle control unit drives the driving wheel in the selected rotation direction, thereby performing the belief rotation around the designated rotation center.

  On the other hand, when the parallel movement mode is selected, the driving wheels are driven after steering each driving wheel in the selected moving direction, thereby moving in parallel in a total of eight directions including front and rear, left and right, and driving wheels. .

(2) Details of Embodiment FIG. 1 shows an external configuration of an operating device according to this embodiment.
As shown in FIG. 1, the operation device includes a casing 20 in which a mode selection switch 21 is arranged, an opening at the upper center, a stage 30 accommodated in the casing 20, and the stage 30 within the opening of the casing 20. It is comprised from the operation part 40 arrange | positioned so that rotation and fixing with respect to the stage 30 are possible.
A display unit 42 made of a liquid crystal display device is disposed on the upper surface of the operation unit 40, and a vehicle diagram 43 is displayed on the display unit 42. A touch panel is disposed on the upper surface of the display unit 42.

FIG. 2 is a plan view and a cross-sectional view illustrating a schematic configuration of an operating device that rotates and translates the operating unit on a horizontal plane. FIG. 2B shows the AA cross section of FIG.
As shown in FIG. 2, nine electromagnets 41 a, 41 b, to 41 i (hereinafter referred to as “9 places”) corresponding to nine places that can be designated as the center of the belief rotation are located inside the operation unit 40 on the side opposite to the display unit 42. , The whole electromagnet of the operation unit 40, or 41 in general) is arranged in 3 rows and 3 columns.

When the belief rotation mode is selected, the electromagnet 41 corresponding to the designated rotation center of the belief rotation is excited.
On the other hand, when the parallel movement mode is selected, in this embodiment, the four electromagnets 41b, 41d, 41f, and 41h corresponding to the respective wheel positions are excited, so that the operation unit 40 is magnetically applied to the stage 30. Fixed by force.
In the parallel movement mode, at least two electromagnets 41 may be excited. In the case of two, it is preferable to excite the electromagnet 41 in the diagonal position.

Nine rotation support unit main bodies 31 a, 31 b, and 31 i are fixed to the stage 30 on the side opposite to the operation unit 40 while being accommodated in the casing 20.
The nine rotation support unit main bodies 31a, 31b, to 31i are arranged in opposition to the electromagnets 41a, 41b, to 41i of the operation unit 40, respectively.
Each rotation support unit main body 31a, 31b, -31i is paired with electromagnet 41a, 41b, -41i, respectively, and each pair comprises the rotation support unit.

On the lower surface of the stage 30, eight linear actuators 32, 33, to 39 are arranged.
On the other hand, on the lower side of the upper surface of the outer periphery of the opening of the casing 20, linear volumes 22, 23, and 29 are arranged to oppose each of the linear actuators 32, 33, and 39.

The linear actuator and linear volume pairs 33 and 23, 34 and 24, 37 and 27, 38 and 28 detect the amount of movement of the stage 30 (and the operation unit 40 fixed thereto) in the left-right direction.
The linear actuator / linear volume pairs 32 and 22, 35 and 25, 36 and 26, 39 and 29 detect the amount of movement of the stage 30 (and the operation unit 40 fixed thereto) in the front-rear direction.
The combination of the linear actuator and the linear volume constitutes a linear sensor, and detects the amount of movement in the direction orthogonal to the direction in which both oppose each other.

FIG. 3 shows the configuration of the rotation support unit and the linear sensor.
FIG. 3A shows the configuration of the rotation support unit main body 31.
The rotation support unit main body 31 includes an electromagnet 311, an encoder 312, a gear head 313, and a motor 314 that are arranged in contact with the electromagnet 41 of the operation unit 40, and are connected coaxially.

The electromagnet 311 has a plurality of poles (four poles in the present embodiment) and has a flat upper surface. The electromagnet 311 rotates with the rotation of the electromagnet 41 of the operation unit 40 arranged on the upper portion thereof.
The encoder 312 detects the amount of rotation of the electromagnet 311.

When the motor 314 rotates in the direction opposite to the rotation direction detected by the encoder 312, the rotational force is transmitted as a reaction force to the electromagnet 41 via the gear head 313, the encoder 312, and the electromagnet 311, and further to the operation unit 40. Communicated.
That is, the reaction force by the motor 314 acts on the operation unit 40, so that the rotation of the operation unit 40 by a predetermined amount or more is limited. The reaction force by the motor 314 is output when there is a possibility of contact with the obstacle due to the rotation of the belief when, for example, an obstacle existing around the vehicle is detected.
The gear head 313 is for adjusting the load of the motor, and a slip gear, a torque clutch, or the like is used.

FIG. 3B illustrates the appearance of the electromagnet 41 of the operation unit 40.
As shown in FIG. 3B, the electromagnet 41 has the same number of poles as the poles of the electromagnet 311 and has four poles in this embodiment.
The surface of the electromagnet 41 that faces the electromagnet 311 is formed in a convex curved surface, which makes it possible to smoothly rotate the operation unit.
When the electromagnet 311 and the electromagnet 41 of the rotation support unit constituting the pair are excited at the same timing, the stage 30 and the operation unit 40 are fixed by both electromagnetic forces.

  In the belief rotation mode, the pair of electromagnets 311 and the electromagnet 41 corresponding to the designated center of rotation are excited, so that the operation unit 40 rotates around the rotation support unit. The electromagnet 41 rotates integrally with the rotation of the operation unit 40, the electromagnet 311 rotates according to the rotation amount of the electromagnet 41, and the rotation amount of the electromagnet 311 is detected as the rotation amount of the operation unit 40 by the encoder 312. Become.

On the other hand, in the parallel movement mode, the operation unit 40 and the stage 30 are fixed by exciting the four sets of the electromagnet 311 and the electromagnet 41 of the four-angle rotation support unit corresponding to the wheel position.
Thereby, the operation unit 40 can be horizontally moved in a desired direction without rotating.

FIG. 3C shows the configuration of the linear sensor by taking the combination of the linear actuator 32 and the linear volume 22 as an example.
When the operation unit 40 is moved in a state where the stage 30 and the operation unit 40 are fixed, the linear actuator 32 arranged on the stage 30 is also moved, and the amount of movement is detected by the linear volume 22.
The amount of movement of the stage 30 and the operation unit 40 in the oblique direction is calculated from both amounts of movement in the front-rear direction and the left-right direction.

FIG. 4 shows the display state of the display unit 42 arranged in the operation unit 40.
As shown in FIG. 4, a vehicle diagram 43 representing the shape of the vehicle is displayed on the display unit 42. The vehicle FIG. 43 may be displayed constantly, or may be displayed when the independent steering travel mode is selected, or may be drawn on the display screen by printing or the like.

FIG. 4A shows a display state of the display unit 42 when the parallel movement mode is selected by the mode selection switch 21.
As shown in FIG. 4A, when the parallel movement mode is selected, a parallel movement direction arrow 44 indicating the eight directions in which the parallel movement is possible is displayed together with the vehicle FIG.
The parallel movement direction arrow 44 is a forward arrow 44a, a right forward arrow 44b, a right arrow 44c, a right rear arrow 44d, a rear arrow 44e, a left rear arrow 44f, a left arrow 44g, and a left front arrow 44h. Composed.

In the parallel movement mode in the present embodiment, the vehicle is configured to be movable only in the eight directions indicated by the parallel movement direction arrow 44.
On the other hand, in the parallel movement mode, the operation unit 40 can move in any direction without being limited to the eight directions. However, the display unit 42 displays the eight directions that can be translated together with the vehicle FIG. It becomes easier to move the operation unit in the direction of the arrow corresponding to the direction to be moved.
The movement direction of the operation unit 40 is detected by a linear sensor (a combination of a linear actuator and a linear volume). When the operation unit 40 moves in a direction between eight arrows, the angle with the eight-direction arrow 44 is Determined in the smallest direction.

  In the present embodiment, the vehicle is configured to translate only in eight directions in the parallel movement mode, but the angular direction corresponding to the operation unit 40 moving in any angular direction, that is, any direction. You may comprise so that parallel movement is possible.

FIG. 4B shows a display state of the display unit 42 when the belief rotation mode is selected by the mode selection switch 21.
As shown in FIG. 4B, when the belief rotation mode is selected, center designation switches 45a, 45b, .about.45i for selecting the rotation center position are displayed on the vehicle FIG.
Electromagnets 41a to 41i are arranged at corresponding positions below the nine center designation switches 45a to 45i, respectively.
When the center designation switch 45 is selected in the belief rotation mode, the corresponding electromagnet 41 and electromagnet 311 are excited, and the operation unit 40 can be rotated around the position of the selected center designation switch 45.

  In the present embodiment, the operating device is disposed between the driver's seat and the passenger seat, but may be disposed at any place such as the right or left side of the steering wheel or the center of the steering wheel on the dashboard.

As described above, the mode selection includes selection between the normal traveling mode and the independent steering traveling mode (selection of traveling mode), and selection of the belief rotation mode and the parallel movement mode in the independent steering traveling mode.
In the present embodiment, the mode selection switch 21 includes three switches, a normal travel mode switch, a belief rotation mode switch in the independent steering travel mode, and a parallel movement mode switch in the independent steering travel mode. It is supposed to be.

The mode selection switch 21 may be configured to select the belief rotation mode and the parallel movement mode after selecting the travel mode.
In addition, the mode selection switch 21 may be arranged by selecting one switch and selecting the normal traveling mode, the belief rotation mode, and the parallel movement mode in order each time the switch is selected (pressed).
Further, a switch for selecting the belief rotation mode and the parallel movement mode may be arranged on the casing 20, and a switch for selecting the traveling mode may be separately arranged around the handle.

In the present embodiment, the rotation operation of the operation unit 40 instructs the rotation direction and the vehicle speed according to the rotation amount. In this respect, the moving operation in the parallel movement similarly indicates the direction of the parallel movement and the speed of the vehicle according to the operation amount (movement amount).
In this case, the rotation or parallel movement of the vehicle in independent steering traveling has a predetermined speed v1 (for example, 4 km / h) as a maximum value, and the speed is 0 km / h according to the operation amount of the rotation operation (the rotation angle of the operation unit 40). Is controlled by the drive control unit 18 so as to move at a vehicle speed between 1 and v1.
However, the rotation operation can be directed only in the direction of rotation, and the vehicle speed can be set to a predetermined constant speed v2.

FIG. 5 shows a configuration of a control system in the vehicle of the present embodiment.
In addition, about each mechanism etc. of the vehicle in this embodiment, the structure currently used for the well-known four-wheel independent steering vehicle is employ | adopted.

  As shown in FIG. 5, the vehicle according to this embodiment includes a vehicle control unit 10, a current position detection device 11, map data 12, a vehicle speed sensor 13, an obstacle detection unit 14, a display device 15, an input device 16, and a steering mechanism. A control unit 17, a drive control unit 18, a communication control unit 19, and other various devices, a control unit, and the like are provided.

The vehicle control unit 10 includes a computer system that includes an ECU (electronic control unit), a ROM, a RAM, and the like.
The vehicle control unit 10 includes a vehicle travel control function in the normal travel mode, a navigation function including current position detection (including current position display, destination setting, route search, route guidance, etc.), and independent steering travel in the independent steering travel mode. Various programs and data for realizing the control function are stored in the ROM and RAM.

  A part of the navigation function and the independent steering travel control function is realized by separate ECU, ROM, and RAM, and various data such as detection signals and judgment results and command signals are shared between the ECUs by communication. It may be configured to do.

The current position detection device 11 is a device that detects the current position of the vehicle (absolute coordinate values composed of latitude and longitude).
The current position detection device 11 includes a GPS (Global Positioning Systems) sensor that measures the position of the vehicle using an artificial satellite.
Note that the current position detection device 11 includes a vehicle speed sensor and a gyro sensor as a device for supplementing the current position detection by the GPS sensor.
Furthermore, a geomagnetic sensor or the like that detects geomagnetism and determines the direction of the vehicle may be provided.

The map data 12 is a database in which information related to various maps such as map information and road information is stored.
The road information is used to detect a road currently running and a position on the road by map matching between the current position of the vehicle detected by the current position detection device 11 and the road information.
The map data 12 uses map information for displaying various maps and roads around the current location of the vehicle and around the destination on the display device, and road information is used for route search to the destination.
The map data 12 further stores facility information (POI information) in which information for each facility is stored.

  The vehicle speed sensor 13 detects the current speed of the vehicle, but may be shared with the vehicle speed sensor in the current position detection device 11.

The obstacle detection unit 14 includes a plurality of sensors such as an infrared (IR) sensor and an ultrasonic sensor, and each sensor is disposed on the outer periphery of the vehicle.
Then, when traveling at a low speed such as in a parking lot, the surroundings of the vehicle including the blind spots are sensed, and obstacles (obstacles, people, grooves, etc.) existing around the vehicle are prevented.
As the infrared sensor, a pyroelectric human detection sensor that detects a person from a change in infrared rays that occurs when a person (thing) having a temperature difference from the surroundings moves is used. As described above, it is possible to determine whether a person existing around the vehicle is an object or an object from the detection results of the pyroelectric human detection sensor and the ultrasonic sensor.
The obstacle detection unit 14 may include one or a plurality of imaging devices and an image recognition processing unit. The obstacle detection unit 14 may capture the entire circumference of the vehicle and recognize the obstacle from the captured image.
The distance to the obstacle is detected by an ultrasonic sensor.
As the display device 15, various display devices such as a liquid crystal display device, a CRT, and a head-up display are used.

  On the display device 15, in the navigation function, a map around the current position of the vehicle detected by the current position detection device 11 is read from the map data 12 and displayed, and the current position of the vehicle is displayed on the map. Further, when a travel route to the destination is being searched, the travel route being guided is also displayed.

The input device 16 includes various devices such as a touch panel (functioning as a switch), a keyboard, a mouse, a light pen, a joystick, an infrared remote controller, a touch panel attached to the display screen of the display device 15, a remote controller, and a voice recognition device. It can be used and constitutes an input means for inputting various information.
The input device 16 is used for setting a destination in this embodiment.
Note that mode selection may be performed by the input device 16.

The steering mechanism control unit 17 steers each of the four drive wheels independently, and the drive control unit 18 controls the drive of each drive wheel.
Regarding the steering mechanism and drive mechanism of each drive wheel whose steering and drive are controlled by the steering mechanism control unit 17 and the drive control unit 18, for example, various mechanisms such as the mechanism described in JP-A-2001-322557 as the steering mechanism. Can be adopted.

The communication control unit 19 is connected to a communication control unit 301 (described later) of the operating device.
The communication control unit 19 receives the mode information indicating the mode selected by the mode selection switch 21 from the operating device and the operation information indicating the operation amount in the mode by serial communication, and supplies them to the vehicle control unit 10. It has become.

In addition, in the vehicle of the present embodiment, although not shown, a voice output device composed of a plurality of speakers and a voice control device arranged in the vehicle, a voice recognition device, and the like are arranged.
The sound output device outputs a warning sound or a warning sound when the distance between the obstacle and the vehicle is equal to or less than a predetermined distance in the independent steering traveling.

FIG. 6 shows the configuration of the control system in the operating device.
As shown in FIG. 6, the operating device includes a control system for the stage 30 and a control system for the operating unit 40, and mutual data is communicated between them by serial communication by the communication control units 307 and 406. It has become so.

The stage 30 side includes a stage ECU 300, a communication control unit 301, a ROM 302, a motor drive unit 303, an encoder control unit 304, an electromagnet drive control unit 305, a linear actuator drive control unit 306, a communication control unit 307, a power supply control unit 308, A power supply unit 309 is provided.
On the other hand, the operation unit 40 side includes an operation unit ECU 400, a ROM 401, an electromagnet drive control unit 402, a center designation switch detection unit 403, a display unit 42, a display control unit 405, a communication control unit 406, a power supply control unit 407, and a power supply unit 408. I have.
The scanning device includes a transformer 340 that exchanges power between the power supply control units 308 and 407.

The stage unit ECU 300 controls each unit of the stage 30 according to a program stored in the ROM 302.
The operation unit ECU 400 controls each unit of the operation unit 40 in accordance with a program stored in the ROM 401.

  The communication control unit 301 supplies the mode information selected by the mode selection switch 21 and the operation information detected by the encoder control unit 304 to the communication control unit 19 of the vehicle control unit 10 by serial communication.

The motor drive unit 303 drives the motor 314 so that reaction force torque acts on the operation unit 40.
The encoder control unit 304 acquires the rotation operation amount of the operation unit 40 from the rotation amount of the electromagnet 311 detected by the encoder 312 in the belief rotation mode, and from the detection values of the linear volumes 22 to 29 in the parallel movement mode. The moving direction and moving amount of the stage 30 are acquired.

  The center designation switch detection unit 403 detects the center designation switch 45 (45a to 45i) designated by the user.

The electromagnet drive control unit 305 and the electromagnet drive control unit 402 excite the paired electromagnet 311 and electromagnet 41, respectively.
In the belief rotation mode, a pair of electromagnet 311 and electromagnet 41 at a position corresponding to the center designation switch 45 detected by the center designation switch detection unit 403 is excited.
In the parallel movement mode, electromagnet pairs 311b and 41b, 311d and 41d, 311f and 41f, 311h and 41h corresponding to the four-wheel positions are excited, respectively.

  The linear actuator drive control unit 306 drives the linear actuators 32 to 39. In the belief rotation mode, linear actuators 33, 37, 35, and 39 arranged at four corners facing diagonally are driven and fixed so that the stage 30 does not move in parallel. In the parallel movement mode, in order to notify the operator of the presence of the obstacle detected by the obstacle detection unit 14, when the operator instructs to move in the direction of the obstacle, a reaction force is applied or vibration is applied. The vehicle is driven so as to limit the operation so as not to move the vehicle.

The communication control unit 307 and the communication control unit 406 are connected by serial communication.
The mode information selected by the mode selection switch 21 is supplied from the communication control unit 307, and the position (rotation) of the center designation switch 45 selected by the user detected by the center designation switch detection unit 403 is detected from the communication control unit 406. Center position) is supplied.

The display control unit 405 displays the vehicle diagram 43 on the display unit 42 and displays the parallel movement direction arrow 44 and the center designation switch 45 according to the mode.
In addition, the selected center designating switch 45 is clearly indicated by changing the color of the designated center designating switch 45 among the center designating switches 45a to 45i in the belief rotation mode.

The power supply units 309 and 408 are power supplies for supplying necessary power to the stage 30 and the operation unit 40, respectively.
In this embodiment, a large-capacity power source is disposed in the power source unit 309, and the power source unit 408 can be charged via the power source control unit 308, the transformer 340, and the power source control unit 407.

Next, the operation of independent steering traveling by the vehicle of this embodiment will be described.
FIG. 7 shows the rotation center, the display image of the display unit 42, and the operation of the operation unit 40 in the belief rotation mode.
First, the case where the left front drive wheel position is selected as the center of rotation with reference to FIGS. 7A and 7B will be described.
When the belief rotation mode is selected by the mode selection switch 21, the selected mode information is supplied to the vehicle control unit 10 by the stage unit ECU 300 via the communication control unit 310 and the communication control unit 19 and communicated. The operation unit ECU 400 is supplied via the control unit 307 and the communication control unit 406.

  When the operation unit ECU 400 is supplied with the belief rotation mode information, the display control unit 405 displays the vehicle diagram 43 and nine selectable center designation switches 45a to 45i on the display unit 42 (see FIG. 4 (b)). The vehicle diagram 43 displays a steering wheel diagram for clearly indicating the driver's seat.

When the center designation switch 45h is designated (pressed) by the user, the designation is detected by the center designation switch detection unit 403.
As shown in FIG. 7B, the operation unit ECU 400 highlights the detected center designation switch 45h by the display control unit 405, and displays a rotation direction arrow 46 indicating the rotatable direction of the operation unit 40. To do.
From the highlighting of the center designation switch 45h, the display of the rotation direction arrow 46, and the vehicle FIG. 43, the user can imagine the belief rotation center of the vehicle and its rotation operation.

  As will be described later, the operation unit 40 can rotate in the left-right direction around the designated center designation switch 45h (the center of rotation of the belief). By moving the operation unit 40 with the same movement, it is possible to move the vehicle according to his / her own image.

The operation unit ECU 400 supplies the detected information of the center designation switch 45h to the stage unit ECU 300 via the communication control units 406 and 307 as information indicating the rotation center position.
Further, the information on the rotation center position is supplied from the stage ECU 300 to the vehicle control unit 10 via the communication control unit 301 and the communication control unit 19.

Then, the electromagnet 41h and the electromagnet 311h corresponding to the detected center designation switch 45h are excited by the electromagnet drive control units 402 and 305, respectively, and both are electromagnetically locked.
Accordingly, the operation unit 40 can be rotated in the direction of the rotation direction arrow 46 around the center designation switch 45h.

When the user rotates the operation unit 40, the electromagnet 41h and the electromagnet 311h rotate, the rotation direction and the rotation amount thereof are detected by the encoder control unit 304, and are supplied from the stage unit ECU 300 to the vehicle control unit 10 as operation information.
In the vehicle control unit 10, each drive wheel other than the drive wheel at the rotation center position (the left front wheel in the example of FIG. 7A) is controlled by the steering mechanism control unit 17 according to the supplied operation information (rotation direction and rotation amount). The (right front wheel and left and right rear wheels) are steered so as to be substantially perpendicular to the rotation center direction, and the drive wheel is driven in the rotation direction by the drive control unit 18 so that the vehicle moves (revolution).
In addition, about the drive wheel in a rotation center position, it fixes so that it may not rotate with a brake etc.

Similarly, when the center of gravity (vehicle center) of the vehicle area is designated as the center of rotation of the belief rotation, the user operates the center designation switch 45i as shown in FIG. The unit 40 can rotate in the direction of the rotation arrow 46 around the designated center designation switch 45i.
When the operation unit 40 is rotated, as shown in FIG. 7C, the four driving wheels are steered in a substantially right angle direction with the center of gravity of the vehicle area as the rotation center of the belief rotation, and in the operated direction. To drive.
Further, when the right rear wheel of the vehicle is designated as the center of rotation of the belief rotation, the same operation is performed as shown in FIGS. 7 (f) and 7 (e).

FIG. 8 is a flowchart showing the operation of the operation device in the independent steering traveling.
This independent steering traveling is executed when the independent steering traveling mode is selected by the mode selection switch 21.
First, the operating device determines which of the belief rotation mode and the parallel movement mode is selected by the mode selection switch 21 (step 10).

When the trust rotation mode is selected (step 10; trust rotation mode), the stage 30 is locked (step 11), and the center specifying switch 45 specified by the center specifying switch detector 403 is determined (detected). (Step 12).
The lock of the stage 30 may be a lock by electromagnetic force or a mechanical lock in the same manner as the lock of the operation unit 40.

Then, the rotation support unit (a pair of the rotation support unit main body 31 and the electromagnet 41) corresponding to the specified center specifying switch 45 is operated (step 13).
In other words, the electromagnets 311 and 41 are excited to lock the rotation center of the operation unit 40.

Then, stage unit ECU 300 obtains the operating direction restriction information from vehicle control unit 10 (step 14).
Here, the operation direction restriction information acquired by the vehicle control unit 10 will be described.
The rotation direction restriction information obtained from the vehicle control unit 10 by the operating device is determined by the vehicle control unit 10 based on the presence / absence of obstacles around the vehicle detected by the obstacle detection unit 14 and its distance, and the rotation is restricted. Direction (direction where an obstacle exists).

  That is, the vehicle control unit 10 uses the state before rotation as a reference, and uses the position corresponding to the center designation switch 45 designated in step 12 as the rotation center, and the rotation angle θ1 when the vehicle is rotated until it touches the obstacle. When the rotation angle θ1 is equal to or smaller than a predetermined reference value θ2 (for example, 20 degrees), a direction that cannot be rotated is supplied to the stage unit ECU 300 as rotation direction restriction information.

The stage unit ECU 300 determines whether or not there is an operation restriction in the rotation direction (step 15). If there is an operation restriction (step 15; Y), the stage unit ECU 300 prevents the operation unit 40 from rotating in the restricted direction. Then, the motor drive unit 303 is driven to perform reaction force control of the operation unit 40 (step 16).
That is, stage unit ECU 300 notifies the user that operation in the obstacle direction cannot be performed by generating torque in the direction opposite to the rotation operation direction when operation unit 40 is operated in the rotation limit direction.
In addition, you may make it notify that the rotation operation to an applicable direction is restrict | limited by not only reaction force torque but vibration.

  Next, the stage ECU 300 detects the rotation direction and the rotation amount due to the rotation operation of the operation unit 40 by the encoder control unit 304, outputs them as operation information to the vehicle control unit 10 (step 17), and returns to the main routine.

On the other hand, when the parallel movement mode is selected (step 10; parallel movement mode), the operation unit 40 is locked to the stage 30 by exciting four pairs (four corners) of the electromagnets 311 and 41 (step 21). ).
Then, stage unit ECU 300 obtains the operating direction restriction information from vehicle control unit 10 (step 22).
The operation direction restriction information obtained by the operating device is determined by the vehicle control unit 10 based on the presence / absence of an obstacle present around the vehicle detected by the obstacle detection unit 14 and its distance, and the direction (impedance) The direction in which the object is present).

  That is, when the distance L1 from the vehicle to the detected obstacle is equal to or less than a predetermined value L2 (for example, 40 cm), the vehicle control unit 10 supplies the operating device with a direction that cannot be moved as the operation direction restriction information.

Stage unit ECU 300 determines whether or not there is a restriction on parallel movement (step 23). If there is a movement restriction (step 23; Y), in order to prevent operation unit 40 from moving in the restricted direction, Reaction force control is performed on the stage 30 on which the operation unit 40 is locked (step 24).
In addition to the reaction force control, it may be notified that the tilting operation in the corresponding direction is restricted by the vibration.

  Next, the stage ECU 300 detects the moving direction and the moving amount of the operation unit 40 by the encoder control unit 304 (step 25), and outputs (transmits) the operation information to the vehicle control unit 10 (step 26) as a main routine. Return to

When the operation information is output from the stage unit ECU 300, the vehicle control unit 10 causes the steering mechanism control unit 17 to drive in accordance with the rotation center according to the rotation center output in step 12 if it is a belief rotation. Steering is performed on the drive wheels except for the wheels, and in the case of parallel movement, all the wheels are steered in a direction parallel to the moving direction.
And the vehicle control part 10 drives a driving wheel so that it may become the direction according to the operation information, and a vehicle speed by the drive control part 18. FIG.

FIG. 9 shows a display image of the display device 15 in the independent steering travel mode.
As shown in FIG. 9A, when the independent steering travel mode is selected, the vehicle control unit 10 displays the vehicle FIG. 151 and obstacles around the vehicle detected by the obstacle detection unit 14 on the display device 15. To display.
When the belief rotation mode is further selected, the vehicle control unit 10 corresponds to nine rotation centers 152a to 152i (center designation switches 45a to 45i displayed on the display unit 42) that can be selected as the belief rotation. ) Is displayed.

Next, when the center designation switch 45 is designated and the rotation center is output via the communication control unit 301, the vehicle control unit 10 determines the determined rotation center (FIG. 9 (FIG. 9 (a)). In a), 152h) is highlighted. At this time, the display of the rotation centers that are not selected may be deleted.
Then, the vehicle control unit 10 calculates the rotation angle θ1 when the belief is rotated at the center of rotation determined until contact with the obstacle based on the state before the rotation, and according to the magnitude of the calculated rotation angle θ1. The rotation direction 153 is displayed.

  In the example shown in FIG. 9A, the rotation angle θ1 when the right rotation is performed around the designated left front rotation center 152h is equal to or smaller than the predetermined angle θ2, and therefore the right rotation of the operation unit 40 is the motor. While being limited by the reaction force torque of the drive unit 303, the vehicle control unit 10 displays the rotation direction 153 on the display device 15 with an arrow in the left rotation direction.

When the vehicle control unit 10 can rotate in both directions, the vehicle control unit 10 displays arrowheads at both ends of the rotation direction 153 as shown in FIG.
The length of the arrow in the rotation direction 153 may be changed according to the rotatable angle θ3 (<θ1). That is, as shown in FIG. 9B, the arrow in the direction of rotating to the obstacle side (in the figure, the clockwise arrow) is displayed shorter than when there is no obstacle.
The angle θ3 is set to θ1-5 degrees, but may be an angle until the shortest distance between the vehicle body and the obstacle becomes a predetermined distance L3 (for example, 40 cm).

  As described above, according to the present embodiment, in the independent steering mode, the operation unit is operated in the same manner as the actual vehicle in the rotation and the parallel movement, thereby facilitating the movement of the vehicle in the independent steering. And can be recognized accurately.

In the above-described embodiment, the case where the wheel position or the distance between the wheels is designated as the belief rotation position has been described. However, the vehicle corner or the middle thereof may be designated and rotated as the center of the belief rotation. Good.
Further, in the embodiment described above, the case where the wheels are rotated by steering each wheel in a direction substantially perpendicular to the center of rotation has been described. However, the wheels are not steered but turned by controlling the number of rotations (belief rotation). You may do it. Further, the belief rotation may be performed by both the steering of the wheel and the rotation speed control.

It is an external appearance block diagram of the operating device in this embodiment. It is the top view and sectional drawing showing the schematic structure of the operating device which rotates and translates an operation part on a horizontal surface. It is explanatory drawing showing the structure of the rotation support unit and the linear sensor. It is explanatory drawing showing the display state of the display part arrange | positioned at the operation part. It is a block diagram of the control system in the vehicle of this embodiment. It is a block diagram of the control system in an operating device. It is explanatory drawing showing the rotation center, the display image of a display part, and operation of an operation part in a credential rotation mode. It is a flowchart showing operation | movement of the operating device in independent steering driving | running | working. It is explanatory drawing showing the display image of the display apparatus in independent steering driving mode.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle control part 11 Current position detection apparatus 12 Map data 13 Vehicle speed sensor 14 Obstacle detection part 15 Display apparatus 16 Input apparatus 17 Steering mechanism control part 18 Drive control part 19 Communication control part 20 Casing 21 Mode selection switch 22-29 Linear volume 30 stage 31 rotation support unit main body 32 to 39 linear actuator 311 electromagnet 312 encoder 313 gear head 314 motor 40 operation unit 41 electromagnet 42 display unit 43 vehicle diagram

Claims (6)

A vehicle operating device comprising a plurality of wheels, each wheel being independently controllable,
A mode selection means for selecting a parallel movement mode that translates and a belief rotation mode that rotates around a predetermined point as a rotation center;
An operation unit for instructing movement of the vehicle in response to the selected mode;
Rotation center designating means arranged in the operation unit and designating a rotation center in the belief rotation mode;
Mode information indicating the selected mode, and operation information output means for outputting operation information by the operation unit,
The operation unit is movable in the horizontal direction in the parallel movement mode, and is configured to be rotatable around a rotation center designated in the belief rotation mode.
An operating device for a vehicle.
The rotation center designating means comprises designated points corresponding to the vehicle wheel positions, the center positions of all wheels, and the center positions of two adjacent wheels, and designates any one designated point as the rotation center,
The operation unit is rotatable around the designated point.
The vehicle operating device according to claim 1.
The device body;
A stage which is accommodated in the apparatus main body so as to be movable in the horizontal direction, and the operation unit is disposed on the upper part;
A plurality of operation unit electromagnets arranged in the operation unit corresponding to the specified points, excited corresponding to the specified specified points, and rotated in accordance with the rotation of the operation unit in an excited state;
Stage electromagnets arranged on the stage corresponding to the respective operation unit electromagnets and excited in accordance with the designated designated points, and rotating with rotation of the corresponding operation unit electromagnets,
A rotation amount detecting means for detecting a rotation amount of each stage electromagnet;
A horizontal movement amount detection means for detecting at least one of the movement direction and the movement amount of the stage,
The operation information output means uses the designated designated point and the detected rotation amount as operation information in the case of the belief rotation mode, and uses the detected movement direction and movement amount of the stage as the operation information in the parallel movement mode. ,Output,
The vehicle operating device according to claim 2.
4. The vehicle operation according to claim 3, wherein in the parallel movement mode, the operation unit and the stage are fixed by exciting at least two of the operation unit electromagnets and the corresponding stage electromagnets. 5. apparatus.
A vehicle operating device comprising a plurality of wheels, each wheel being independently controllable,
Mode selection means for selecting a belief rotation mode that rotates around a predetermined point as a rotation center;
Rotation center designating means arranged in the operation unit and designating the rotation center in the belief rotation mode;
A stage on which the operation unit is arranged at the top;
A plurality of operation unit electromagnets arranged in the operation unit corresponding to the specified points, excited corresponding to the specified specified points, and rotated in accordance with the rotation of the operation unit in an excited state;
Stage electromagnets arranged on the stage corresponding to the respective operation unit electromagnets and excited in accordance with the designated designated points, and rotating with rotation of the corresponding operation unit electromagnets,
A rotation amount detecting means for detecting a rotation amount of each stage electromagnet;
A vehicle operating device characterized by comprising:
The mode selection means further has a translation mode that translates,
An apparatus main body that accommodates the stage so as to be movable in a horizontal direction;
A horizontal movement amount detection means for detecting at least one of the movement direction and the movement amount of the stage,
In the pivot rotation mode, the operation information output means uses the specified designated point and the detected rotation amount as operation information, and in the parallel movement mode, uses the detected designated point and the detected rotation amount as operation information. The vehicle operation device according to claim 5, wherein the vehicle operation device is output.

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